cicv_data_closed_loop/aarch64/pjibot_guide/common/config/c_websocket.go

package config

import (
	"cicv-data-closedloop/common/config/c_log"
	"encoding/json"
	"fmt"
	"github.com/gorilla/websocket"
	"net/url"
	"time"
)

var (
	WsConn                 *websocket.Conn
	reconnectionInProgress bool
)

// Request 结构体定义
type Request struct {
	Type      string      `json:"type"`
	UUID      string      `json:"uuid"`
	CommandID string      `json:"commandId"`
	Parameter interface{} `json:"parameter"`
}

// Request1 结构体定义
type Request1 struct {
	Type      string      `json:"type"`
	CommandID string      `json:"commandId"`
	Parameter interface{} `json:"parameter"`
}

// Response 结构体定义
type Response struct {
	CommandID string            `json:"commandId"`
	ErrorCode string            `json:"errorCode"`
	Results   map[string]string `json:"results"`
	Status    string            `json:"status"`
	Time      int64             `json:"time"`
	Type      string            `json:"type"`
	UUID      string            `json:"uuid"`
}

// StatusMessage 状态消息 结构体定义
type StatusMessage struct {
	Type  string      `json:"type"`
	Topic string      `json:"topic"`
	Time  int64       `json:"time"`
	Data  interface{} `json:"data"`
}

func keepAlive() {
	ticker := time.NewTicker(30 * time.Second)
	defer ticker.Stop()

	for {
		select {
		case <-ticker.C:
			response, err := sendRequestAndAwaitResponse(WsConn)
			if err != nil || response == nil {
				continue
			}
			var responseMessage Response
			err = json.Unmarshal(response, &responseMessage)
			if err != nil {
				c_log.GlobalLogger.Error("保持websocket连接活跃，解析websocket响应 - 失败。", err)
				continue
			}
			c_log.GlobalLogger.Error("responseMessage", responseMessage)
			if responseMessage.Status != "OK" {
				WsConn.Close()
				c_log.GlobalLogger.Info("重试连接websocket...")
				ConnectWebsocket() // 重新连接
				continue
			}
		}
	}
}

func sendRequestAndAwaitResponse(ws *websocket.Conn) ([]byte, error) {
	request := Request1{
		Type:      "request",
		CommandID: "heart",
		Parameter: nil,
	}

	requestJSON, err := json.Marshal(request)
	if err != nil {
		c_log.GlobalLogger.Error("保持websocket连接活跃，解析requestJSON - 失败。", err)
		return nil, err
	}

	err = ws.WriteMessage(websocket.TextMessage, requestJSON)
	if err != nil {
		c_log.GlobalLogger.Error("保持websocket连接活跃，发送心跳请求 - 失败。", err)
		return nil, err
	}
	c_log.GlobalLogger.Info("保持websocket连接活跃，发送心跳请求 - 成功。")

	// 使用channel等待响应
	responseChan := make(chan []byte)
	go handleMessages(ws, responseChan)

	select {
	case response := <-responseChan:
		c_log.GlobalLogger.Error("保持websocket连接活跃，等待心跳响应 - 成功。")
		return response, nil
	case <-time.After(30 * time.Second): // 设置超时时间
		c_log.GlobalLogger.Error("保持websocket连接活跃，等待心跳响应 - 超时。")
		return nil, fmt.Errorf("保持websocket连接活跃，等待心跳响应 - 超时。")
	}
}

func handleMessages(ws *websocket.Conn, responseChan chan<- []byte) {
	for {
		time.Sleep(100 * time.Millisecond)
		_, message, err := ws.ReadMessage()
		if err != nil {
			c_log.GlobalLogger.Error("保持websocket连接活跃，读取websocket消息 - 失败 ", err)
			return
		}

		var response Response
		if err := json.Unmarshal(message, &response); err == nil && response.Type == "response" {
			responseChan <- message
			close(responseChan)
			return
		}
	}
}

func ConnectWebsocket() {
	for {
		// 防止重复调用
		if reconnectionInProgress {
			return
		}
		reconnectionInProgress = true
		c_log.GlobalLogger.Info("初始化Websocket连接 - 开始。")
		serverURL := LocalConfig.Node.Ip + ":" + LocalConfig.LocalWebsocketPort
		path := "/"

		// 构建WebSocket连接URL
		u := url.URL{Scheme: "ws", Host: serverURL, Path: path}
		c_log.GlobalLogger.Info("URL:", u.String())

		// 创建一个Dialer实例，用于建立WebSocket连接
		dialer := websocket.Dialer{
			ReadBufferSize:  1024,
			WriteBufferSize: 1024,
			// 可选：设置超时等
			HandshakeTimeout: 5 * time.Minute,
		}

		// 建立WebSocket连接
		coon, _, err := dialer.Dial(u.String(), nil)
		if err != nil {
			fmt.Println("err:", err)
			c_log.GlobalLogger.Error("初始化Websocket连接 - 失败。")
			time.Sleep(5 * time.Second)
			reconnectionInProgress = false
			c_log.GlobalLogger.Info("重试连接websocket...")
			continue
		}

		WsConn = coon
		c_log.GlobalLogger.Info("初始化Websocket连接 - 成功。")
		// 连接成功，退出循环
		reconnectionInProgress = false
		break
	}
}

func InitWebsocketConfig() {
	ConnectWebsocket()
	// 保持连接活跃
	go keepAlive()
}