104 lines
3.4 KiB
TypeScript
104 lines
3.4 KiB
TypeScript
// agv_manager.ts
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// Module to setup and handle the AGV simulation Worker
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import { reconnectAllWorker } from './master_manager.ts';
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/**
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* Sends the device list to the AGV worker.
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*/
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export async function updateAgvDeviceListFromConfig(worker: Worker) {
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try {
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const text = await Deno.readTextFile("./devices.json");
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const devices = JSON.parse(text);
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if (Array.isArray(devices)) {
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worker.postMessage({ type: "deviceList", data: devices });
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} else {
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console.error("agv 配置文件格式错误，要求为数组格式");
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}
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} catch (error) {
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console.error("agv 读取设备配置文件失败:", error);
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}
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}
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export function initAgvWorker(agvWorker: Worker, config: any){
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// Send initial init to the AGV worker
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agvWorker.postMessage({ type: "init", data: { serverUrl: config.serverUrl } });
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}
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/**
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* Sets up the AGV Worker, wiring message handlers and sending initial init.
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* @param kv Deno KV instance for storing/retrieving AGV state
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* @param serverUrl The gRPC server URL to send to the AGV worker
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* @param masterWorker The master VDA 5050 Worker to forward AGV events to
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* @returns The initialized AGV Worker
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*/
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export function setupAgvWorker(kv: Deno.Kv, config: any, masterWorker: Worker, agvWorker: Worker, web_worker: Worker, mappings: any, instanceId: string): Worker {
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console.log("AGV 模拟器 Worker 已启动");
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agvWorker.onmessage = async (event: MessageEvent) => {
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const message = event.data;
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switch (message.type) {
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case "inited":
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console.log("agv inited");
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await updateAgvDeviceListFromConfig(agvWorker);
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break;
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case "requestKVDataOnline": {
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const deviceKey = message.key;
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const entry = await kv.get([deviceKey]);
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const deviceStatus = entry.value || null;
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agvWorker.postMessage({
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type: "requestKVDataOnline",
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requestId: message.requestId,
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data: deviceStatus,
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});
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break;
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}
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case "requestKVData": {
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const deviceKey = message.key;
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const entry = await kv.get([deviceKey]);
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const deviceStatus = entry.value || null;
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agvWorker.postMessage({
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type: "requestKVData",
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requestId: message.requestId,
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data: deviceStatus,
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});
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break;
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}
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case "orderForwarded":
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masterWorker.postMessage({
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type: "orderForwarded",
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data: { agvId: message.agvId, order: message.data },
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});
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break;
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case "instantActionsForwarded":
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masterWorker.postMessage({
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type: "instantActionsForwarded",
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data: { agvId: message.agvId, actions: message.data },
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});
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break;
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case "devicesStatus":
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// console.log("收到 Worker devicesStatus 消息，准备更新设备状态",message);
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break;
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case "reconnect-all": {
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console.log("agv 收到 Worker reconnect 消息，准备重连");
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agvWorker.postMessage({
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type: "shutdown"
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});
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setTimeout( () => {
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agvWorker.terminate();
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setTimeout( () => {
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reconnectAllWorker(kv, web_worker, masterWorker, agvWorker, config, mappings, instanceId);
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}, 2000);
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}, 2000);
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break;
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}
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default:
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console.warn("未知消息类型 from agvWorker:", message);
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}
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};
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return agvWorker;
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}
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