udp服务停止问题调整

bj-rtss-message

@@ -1 +1 @@
-Subproject commit bc70ae80a0ed73ec417884710e02996103841bf9
+Subproject commit 7b637f0f519e0c6f5fa6817546f70000ac22fd10

rtss_simulation

@@ -1 +1 @@
-Subproject commit fa7211d7bdf68be1df571f222a047ddd6cd764b0
+Subproject commit 247003d00b1d1c37e467242ac9b3c35e012b0eb8

third_party/dynamics/dynamics.go

@@ -97,6 +97,7 @@ func (d *dynamics) Name() string {
 // 解码列车信息并处理
 func (d *dynamics) handleDynamicsTrainInfo(b []byte) {
 	d.udpDelayRecorder.RecordInterval()
+	// slog.Debug("动力学列车信息近期消息间隔", "intervals", d.udpDelayRecorder.GetIntervals())
 	trainInfo := &message.DynamicsTrainInfo{}
 	err := trainInfo.Decode(b)
 	if err != nil {
@@ -230,12 +231,16 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error {
 	}
 	d.manager = manager
 	// 初始化客户端信息
-	d.initDynamics()
+	err := d.initDynamics()
+	if err != nil {
+		d.Stop()
+		return err
+	}
 	// 初始化运行资源
-	err := d.initDynamicsRunRepository()
+	err = d.initDynamicsRunRepository()
 	if err != nil {
 		d.Stop() // 发送错误后将信息销毁
-		panic(err)
+		return err
 	}
 	ctx, cancle := context.WithCancel(context.Background())
 	go d.sendTurnoutStateTask(ctx)
@@ -246,13 +251,13 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error {
 }
 
 // 初始化客户端、服务等信息
-func (d *dynamics) initDynamics() {
+func (d *dynamics) initDynamics() error {
 	d.turnoutStateUdpClient = udp.NewClient(fmt.Sprintf("%v:%v", d.runConfig.Ip, d.runConfig.UdpRemotePort))
 	d.trainControlUdpClient = udp.NewClient(fmt.Sprintf("%v:%v", d.runConfig.Ip, d.runConfig.UdpRemoteTrainPort))
 	d.baseUrl = getUrlBase(d.runConfig)
 	d.httpClient = &http.Client{Timeout: time.Second * 5}
 	d.trainInfoUdpServer = udp.NewServer(fmt.Sprintf(":%d", d.runConfig.UdpLocalPort), d.handleDynamicsTrainInfo)
-	d.trainInfoUdpServer.Listen()
+	return d.trainInfoUdpServer.Listen()
 }
 
 // 动力学运行所需数据
@@ -268,23 +273,27 @@ func (d *dynamics) initDynamicsRunRepository() error {
 func (d *dynamics) Stop() {
 	initMutex.Lock()
 	defer initMutex.Unlock()
+	slog.Debug("动力学服务停止")
 	// 停止网络监听
 	d.udpDelayRecorder.Stop()
+	if d.turnoutTaskCancel != nil {
+		d.turnoutTaskCancel()
+	}
 	if d.httpClient != nil {
 		d.requestStopSimulation()
 		d.httpClient = nil
 	}
 	if d.turnoutStateUdpClient != nil {
 		d.turnoutStateUdpClient.Close()
+		d.turnoutStateUdpClient = nil
 	}
 	if d.trainControlUdpClient != nil {
 		d.trainControlUdpClient.Close()
+		d.trainControlUdpClient = nil
 	}
 	if d.trainInfoUdpServer != nil {
 		d.trainInfoUdpServer.Close()
-	}
-	if d.turnoutTaskCancel != nil {
-		d.turnoutTaskCancel()
+		d.trainInfoUdpServer = nil
 	}
 	d.manager = nil
 	d.updateState(tpapi.ThirdPartyState_Closed)

third_party/semi_physical_train/semi_physical_train.go

@@ -2,7 +2,6 @@ package semi_physical_train
 
 import (
 	"fmt"
-	"log/slog"
 	"sync"
 
 	"joylink.club/bj-rtsts-server/config"
@@ -55,7 +54,7 @@ func (s *semiPhysicalTrainImpl) Name() string {
 
 func (s *semiPhysicalTrainImpl) handleTrainControlMsg(b []byte) {
 	s.udpDelayRecorder.RecordInterval()
-	slog.Debug(fmt.Sprintf("半实物列车控制消息近期消息间隔: %v", s.udpDelayRecorder.GetIntervals()))
+	// slog.Debug(fmt.Sprintf("半实物列车控制消息近期消息间隔: %v", s.udpDelayRecorder.GetIntervals()))
 	handler := s.manager
 	if handler != nil {
 		handler.HandleSemiPhysicalTrainControlMsg(b)

third_party/third_party.go

@@ -28,8 +28,9 @@ func convertServiceName(name string) state_proto.SimulationThirdPartyApiService_
 		return state_proto.SimulationThirdPartyApiService_Dynamics
 	case semi_physical_train.Name:
 		return state_proto.SimulationThirdPartyApiService_SemiPhysicalTrain
+	default:
+		return state_proto.SimulationThirdPartyApiService_Undefined
 	}
-	return state_proto.SimulationThirdPartyApiService_Undefined
 }
 
 func GetRunningServiceStates() *state_proto.SimulationThirdPartyApiService {
@@ -38,6 +39,7 @@ func GetRunningServiceStates() *state_proto.SimulationThirdPartyApiService {
 		t := convertServiceName(tpas.Name())
 		if t == state_proto.SimulationThirdPartyApiService_Undefined {
 			slog.Error("未知的第三方接口服务类型", "name", tpas.Name())
+			continue
 		}
 		switch tpas.State() {
 		case tpapi.ThirdPartyState_Normal:

third_party/udp/udp_client.go

@@ -6,8 +6,8 @@ import (
 )
 
 type UdpClient interface {
-	SendMsg(msg UdpMessageEncoder)
-	Send(b []byte)
+	SendMsg(msg UdpMessageEncoder) error
+	Send(b []byte) error
 	Close()
 }
 
@@ -62,20 +62,24 @@ func NewClientWithLocalAddr(remoteAddr string, localAddr string) UdpClient {
 	return c
 }
 
-func (c *client) SendMsg(msg UdpMessageEncoder) {
+func (c *client) SendMsg(msg UdpMessageEncoder) error {
 	b := msg.Encode()
 	_, err := c.conn.Write(b)
 	if err != nil {
 		slog.Error("udp client send error", "error", err)
+		return err
 	}
+	return nil
 	// slog.Debug("udp client send", "size", n)
 }
 
-func (c *client) Send(b []byte) {
+func (c *client) Send(b []byte) error {
 	_, err := c.conn.Write(b)
 	if err != nil {
 		slog.Error("udp client send error", "error", err)
+		return err
 	}
+	return nil
 	// slog.Debug("udp client send", "size", n)
 }
 

third_party/udp/udp_server.go

@@ -8,7 +8,7 @@ import (
 )
 
 type UdpServer interface {
-	Listen()
+	Listen() error
 	Close()
 }
 
@@ -19,44 +19,49 @@ type server struct {
 	conn     *net.UDPConn
 	handler  UdpMsgHandler
 	cancelFn context.CancelFunc
+	done     chan struct{} // 服务协程退出信号
 }
 
 // NewServer creates a new instance of UdpServer.
 func NewServer(addr string, handler UdpMsgHandler) UdpServer {
-	return &server{addr: addr, handler: handler}
+	return &server{addr: addr, handler: handler, done: make(chan struct{})}
 }
 
-func (s *server) Listen() {
+func (s *server) Listen() error {
 	udpAddr, err := net.ResolveUDPAddr("udp", s.addr)
 	if err != nil {
-		panic(err)
+		return err
 	}
 	conn, err := net.ListenUDP("udp", udpAddr)
 	if err != nil {
-		panic(err)
+		return err
 	}
 	s.conn = conn
 	ctx, cfn := context.WithCancel(context.Background())
 	// 启动监听处理
 	go s.listenAndHandle(ctx)
 	s.cancelFn = cfn
+	return nil
 }
 
 func (s *server) Close() {
+	err := s.conn.Close()
+	if err != nil {
+		slog.Error("udp server close error", "error", err)
+	}
 	s.cancelFn()
-	// err := s.conn.Close()
-	// if err != nil {
-	// 	slog.Error("udp server close error", "error", err)
-	// }
+	<-s.done
 }
 
 func (s *server) listenAndHandle(ctx context.Context) {
+	defer close(s.done)
 	defer s.conn.Close()
+mainLoop:
 	for {
 		select {
 		case <-ctx.Done():
-			slog.Info("udp server listen 关闭", "addr", s.addr)
-			return
+			// slog.Info("udp server listen 关闭", "addr", s.addr)
+			break mainLoop
 		default:
 		}
 		buf := make([]byte, 1024)

ts/test_simulation_manage.go

@@ -84,7 +84,7 @@ func DestroySimulation(simulationId string) {
 	// 停止ecs world
 	simulationInfo.World.Close()
 	message_server.Close(simulationInfo)
-	// 发布销毁消息
+	// 确保发布销毁消息
 	message_server.PubSimulationDestroyMsg(simulationId)
 	// 停止第三方
 	stopThirdParty(simulationInfo)