309 lines
11 KiB
TypeScript
309 lines
11 KiB
TypeScript
// master_manager.ts
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// Module to setup and handle the Master Controller (VDA 5050) Worker
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import { initAgvWorker, setupAgvWorker } from './agv_manager.ts';
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/**
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* Sets up the Master Controller Worker, wiring message handlers and returning the instance.
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* @param kv Deno KV instance for storing/retrieving AGV state
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* @param webWorker Web Worker for UI updates
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* @param masterWorker The master VDA 5050 Worker to forward AGV events to
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* @param agvWorker The AGV Worker instance
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* @returns The initialized Master Controller Worker
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*/
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export function setupMasterWorker(
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kv: Deno.Kv,
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webWorker: Worker,
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masterWorker: Worker,
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agvWorker: Worker,
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config: any,
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mappings: any,
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instanceId: string
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): Worker {
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console.log("VDA 5050 Master Controller Worker 已启动", instanceId);
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masterWorker.onmessage = async (event: MessageEvent) => {
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const message = event.data;
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try {
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switch (message.type) {
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case "started":
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// 同步通知 Master Worker 初始化完成
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masterWorker.postMessage({ type: "started" });
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break;
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case "factsheet": {
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// console.log("收到 master Worker factsheet 消息", message);
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const { agvId, factsheet, timestamp } = message.data;
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const deviceKey = `device-factsheet:${agvId.manufacturer}/${agvId.serialNumber}`;
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const res = await kv.get([deviceKey]);
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const newData = { ...(res.value || {}), agvId, factsheet, timestamp };
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await kv.set([deviceKey], newData);
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agvWorker.postMessage({ type: "factsheetResponse", data: { agvId, factsheet, timestamp } });
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break
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}
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case "connectionState": {
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const { agvId, state, timestamp } = message.data;
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const deviceKey = `device-online:${agvId.manufacturer}/${agvId.serialNumber}`;
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const res = await kv.get([deviceKey]);
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const newData = { ...(res.value || {}), agvId, state, lastSeen: timestamp };
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let needsUpdate = false;
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if (!res.value) {
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needsUpdate = true;
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} else {
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const existing = res.value as any;
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if (existing.state !== state || existing.lastSeen !== timestamp ||
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JSON.stringify(existing.agvId) !== JSON.stringify(agvId)) {
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needsUpdate = true;
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}
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}
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if (needsUpdate) {
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// console.log("1----------------更新设备状态---------------<",deviceKey, newData);
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await kv.set([deviceKey], newData);
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}
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masterWorker.postMessage({ type: "connectionState", data: { agvId, state, timestamp } });
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break;
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}
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case "stateUpdate": {
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const { agvId, state, timestamp } = message.data;
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const deviceKey = `device:${agvId.manufacturer}/${agvId.serialNumber}`;
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const res = await kv.get([deviceKey]);
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const newData = { ...(res.value || {}), agvId, state, lastSeen: timestamp };
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let needsUpdate = false;
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if (!res.value) {
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needsUpdate = true;
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} else {
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const existing = res.value as any;
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if (existing.lastSeen !== timestamp ||
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JSON.stringify(existing.state) !== JSON.stringify(state)) {
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needsUpdate = true;
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}
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}
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if (needsUpdate) {
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// console.log("2----------------更新设备状态---------------<",deviceKey, newData);
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await kv.set([deviceKey], newData);
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}
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masterWorker.postMessage({ type: "stateUpdate", data: { agvId, state, timestamp } });
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webWorker.postMessage({ type: "positionUpdate", data: {
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agvId: { manufacturer: agvId.manufacturer, serialNumber: agvId.serialNumber },
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position: { x: state.agvPosition.x, y: state.agvPosition.y, theta: state.agvPosition.theta }
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}});
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break;
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}
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case "deviceDiscovered": {
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// console.log("收到 deviceDiscovered 消息", message);
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const { agvId, timestamp, isOnline } = message.data;
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const deviceKey = `device-discovered:${agvId.manufacturer}/${agvId.serialNumber}`;
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const res = await kv.get([deviceKey]);
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const newData = { agvId, lastSeen: timestamp, isOnline };
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let needsUpdate = false;
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if (!res.value) {
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needsUpdate = true;
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} else {
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const existing = res.value as any;
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if (existing.lastSeen !== timestamp || existing.isOnline !== isOnline ||
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JSON.stringify(existing.agvId) !== JSON.stringify(agvId)) {
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needsUpdate = true;
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}
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}
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if (needsUpdate) {
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// console.log("3----------------更新设备状态---------------<",deviceKey, newData);
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await kv.set([deviceKey], newData);
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}
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masterWorker.postMessage({ type: "deviceDiscovered", data: { agvId, timestamp, isOnline } });
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break;
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}
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case "devicesList":
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masterWorker.postMessage({ type: "devicesList", data: message.data });
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break;
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case "orderSent":
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masterWorker.postMessage({ type: "orderSent", orderId: message.orderId });
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break;
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case "orderCompleted":
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masterWorker.postMessage({
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type: "orderCompleted",
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orderId: message.orderId,
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withError: message.withError,
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byCancelation: message.byCancelation,
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active: message.active
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});
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break;
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case "nodeTraversed":
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masterWorker.postMessage({ type: "nodeTraversed", data: message.data });
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break;
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case "edgeTraversing":
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masterWorker.postMessage({ type: "edgeTraversing", data: message.data });
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break;
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case "edgeTraversed":
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masterWorker.postMessage({ type: "edgeTraversed", data: message.data });
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break;
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case "orderCancelled":
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masterWorker.postMessage({ type: "orderCancelled", orderId: message.orderId });
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break;
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case "commandSettings":
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masterWorker.postMessage({ type: "commandSettings", data: message.data });
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break;
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case "reconnect-all":
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console.log("收到 master1 Worker reconnect-all 消息，准备重连");
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reconnectAllWorker(kv, webWorker, masterWorker, agvWorker, config, mappings, instanceId);
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break;
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case "deviceRemoved": {
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const { manufacturer, serialNumber, deviceKey, remainingDevices } = message.data;
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console.log(`🗑️ 设备已从VDA Worker中移除: ${manufacturer}/${serialNumber}`);
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console.log(`📊 剩余设备数量: ${remainingDevices}`);
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// 清理KV存储中的设备数据
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try {
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const keysToDelete = [
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`device:${manufacturer}/${serialNumber}`,
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`device-online:${manufacturer}/${serialNumber}`,
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`device-discovered:${manufacturer}/${serialNumber}`,
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`device-factsheet:${manufacturer}/${serialNumber}`
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];
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for (const key of keysToDelete) {
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await kv.delete([key]);
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console.log(`🧹 已清理KV数据: ${key}`);
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}
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} catch (error) {
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console.error(`❌ 清理KV数据失败: ${error}`);
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}
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break;
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}
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case "deviceListUpdated": {
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const { total, added, updated, removed, devices } = message.data;
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console.log(`📊 设备列表更新统计: 总数=${total}, 新增=${added}, 更新=${updated}, 移除=${removed}`);
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break;
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}
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case "shutdown":
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masterWorker.postMessage({ type: "shutdown" });
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break;
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default:
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console.warn("收到未知类型的消息:", message);
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}
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} catch (err) {
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console.error("处理消息时发生异常:", err);
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}
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};
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masterWorker.onerror = (error: any) => {
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console.error("Master Controller Worker 执行错误:", error);
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};
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return masterWorker;
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}
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// 定义读取并发送设备列表更新消息的函数
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// 直接移除单个设备（不依赖文件更新）
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export async function removeDeviceFromWorker(masterWorker: Worker, manufacturer: string, serialNumber: string) {
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console.log(`🗑️ 正在从VDA Worker中移除设备: ${manufacturer}/${serialNumber}`);
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masterWorker.postMessage({
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type: "removeDevice",
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data: { manufacturer, serialNumber }
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});
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}
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export async function updateDeviceListFromConfig(masterWorker: Worker, config: any, instanceId: string) {
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try {
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console.log("🔄 开始读取设备配置文件...");
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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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console.log(`📱 读取到 ${devices.length} 个设备配置:`);
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devices.forEach((device, index) => {
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console.log(` ${index + 1}. ${device.manufacturer}/${device.serialNumber}`);
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});
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// 发送初始化消息（如果需要）
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masterWorker.postMessage({
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type: "init",
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data: {
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brokerUrl: config.mqtt.brokerUrl,
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interfaceName: config.interfaceName,
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manufacturer: config.manufacturer,
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instanceId: instanceId
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},
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});
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// 将最新设备列表发送给 masterWorker
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masterWorker.postMessage({ type: "updateDeviceList", data: devices });
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console.log("✅ 设备列表已成功发送到 VDA Worker");
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} else {
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console.error("❌ 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("❌ 读取设备配置文件失败:", error);
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if (error instanceof Deno.errors.NotFound) {
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console.log("💡 提示：devices.json 文件不存在，将使用空设备列表");
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// 发送空设备列表
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masterWorker.postMessage({ type: "updateDeviceList", data: [] });
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}
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}
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}
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// Flag to prevent concurrent full-worker reconnects
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let isReconnectingAll = false;
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export function reconnectAllWorker(
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kv: Deno.Kv,
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webWorker: Worker,
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masterWorker: Worker,
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agvWorker: Worker,
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config: any,
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mappings: any,
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instanceId: string
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): Worker {
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if (isReconnectingAll) {
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console.log("reconnectAllWorker: 已在重连中，忽略重复调用");
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return masterWorker;
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}
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isReconnectingAll = true;
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console.log("vda 收到 master 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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masterWorker.postMessage({
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type: "shutdown"
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});
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masterWorker.terminate();
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agvWorker.terminate();
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setTimeout( () => {
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masterWorker.terminate();
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agvWorker.terminate();
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setTimeout( () => {
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const agvWorker = new Worker(
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new URL("./agv_worker.ts", import.meta.url).href,
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{ type: "module" }
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);
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const masterWorker = new Worker(
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new URL("./vda_worker.ts", import.meta.url).href,
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{ type: "module" }
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);
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setupAgvWorker(kv, config, masterWorker, agvWorker, webWorker, mappings, instanceId);
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initAgvWorker(agvWorker, config);
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setupMasterWorker(kv, webWorker, masterWorker, agvWorker, config, mappings, instanceId);
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updateDeviceListFromConfig(masterWorker, config, instanceId);
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// Reset flag after reconnect completes
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isReconnectingAll = false;
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}, 2000);
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}, 2000);
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return masterWorker;
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} |