api-amr/agv_main.ts

// main.ts  

/// <reference lib="deno.unstable" />  

// 导入 UUID 库（请根据实际情况调整URL）  
import { v4 as uuidv4 } from "npm:uuid";
import { setupAgvWorker, initAgvWorker } from "./agv_manager.ts";
import { reconnectAllWorker, setupMasterWorker, updateDeviceListFromConfig } from "./master_manager.ts";
import { globalEventManager } from "./event_manager.ts";

// Load config and mappings from JSON files at runtime
const configText = await Deno.readTextFile("./config.json");
const config = JSON.parse(configText);
const mappingFile = config.mappingFile || "mapping.json";
const mappingsText = await Deno.readTextFile(`./${mappingFile}`);
const mappings = JSON.parse(mappingsText);

// Generate a unique instance ID from manufacturer and UUID
const instanceId = uuidv4();

// 添加全局事件监听器
globalEventManager.addEventListener("reconnect-all", (event: Event) => {
  const customEvent = event as CustomEvent;
  console.log("🎯 主线程收到全局重连事件:", customEvent.detail);
  handleReconnectAll();
});

globalEventManager.addEventListener("grpc-connection-lost", (event: Event) => {
  const customEvent = event as CustomEvent;
  console.log("🎯 主线程收到 gRPC 连接丢失事件:", customEvent.detail);
  // 可以添加特殊的 gRPC 重连逻辑
});

globalEventManager.addEventListener("device-status-update", (event: Event) => {
  const customEvent = event as CustomEvent;
  console.log("🎯 主线程收到设备状态更新事件:", customEvent.detail.data);
});

// 重连处理函数
function handleReconnectAll() {
  console.log("agv_main: 执行全局重连");
  reconnectAllWorker(kv, webWorker, masterWorker, agvWorker, config, mappings, instanceId);
}

// 初始化 downWorker 并支持自身重启
let downWorker: Worker;
function startDownWorker() {
  console.log("agv_main: 启动 downWorker");
  downWorker = new Worker(
    new URL("./vda5050_transformer_worker.ts", import.meta.url).href,
    { type: "module" }
  );
  
  // 注册到全局事件管理器
  globalEventManager.registerWorker("downWorker", downWorker);
  
  // 初始化 downWorker
  downWorker.postMessage({
    type: "init",
    mqtt: config.mqtt,
    mappings,
    instanceId
  });
  
  // 监听重启请求
  downWorker.onmessage = (event: MessageEvent) => {
    const message = event.data;
    // 只处理非全局事件相关的消息
    if (message.type === "reconnect-all" && message.type !== "dispatchGlobalEvent") {
      console.log("agv_main: 收到 downWorker reconnect-all，重启所有 Workers");
      handleReconnectAll();
    } else if (message.type === "reconnect-down") {
      console.log("agv_main: 收到 downWorker reconnect-down，重启 downWorker");
      downWorker.postMessage({ type: "stop" });
      downWorker.terminate();
      startDownWorker();
    }
  };
}
startDownWorker();

// 打开 Deno KV 数据库（Deno KV 在最新版本中为内置特性）  
const kv = await Deno.openKv();

// // 启动 Web Worker 用于可视化界面
const webWorker = new Worker(
  new URL("./web_worker.ts", import.meta.url).href,
  { type: "module" }
);
console.log("Web Worker 已启动");
const masterWorker = new Worker(
  new URL("./vda_worker.ts", import.meta.url).href,
  { type: "module" }
);
const agvWorker = new Worker(
  new URL("./agv_worker.ts", import.meta.url).href,
  { type: "module" }
);

// 注册所有 Worker 到全局事件管理器
globalEventManager.registerWorker("webWorker", webWorker);
globalEventManager.registerWorker("masterWorker", masterWorker);
globalEventManager.registerWorker("agvWorker", agvWorker);

reconnectAllWorker(kv, webWorker, masterWorker, agvWorker, config, mappings, instanceId);

// 监听配置文件变化，动态更新设备列表  
const watcher = Deno.watchFs("./devices.json");
(async () => {
  console.log("开始监控配置文件变化...");
  for await (const event of watcher) {
    if (event.paths.some((p) => p.endsWith("devices.json"))) {
      console.log("检测到设备配置文件变化，更新设备列表...");
      await updateDeviceListFromConfig(masterWorker, config, instanceId);
    }
  }
})();

// 处理 Ctrl+C（SIGINT）退出  
Deno.addSignalListener("SIGINT", () => {
  console.log("接收到 Ctrl+C，主程序通知 Worker 退出...");

  // 向所有 Worker 发送 shutdown 消息  
  agvWorker.postMessage("shutdown");
  masterWorker.postMessage({ type: "shutdown" });
  webWorker.postMessage({ type: "shutdown" });
  // 通知 downWorker 关闭
  downWorker.postMessage({ type: "shutdown" });

  // 延时后终止 Worker 并退出主程序  
  setTimeout(() => {
    agvWorker.terminate();
    masterWorker.terminate();
    webWorker.terminate();
    downWorker.terminate();
    console.log("所有 Worker 已终止，程序退出");
    Deno.exit(0);
  }, 2000);
});

// Web Worker 错误处理
webWorker.onerror = (error) => {
  console.error("Web Worker 执行错误:", error);
};

// 发送导航订单的函数（示例订单）  
function sendNavigationOrder() {
  // 使用 UUID v4 生成订单号  
  const orderId = uuidv4();
  console.log(`创建新的导航订单 ${orderId}`);

  masterWorker.postMessage({
    type: "sendOrder",
    orderId: orderId,
    nodes: [
      {
        nodeId: "start",
        nodePosition: {
          x: 0.0,
          y: 0.0,
          mapId: "warehouse",
          theta: 0,
        },
        actions: [],
      },
      {
        nodeId: "waypoint1",
        nodePosition: {
          x: 5.0,
          y: 0.0,
          mapId: "warehouse",
          theta: 0,
        },
        actions: [],
      },
      {
        nodeId: "destination",
        nodePosition: {
          x: 10.0,
          y: 5.0,
          mapId: "warehouse",
          theta: 0,
        },
        actions: [],
      },
    ],
  });
}

// 取消订单的函数  
function cancelOrder(orderId: string) {
  console.log(`取消订单 ${orderId}`);
  masterWorker.postMessage({
    type: "cancelOrder",
    orderId: orderId,
  });
}

// 发送自定义命令设置给 Worker 的函数  
function sendCustomCommand(cmd: string) {
  console.log(`发送自定义命令设置: ${cmd}`);
  masterWorker.postMessage({
    type: "setCommand",
    command: cmd,
  });
}

// CLI moved to cli.ts
import { startCli } from "./cli.ts";
startCli(masterWorker, agvWorker, sendNavigationOrder, cancelOrder, sendCustomCommand, instanceId);

console.log("VDA 5050 控制程序已启动，输入命令或按 Ctrl+C 退出程序");