引入最短舵角行驶的CommonUsage并更新项目引用
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
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using System.IO;
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using System;
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using System.Collections.Generic;
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using System.Text;
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using System.Threading;
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using System.Threading.Tasks;
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using CommonUsage.Protocols.VDA5050.Messages;
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using MQTTnet;
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using MQTTnet.Client;
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using MQTTnet.Extensions.ManagedClient;
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using MQTTnet.Packets;
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using MQTTnet.Protocol;
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using MQTTnet.Server;
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using Newtonsoft.Json;
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using FundamentalLib;
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using CommonUsage.Protocols.VDA5050.Objects;
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using FundamentalLib.MiscHelpers;
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namespace CommonUsage.Protocols.VDA5050
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{
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public class MQTTCommunication : IVDACommunicationProtocol
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{
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private readonly string _host;
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private readonly int _port;
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private readonly string _orderTopic = "vda5050/frldAGV/order";
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private readonly string _connectionTopic = "vda5050/frldAGV/connection";
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private readonly string _instanceAction = "vda5050/frldAGV/instantActions";
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private readonly string _factsheet = "vda5050/frldAGV/factsheet";
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private readonly string _changeCarFields = "vda5050/frldAGV/changeCarFields";
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private IManagedMqttClient _client;
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private IManagedMqttClient _visualizationClient;
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public MQTTCommunication(string host, int port)
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{
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_host = host;
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_port = port;
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InitializeClient();
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InitializeVisualizationClient();
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}
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private void InitializeClient()
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{
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var willMessage = new connectionMessage()
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{
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headerId = 1,
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timestamp = DateTime.Now,
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version = "00",
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manufacturer = "frld",
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serialNumber = "test-01",
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connectionState = "CONNECTIONBROKEN"
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};
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var mqttClientOptions = new MqttClientOptionsBuilder()
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.WithClientId("AGV-Client-frldAGV")
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.WithTcpServer(_host, _port)
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.WithWillTopic(_connectionTopic)
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.WithWillPayload(JsonConvert.SerializeObject(willMessage))
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.WithWillRetain(true)
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.Build();
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var managedMqttClientOptions = new ManagedMqttClientOptionsBuilder()
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.WithClientOptions(mqttClientOptions)
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.WithMaxPendingMessages(20)
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.WithPendingMessagesOverflowStrategy(MqttPendingMessagesOverflowStrategy.DropOldestQueuedMessage)
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.Build();
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_client = new MqttFactory().CreateManagedMqttClient();
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_client.StartAsync(managedMqttClientOptions).GetAwaiter().GetResult();
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Console.WriteLine($" >> MQTT client initialized and connected to broker at {_host} - {_port}");
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}
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private void InitializeVisualizationClient()
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{
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var mqttClientOptions = new MqttClientOptionsBuilder()
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.WithClientId("AGV-Visualization")
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.WithTcpServer(_host, _port)
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.Build();
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var managedMqttClientOptions = new ManagedMqttClientOptionsBuilder()
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.WithClientOptions(mqttClientOptions)
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.WithMaxPendingMessages(10) // Prevent overloading
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.WithPendingMessagesOverflowStrategy(MqttPendingMessagesOverflowStrategy.DropOldestQueuedMessage)
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.Build();
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_visualizationClient = new MqttFactory().CreateManagedMqttClient();
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_visualizationClient.StartAsync(managedMqttClientOptions).GetAwaiter().GetResult();
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Console.WriteLine("MQTT Visualization client initialized.");
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}
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public void SetUpImmediateCommandListener(Action<string> onChangeCarFieldsReceived)
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{
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Console.WriteLine($"Subscribed to the topic: {_changeCarFields}");
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_client.SubscribeAsync(_changeCarFields).GetAwaiter().GetResult();
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_client.ApplicationMessageReceivedAsync += async e =>
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{
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if (e.ApplicationMessage.Topic == _changeCarFields)
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{
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var payload = Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
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LogMessage($"RECEIVE-{e.ApplicationMessage.Topic}", e.ApplicationMessage.Topic, payload);
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//var script = JsonConvert.DeserializeObject<string>(payload);
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Console.WriteLine($"Change car field: {payload}");
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onChangeCarFieldsReceived(payload);
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}
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};
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}
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public void SetUpInstanActionListener(Action<instanceAction> onInstanceActionReceived)
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{
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Console.WriteLine($"Subscribed to the topic: {_instanceAction}");
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// Subscribe to the instanceAction topic
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_client.SubscribeAsync(_instanceAction).GetAwaiter().GetResult();
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_client.ApplicationMessageReceivedAsync += async e =>
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{
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if (e.ApplicationMessage.Topic == _instanceAction)
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{
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var payload = Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
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LogMessage($"RECEIVE-{e.ApplicationMessage.Topic}", e.ApplicationMessage.Topic, payload);
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var actions = JsonConvert.DeserializeObject<instanceAction>(payload);
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Console.WriteLine($"Received instance action: Header ID = {actions.headerId}, Timestamp = {actions.timestamp}");
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foreach (var action in actions.actions)
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{
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Console.WriteLine($"Action ID: {action.actionId}, Type: {action.actionType}");
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}
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onInstanceActionReceived(actions);
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}
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};
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}
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public async Task PublishConnectionStatus(string status)
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{
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var message = new connectionMessage()
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{
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headerId = 1,
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timestamp = DateTime.Now,
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version = "00",
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manufacturer = "frld",
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serialNumber = "test-01",
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connectionState = status
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};
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var payload = JsonConvert.SerializeObject(message);
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var content = new MqttApplicationMessageBuilder()
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.WithTopic(_connectionTopic)
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.WithPayload(payload)
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.WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtLeastOnce)
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.WithRetainFlag(true)
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.Build();
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await _client.EnqueueAsync(content);
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LogMessage($"SEND-{_connectionTopic}", _connectionTopic, payload);
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//await SendMessageAsync(message, _connectionTopic);
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}
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public async Task PublishFactSheet(factsheetMessage message)
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{
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//await SendMessageAsync(message, _factsheet);
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var payload = JsonConvert.SerializeObject(message);
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var content = new MqttApplicationMessageBuilder()
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.WithTopic(_factsheet)
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.WithPayload(payload)
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.WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtMostOnce)
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//.WithRetainFlag(true)
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.Build();
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await _client.EnqueueAsync(content);
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LogMessage($"SEND-{_factsheet}", _factsheet, payload);
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}
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public void SetupOrderListener(Action<orderMessage> orderReceived)
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{
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// Subscribe to the orders topic
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_client.SubscribeAsync(_orderTopic, MqttQualityOfServiceLevel.AtMostOnce).GetAwaiter().GetResult();
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_client.ApplicationMessageReceivedAsync += async e =>
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{
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if (e.ApplicationMessage.Topic == _orderTopic)
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{
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var payload = Encoding.UTF8.GetString(e.ApplicationMessage.Payload);
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LogMessage($"RECEIVE-{e.ApplicationMessage.Topic}", e.ApplicationMessage.Topic, payload);
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var order = JsonConvert.DeserializeObject<orderMessage>(payload);
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// Save the order message to a file for debugging
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// SaveOrderToFile(payload);
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orderReceived(order);
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}
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await Task.CompletedTask;
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};
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}
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private void SaveOrderToFile(string orderJson)
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{
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try
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{
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// Specify the file path (e.g., orders_log.txt in the current directory)
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string filePath = "orders_log.txt";
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// Append the order JSON along with a timestamp
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File.AppendAllText(filePath, $"{DateTime.UtcNow:yyyy-MM-dd HH:mm:ss} - {orderJson}{Environment.NewLine}");
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}
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catch (Exception ex)
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{
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// Handle any exceptions that occur while writing to the file
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Console.WriteLine($"Failed to save order to file: {ex.Message}");
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}
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}
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public async Task SendMessageAsync<T>(T message, string topic)
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{
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var payload = JsonConvert.SerializeObject(message);
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var content = new MqttApplicationMessageBuilder()
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.WithTopic(topic)
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.WithPayload(payload)
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.WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtMostOnce)
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.Build();
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await _client.EnqueueAsync(content);
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if (topic != "vda5050/frldAGV/visualization")
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{
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LogMessage($"SEND-{topic}", topic, payload);
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}
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}
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public async Task SendVisualizationMessageAsync<T>(T message, string topic)
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{
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if (_visualizationClient == null) return; // Ensure client is initialized
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var payload = JsonConvert.SerializeObject(message);
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var content = new MqttApplicationMessageBuilder()
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.WithTopic(topic)
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.WithPayload(payload)
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.WithQualityOfServiceLevel(MqttQualityOfServiceLevel.AtMostOnce) // QoS 0 for lightweight visualization
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.Build();
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if (_visualizationClient.PendingApplicationMessagesCount < 5) // Prevent flooding
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{
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await _visualizationClient.EnqueueAsync(content);
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}
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else
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{
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Console.WriteLine("Skipping visualization update to avoid MQTT congestion.");
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}
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}
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public void LogMessage(string direction, string topic, string payload)
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{
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string formattedPayload = payload;
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string logDirectory = "Logs"; // Directory for log files
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var filePreName = direction;
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filePreName = filePreName.Replace("/", "_");
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string logFilePath = Path.Combine(logDirectory, filePreName + $"-{DateTime.Now:yyyy-MM-dd}.log");
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if(!Directory.Exists(logDirectory)) Directory.CreateDirectory(logDirectory);
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// Try to parse the payload as JSON and pretty-print it
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try
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{
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var jsonObject = JsonConvert.DeserializeObject(payload);
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formattedPayload = JsonConvert.SerializeObject(jsonObject, Formatting.Indented);
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}
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catch (JsonReaderException)
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{
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// If the payload is not valid JSON, just leave it as is
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formattedPayload = payload;
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}
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string logMessage = $"[{DateTime.Now:HH:mm:ss}] [{direction}] Topic: {topic}, Payload:\n{formattedPayload}\n";
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RotateLogFile(logFilePath, logDirectory);
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try
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{
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File.AppendAllText(logFilePath, logMessage + Environment.NewLine);
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}
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catch (Exception ex)
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{
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Console.WriteLine($"Error writing to log file: {ex.Message}");
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}
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// Console.WriteLine($"[{DateTime.Now:HH:mm:ss}] [{direction}] Topic: {topic}, Payload: {formattedPayload}");
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// DLog.Log($"[{DateTime.Now:HH:mm:ss}] [{direction}] Topic: {topic}, Payload: {formattedPayload}");
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}
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private void RotateLogFile(string logFilePath, string logDirectory)
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{
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const long maxFileSize = 10 * 1024 * 1024; // 10 MB in bytes
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FileInfo fileInfo = new FileInfo(logFilePath);
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if (fileInfo.Exists && fileInfo.Length > maxFileSize)
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{
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string archivePath = Path.Combine(logDirectory, $"log_{DateTime.Now:yyyy-MM-dd_HH-mm-ss}.log");
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try
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{
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File.Move(logFilePath, archivePath); // Rename the current log file
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Console.WriteLine($"Log file rotated: {archivePath}");
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}
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catch (Exception ex)
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{
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Console.WriteLine($"Error rotating log file: {ex.Message}");
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}
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}
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}
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}
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}
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