rts-sim-testing-service/third_party/electrical_machinery/electrical_machinery.go

package electrical_machinery

import (
	"fmt"
	"sync"

	"joylink.club/bj-rtsts-server/config"
	"joylink.club/bj-rtsts-server/third_party/message"
	"joylink.club/bj-rtsts-server/third_party/udp"
)

// 电机转速UDP
type ElectricMachinery interface {
	Start(manager ElectricMachineryMessageManager)                // 启动电机转速UDP消息处理
	Stop()                                                        // 停止电机转速消息处理
	SendElectricMachineryMessage(info *message.ElectricMachinery) // 发送电机转速消息
}

type ElectricMachineryMessageManager interface {
	GetElectricMachineryRunConfig() *config.ElectricMachineryConfig // 获取电机转速参数
}

type electricalMachineryImpl struct {
	electricalMachineryUdpClient udp.UdpClient

	manager   ElectricMachineryMessageManager
	runConfig *config.ElectricMachineryConfig
}

func (s *electricalMachineryImpl) Start(manager ElectricMachineryMessageManager) {
	if manager == nil {
		panic("启动电机转速消息服务错误: ElectricMachineryMessageManager不能为nil")
	}
	if s.manager != nil {
		panic("启动电机转速消息服务错误: 存在正在运行的任务")
	}
	s.runConfig = manager.GetElectricMachineryRunConfig()
	if s.runConfig == nil || s.runConfig.Ip == "" || !s.runConfig.Open {
		return
	}
	// 初始化客户端、服务端
	s.initElectricalMachinery()
	s.manager = manager
}

func (s *electricalMachineryImpl) Stop() {
	initMutex.Lock()
	defer initMutex.Unlock()
	_default = nil
	if s.electricalMachineryUdpClient != nil {
		s.electricalMachineryUdpClient.Close()
	}
	s.manager = nil
}

func (s *electricalMachineryImpl) SendElectricMachineryMessage(info *message.ElectricMachinery) {
	if s.electricalMachineryUdpClient == nil {
		return
	}
	s.electricalMachineryUdpClient.Send(info.Encode())
}

func (s *electricalMachineryImpl) initElectricalMachinery() {
	s.electricalMachineryUdpClient = udp.NewClient(fmt.Sprintf("%v:%v", s.runConfig.Ip, s.runConfig.RemotePort))
}

var _default ElectricMachinery
var initMutex sync.Mutex

func Default() ElectricMachinery {
	initMutex.Lock()
	defer initMutex.Unlock()
	if _default == nil {
		_default = &electricalMachineryImpl{}
	}
	return _default
}