半实物连通性测试完成，添加DDS连接重试机制

pom.xml

@@ -35,6 +35,11 @@
             <artifactId>spring-cloud-starter-openfeign</artifactId>
             <version>2.2.6.RELEASE</version>
         </dependency>
+        <dependency>
+            <groupId>org.springframework.cloud</groupId>
+            <artifactId>spring-cloud-loadbalancer</artifactId>
+            <version>2.2.6.RELEASE</version>
+        </dependency>
 <!--        R类需要-->
         <dependency>
             <groupId>org.apache.httpcomponents</groupId>

src/main/java/com/dc/datachange/core/connection/DDSPublisher.java

@@ -8,6 +8,7 @@ import Messenger.MessageTypeSupportImpl;
 import OpenDDS.DCPS.DEFAULT_STATUS_MASK;
 import OpenDDS.DCPS.TheParticipantFactory;
 import com.dc.datachange.core.common.ConnectionParams;
+import com.dc.datachange.exception.InitialFailedException;
 import lombok.extern.slf4j.Slf4j;
 import org.omg.CORBA.StringSeqHolder;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -30,122 +31,136 @@ public class DDSPublisher {
     private int instanceHandle;
     private MessageDataWriter mdw;
     private final ExecutorService matchService = Executors.newSingleThreadExecutor();
+    private static final int MAX_RETRIES = 5;  // 最大重试次数
+    private int retryCount = 0;                // 当前重试计数
 
     @PostConstruct
     private void initialize(){
-        try {
-            // ... 原有初始化代码到创建DataWriter为止...
-            log.info("Start Publisher");
-
-            DomainParticipantFactory dpf = TheParticipantFactory.WithArgs(new StringSeqHolder(params.toArgs()));
-            if (dpf == null) {
-                log.error("ERROR: Domain Participant Factory not found");
-                return;
-            }
-            DomainParticipant dp = dpf.create_participant(4,
-                    PARTICIPANT_QOS_DEFAULT.get(), null, DEFAULT_STATUS_MASK.value);
-            if (dp == null) {
-                log.error("ERROR: Domain Participant creation failed");
+        while (retryCount <= MAX_RETRIES) {
+            try {
+                // 核心初始化逻辑封装
+                doInitialize();
+                isInitialized = true;
+                log.info("Publisher initialization succeeded after {} retries", retryCount);
                 return;
+            } catch (Exception e) {
+                log.error(e.getMessage());
+                retryCount++;
+                if (retryCount > MAX_RETRIES) {
+                    log.error("Max retries {} exceeded, initialization failed", MAX_RETRIES);
+                    // 抛出Bean初始化异常
+                    throw new IllegalStateException("DDS Publisher initialization failed after " + MAX_RETRIES + " retries", e);
+                }
+                log.warn("Initialization failed, retrying ({}/{})", retryCount, MAX_RETRIES);
+                // 可添加重试间隔（如指数退避）
+                try { Thread.sleep(1000L * retryCount); }
+                catch (InterruptedException ex) { Thread.currentThread().interrupt(); }
             }
+        }
+    }
 
-            MessageTypeSupportImpl servant = new MessageTypeSupportImpl();
-            if (servant.register_type(dp, "") != RETCODE_OK.value) {
-                log.error("ERROR: register_type failed");
-                return;
-            }
+    private void doInitialize() {
+        log.info("Start Publisher");
 
-            Topic top = dp.create_topic("Movie Discussion List",
-                    servant.get_type_name(),
-                    TOPIC_QOS_DEFAULT.get(),
-                    null,
-                    DEFAULT_STATUS_MASK.value);
-            if (top == null) {
-                log.error("ERROR: Topic creation failed");
-                return;
-            }
+        DomainParticipantFactory dpf = TheParticipantFactory.WithArgs(new StringSeqHolder(params.toArgs()));
+        if (dpf == null) {
+            throw new InitialFailedException("ERROR: Domain Participant Factory not found");
+        }
 
-            Publisher pub = dp.create_publisher(PUBLISHER_QOS_DEFAULT.get(), null,
-                    DEFAULT_STATUS_MASK.value);
-            if (pub == null) {
-                log.error("ERROR: Publisher creation failed");
-                return;
-            }
+        DomainParticipant dp = dpf.create_participant(4,
+                PARTICIPANT_QOS_DEFAULT.get(), null, DEFAULT_STATUS_MASK.value);
+        if (dp == null) {
+            throw new InitialFailedException("ERROR: Domain Participant creation failed");
+        }
 
-            // Use the default transport configuration (do nothing)
-
-            DataWriterQos dw_qos = new DataWriterQos();
-            dw_qos.durability = new DurabilityQosPolicy();
-            dw_qos.durability.kind = DurabilityQosPolicyKind.from_int(0);
-            dw_qos.durability_service = new DurabilityServiceQosPolicy();
-            dw_qos.durability_service.history_kind = HistoryQosPolicyKind.from_int(0);
-            dw_qos.durability_service.service_cleanup_delay = new Duration_t();
-            dw_qos.deadline = new DeadlineQosPolicy();
-            dw_qos.deadline.period = new Duration_t();
-            dw_qos.latency_budget = new LatencyBudgetQosPolicy();
-            dw_qos.latency_budget.duration = new Duration_t();
-            dw_qos.liveliness = new LivelinessQosPolicy();
-            dw_qos.liveliness.kind = LivelinessQosPolicyKind.from_int(0);
-            dw_qos.liveliness.lease_duration = new Duration_t();
-            dw_qos.reliability = new ReliabilityQosPolicy();
-            dw_qos.reliability.kind = ReliabilityQosPolicyKind.from_int(0);
-            dw_qos.reliability.max_blocking_time = new Duration_t();
-            dw_qos.destination_order = new DestinationOrderQosPolicy();
-            dw_qos.destination_order.kind = DestinationOrderQosPolicyKind.from_int(0);
-            dw_qos.history = new HistoryQosPolicy();
-            dw_qos.history.kind = HistoryQosPolicyKind.from_int(0);
-            dw_qos.resource_limits = new ResourceLimitsQosPolicy();
-            dw_qos.transport_priority = new TransportPriorityQosPolicy();
-            dw_qos.lifespan = new LifespanQosPolicy();
-            dw_qos.lifespan.duration = new Duration_t();
-            dw_qos.user_data = new UserDataQosPolicy();
-            dw_qos.user_data.value = new byte[0];
-            dw_qos.ownership = new OwnershipQosPolicy();
-            dw_qos.ownership.kind = OwnershipQosPolicyKind.from_int(0);
-            dw_qos.ownership_strength = new OwnershipStrengthQosPolicy();
-            dw_qos.writer_data_lifecycle = new WriterDataLifecycleQosPolicy();
-            dw_qos.representation = new DataRepresentationQosPolicy();
-            dw_qos.representation.value = new short[0];
-
-            DataWriterQosHolder qosh = new DataWriterQosHolder(dw_qos);
-            pub.get_default_datawriter_qos(qosh);
-            qosh.value.history.kind = HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
-            if (params.isReliable()) {
-                qosh.value.reliability.kind =
-                        ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
-            }
-            DataWriter dw = pub.create_datawriter(top,
-                    qosh.value,
-                    null,
-                    DEFAULT_STATUS_MASK.value);
-            if (dw == null) {
-                log.error("ERROR: DataWriter creation failed");
-                return;
-            }
-            log.info("Publisher Created DataWriter");
+        MessageTypeSupportImpl servant = new MessageTypeSupportImpl();
+        if (servant.register_type(dp, "") != RETCODE_OK.value) {
+            throw new InitialFailedException("ERROR: register_type failed");
+        }
+
+        Topic top = dp.create_topic("Movie Discussion List",
+                servant.get_type_name(),
+                TOPIC_QOS_DEFAULT.get(),
+                null,
+                DEFAULT_STATUS_MASK.value);
+        if (top == null) {
+            throw new InitialFailedException("ERROR: Topic creation failed");
+        }
 
-            StatusCondition sc = dw.get_statuscondition();
-            sc.set_enabled_statuses(PUBLICATION_MATCHED_STATUS.value);
-            WaitSet ws = new WaitSet();
-            ws.attach_condition(sc);
+        Publisher pub = dp.create_publisher(PUBLISHER_QOS_DEFAULT.get(), null,
+                DEFAULT_STATUS_MASK.value);
+        if (pub == null) {
+            throw new InitialFailedException("ERROR: Publisher creation failed");
+        }
 
-            PublicationMatchedStatusHolder matched =
-                    new PublicationMatchedStatusHolder(new PublicationMatchedStatus());
-            ws.detach_condition(sc);
-            mdw = MessageDataWriterHelper.narrow(dw);
+        // Use the default transport configuration (do nothing)
+
+        DataWriterQos dw_qos = new DataWriterQos();
+        dw_qos.durability = new DurabilityQosPolicy();
+        dw_qos.durability.kind = DurabilityQosPolicyKind.from_int(0);
+        dw_qos.durability_service = new DurabilityServiceQosPolicy();
+        dw_qos.durability_service.history_kind = HistoryQosPolicyKind.from_int(0);
+        dw_qos.durability_service.service_cleanup_delay = new Duration_t();
+        dw_qos.deadline = new DeadlineQosPolicy();
+        dw_qos.deadline.period = new Duration_t();
+        dw_qos.latency_budget = new LatencyBudgetQosPolicy();
+        dw_qos.latency_budget.duration = new Duration_t();
+        dw_qos.liveliness = new LivelinessQosPolicy();
+        dw_qos.liveliness.kind = LivelinessQosPolicyKind.from_int(0);
+        dw_qos.liveliness.lease_duration = new Duration_t();
+        dw_qos.reliability = new ReliabilityQosPolicy();
+        dw_qos.reliability.kind = ReliabilityQosPolicyKind.from_int(0);
+        dw_qos.reliability.max_blocking_time = new Duration_t();
+        dw_qos.destination_order = new DestinationOrderQosPolicy();
+        dw_qos.destination_order.kind = DestinationOrderQosPolicyKind.from_int(0);
+        dw_qos.history = new HistoryQosPolicy();
+        dw_qos.history.kind = HistoryQosPolicyKind.from_int(0);
+        dw_qos.resource_limits = new ResourceLimitsQosPolicy();
+        dw_qos.transport_priority = new TransportPriorityQosPolicy();
+        dw_qos.lifespan = new LifespanQosPolicy();
+        dw_qos.lifespan.duration = new Duration_t();
+        dw_qos.user_data = new UserDataQosPolicy();
+        dw_qos.user_data.value = new byte[0];
+        dw_qos.ownership = new OwnershipQosPolicy();
+        dw_qos.ownership.kind = OwnershipQosPolicyKind.from_int(0);
+        dw_qos.ownership_strength = new OwnershipStrengthQosPolicy();
+        dw_qos.writer_data_lifecycle = new WriterDataLifecycleQosPolicy();
+        dw_qos.representation = new DataRepresentationQosPolicy();
+        dw_qos.representation.value = new short[0];
+
+        DataWriterQosHolder qosh = new DataWriterQosHolder(dw_qos);
+        pub.get_default_datawriter_qos(qosh);
+        qosh.value.history.kind = HistoryQosPolicyKind.KEEP_ALL_HISTORY_QOS;
+        if (params.isReliable()) {
+            qosh.value.reliability.kind =
+                    ReliabilityQosPolicyKind.RELIABLE_RELIABILITY_QOS;
+        }
+        DataWriter dw = pub.create_datawriter(top,
+                qosh.value,
+                null,
+                DEFAULT_STATUS_MASK.value);
+        if (dw == null) {
+            throw new InitialFailedException("ERROR: DataWriter creation failed");
+        }
+        log.info("Publisher Created DataWriter");
 
-            matchService.submit(()->waitMatch(dw,ws,matched));
+        StatusCondition sc = dw.get_statuscondition();
+        sc.set_enabled_statuses(PUBLICATION_MATCHED_STATUS.value);
+        WaitSet ws = new WaitSet();
+        ws.attach_condition(sc);
 
-            Message template = new Message();
-            template.subject_id = 99;
-            instanceHandle = mdw.register_instance(template);
-//            executorService.submit(this::processMessageQueue);
-            isInitialized = true;
+        PublicationMatchedStatusHolder matched =
+                new PublicationMatchedStatusHolder(new PublicationMatchedStatus());
+        ws.detach_condition(sc);
+        mdw = MessageDataWriterHelper.narrow(dw);
 
-        } catch (Exception e) {
-            log.error(e.getMessage());
-            e.printStackTrace();
-        }
+        matchService.submit(() -> waitMatch(dw, ws, matched));
+
+        Message template = new Message();
+        template.subject_id = 99;
+        instanceHandle = mdw.register_instance(template);
+//            executorService.submit(this::processMessageQueue);
+        isInitialized = true;
     }
 
     private void waitMatch(DataWriter dw, WaitSet ws, PublicationMatchedStatusHolder matched) {

src/main/java/com/dc/datachange/exception/InitialFailedException.java

@@ -0,0 +1,7 @@
+package com.dc.datachange.exception;
+
+public class InitialFailedException extends RuntimeException{
+    public InitialFailedException(String msg){
+        super(msg);
+    }
+}

src/main/java/com/dc/datachange/remote/SDRClient.java

@@ -3,10 +3,11 @@ package com.dc.datachange.remote;
 import org.springframework.cloud.openfeign.FeignClient;
 import org.springframework.web.bind.annotation.GetMapping;
 
+import java.util.List;
 import java.util.Map;
 
 @FeignClient(name="SDR")
 public interface SDRClient {
-    @GetMapping("/sdk/send")
-    Map<String,String> send();
+    @GetMapping("/api/sdk/send")
+    Map<String, List<Integer>> send();
 }

src/main/java/com/dc/datachange/remote/SDRController.java

@@ -1,17 +1,22 @@
 package com.dc.datachange.remote;
 
-import com.dc.datachange.utils.R;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
-@RestController("/SDR")
+@RestController
+@RequestMapping("/SDR")
 public class SDRController {
+    private final SDRClient SDRClient;
+
     @Autowired
-    private SDRClient sdrClient;
+    public SDRController(SDRClient SDRClient) {
+        this.SDRClient = SDRClient;
+    }
 
     @GetMapping("/send")
-    public R Send(){
-        return R.ok(sdrClient.send().toString());
+    public String Send(){
+        return SDRClient.send().toString();
     }
 }