api-amr/device_simulator.ts

// device_simulator.ts - 设备模拟器Worker
import { connect, MqttClient } from "npm:mqtt@5.10.1";
import { ModbusManager } from "./modbus_manager.ts";
import { getDefaultPollInterval, parseRegistersFromString, createModbusPollConfigFromRegisters } from "./device_protocol_config.ts";
import { createModuleLogger, perfMonitor, logMemoryUsage } from "./debug_logger.ts";

interface DeviceInfo {
  ip: string;
  port: string;
  slaveId: string;
  deviceName: string;
  protocolType: string;
  brandName: string;
  registers: string;
}

interface DeviceWorkerMessage {
  type: "init" | "close" | "reconnect" | "action";
  data?: any;
}

interface DeviceMainMessage {
  type: "ready" | "error" | "status" | "log" | "reset";
  data?: any;
}

interface DeviceConfig {
  deviceId: string;
  deviceInfo: DeviceInfo;
  vdaInterface: string;
  mqtt: {
    brokerUrl: string;
    options: any;
  };
  vehicle: {
    manufacturer: string;
    serialNumber: string;
    vdaVersion: string;
  };
  // 设备创建时的动作参数
  actionParameters?: Array<{
    key: string;
    value: string;
  }>;
  modbus?: {
    host: string;
    port: number;
    unitId: number;
    poll: Array<{
      fn: "readHoldingRegisters" | "readInputRegisters" | "readCoils" | "readDiscreteInputs";
      start: number;
      len: number;
      mqttKey: string;
      bind?: string;
    }>;
    pollInterval: number;
  };
}

interface Position {
  x: number;
  y: number;
  theta: number;
  mapId: string;
  mapDescription?: string;
}

interface NodeState {
  nodeId: string;
  sequenceId: number;
  nodeDescription?: string;
  nodePosition?: Position;
  released: boolean;
}

interface EdgeState {
  edgeId: string;
  sequenceId: number;
  edgeDescription?: string;
  released: boolean;
  trajectory?: Position[];
}

interface AgvPosition {
  x: number;
  y: number;
  theta: number;
  mapId: string;
  mapDescription?: string;
  positionInitialized: boolean;
  localizationScore: number;
  deviationRange: number;
}

interface Velocity {
  vx: number;
  vy: number;
  omega: number;
}

interface BatteryState {
  batteryCharge: number;
  batteryVoltage: number;
  batteryHealth: number;
  charging: boolean;
  reach: number;
}

interface ErrorState {
  errorType: string;
  errorLevel: "WARNING" | "FATAL";
  errorDescription: string;
  errorHint?: string;
  errorReferences?: Array<{ referenceKey: string; referenceValue: string }>;
}

interface SafetyState {
  eStop: string;
  fieldViolation: boolean;
}



interface ActionState {
  actionType: string;
  actionId: string;
  actionDescription?: string;
  actionStatus: "WAITING" | "INITIALIZING" | "RUNNING" | "PAUSED" | "FINISHED" | "FAILED";
  resultDescription?: string;
  actionParameters?: Array<{ key: string; value: string }>;
  blockingType: "NONE" | "SOFT" | "HARD";
}

interface AgvState {
  headerId: number;
  timestamp: string;
  version: string;
  manufacturer: string;
  serialNumber: string;
  orderId: string;
  orderUpdateId: number;
  zoneSetId: string;
  lastNodeId: string;
  lastNodeSequenceId: number;
  driving: boolean;
  paused: boolean;
  newBaseRequest: boolean;
  distanceSinceLastNode: number;
  operatingMode: "AUTOMATIC" | "SEMIAUTOMATIC" | "MANUAL" | "SERVICE" | "TEACHIN";
  nodeStates: NodeState[];
  edgeStates: EdgeState[];
  agvPosition: AgvPosition;
  velocity: Velocity;
  loads: any[];
  batteryState: BatteryState;
  errors: ErrorState[];
  information: any[];
  safetyState: SafetyState;
  actionStates: ActionState[];
  waitingForInteractionZoneRelease: boolean;
  forkState?: any;
}

interface Connection {
  headerId: number;
  timestamp: string;
  version: string;
  manufacturer: string;
  serialNumber: string;
  connectionState: "ONLINE" | "OFFLINE" | "CONNECTIONBROKEN";
}

class DeviceSimulator {
  private client!: MqttClient;
  private config!: DeviceConfig;
  private state!: AgvState;
  private connection!: Connection;
  private stateInterval?: number;
  private connectionInterval?: number;
  private headerId = 1;
  private isConnected = false;
  private deviceActions: ActionState[] = [];
  private modbus!: ModbusManager;
  private modbusPollTimer?: number;
  private logger = createModuleLogger("DEVICE_SIMULATOR");
  private enableLog = false;
  private log(message: string) {
    if(this.enableLog){
      const timestamp = new Date().toISOString();
      const logMessage = `[${timestamp}] [Device ${this.config.deviceId}] ${message}`;
      console.log(logMessage);
      
      // 发送日志到主进程
      self.postMessage({
        type: "log",
        data: { message: logMessage }
      } as DeviceMainMessage);
    }
    
  }

  private sendMessage(type: string, data?: any) {
    self.postMessage({ type, data } as DeviceMainMessage);
  }

  private getFunctionCodeDescription(fnCode: string): string {
    const descriptions: Record<string, string> = {
      "1": "Read Coils (读线圈)",
      "2": "Read Discrete Inputs (读离散输入)",
      "3": "Read Holding Registers (读保持寄存器)",
      "4": "Read Input Registers (读输入寄存器)",
      "5": "Write Single Coil (写单个线圈)",
      "6": "Write Single Register (写单个寄存器)",
      "15": "Write Multiple Coils (写多个线圈)",
      "16": "Write Multiple Registers (写多个寄存器)"
    };
    return descriptions[fnCode] || `Unknown Function Code (未知功能码 ${fnCode})`;
  }

  private getFunctionCodeFromModbusFunction(modbusFunction: string): string {
    const functionMap: Record<string, string> = {
      "readCoils": "1",
      "readDiscreteInputs": "2", 
      "readHoldingRegisters": "3",
      "readInputRegisters": "4"
    };
    return functionMap[modbusFunction] || "3"; // 默认为读保持寄存器
  }

  private updateRegisterInformation(registerName: string, bind: string, values: number[], address: number, count: number, modbusFunction: string, timestamp: string): void {
    // 创建符合VDA 5050标准的信息项，将寄存器信息放到infoReferences中
    const infoType = `CUSTOM_REGISTER`;
    const infoDescription = `REGISTER_${registerName.toUpperCase()}`;
    const informationItem = {
      infoType: infoType,
      infoDescription: infoDescription,
      infoLevel: "INFO",
      infoReferences: [
        { referenceKey: "name", referenceValue: registerName },
        { referenceKey: "bind", referenceValue: bind },
        { referenceKey: "values", referenceValue: JSON.stringify(values) },
        { referenceKey: "address", referenceValue: address.toString() },
        { referenceKey: "count", referenceValue: count.toString() },
        { referenceKey: "function", referenceValue: modbusFunction },
        { referenceKey: "timestamp", referenceValue: timestamp }
      ]
    };

    // 查找是否已存在相同寄存器的信息项
    const existingIndex = this.state.information.findIndex(info => 
      info.infoDescription === infoDescription
    );

    if (existingIndex >= 0) {
      // 更新现有信息项
      this.state.information[existingIndex] = informationItem;
      this.logger.trace("🔄 Updated register information", {
        registerName,
        infoType,
        address,
        newValues: values,
        timestamp
      });
    } else {
      // 添加新信息项
      this.state.information.push(informationItem);
      this.logger.trace("➕ Added new register information", {
        registerName,
        infoType,
        address,
        values,
        totalInformation: this.state.information.length
      });
    }

    // 可选：限制information数组的大小，避免无限增长
    const maxInformation = 100; // 最多保留100个信息项
    if (this.state.information.length > maxInformation) {
      // 删除最旧的信息项（按时间戳排序）
      this.state.information.sort((a, b) => {
        const timeA = new Date(a.timeOfOccurrence).getTime();
        const timeB = new Date(b.timeOfOccurrence).getTime();
        return timeA - timeB;
      });
      
      const removedItems = this.state.information.splice(0, this.state.information.length - maxInformation);
      this.logger.debug("🗑️ Removed old information items", {
        removedCount: removedItems.length,
        remainingCount: this.state.information.length
      });
    }
  }

  async initialize(config: DeviceConfig) {
    this.config = config;
    this.logger.info("🚀 Initializing device simulator", {
      deviceId: config.deviceId,
      deviceName: config.deviceInfo?.deviceName,
      protocol: config.deviceInfo?.protocolType
    });
    // console.log(config);
    logMemoryUsage("DEVICE_SIMULATOR");

    try {
      await perfMonitor.measureAsync("device_initialization", async () => {
        await this.connectMqtt();
        await this.setupModbus();
        this.initializeState();
        this.initializeConnection();
        this.startPeriodicReporting();
      });
      
      this.logger.info("✅ Device simulator initialized successfully");
      this.log("Device simulator initialized successfully");
      this.sendMessage("ready");
    } catch (error) {
      this.logger.error("❌ Failed to initialize device simulator", error);
      this.log(`Failed to initialize: ${(error as Error).message}`);
      
      // 如果初始化失败，请求重启worker
      if ((error as Error).message.includes("MQTT") || (error as Error).message.includes("timeout")) {
        this.log(`❌ Initialization failed due to MQTT issue, requesting worker reset`);
        this.sendMessage("reset", { reason: "init_failure", error: (error as Error).message });
      } else {
        this.sendMessage("error", { error: (error as Error).message });
      }
    }
  }

  private async connectMqtt() {
    this.log(`Connecting to MQTT broker: ${this.config.mqtt.brokerUrl}`);
    
    this.client = connect(this.config.mqtt.brokerUrl, this.config.mqtt.options);

    return new Promise<void>((resolve, reject) => {
      const timeout = setTimeout(() => {
        const error = new Error("MQTT connection timeout");
        this.log(`❌ MQTT connection timeout, requesting worker reset`);
        this.sendMessage("reset", { reason: "mqtt_timeout", error: error.message });
        reject(error);
      }, 10000);

      this.client.on("connect", () => {
        clearTimeout(timeout);
        this.isConnected = true;
        this.log("Connected to MQTT broker");
        this.setupMqttHandlers();
        resolve();
      });

      this.client.on("error", (error: Error) => {
        clearTimeout(timeout);
        this.log(`❌ MQTT connection error: ${error.message}, requesting worker reset`);
        this.sendMessage("reset", { reason: "mqtt_error", error: error.message });
        reject(error);
      });
    });
  }

  private async setupModbus() {
    this.logger.info("🔧 Setting up Modbus connection...");
    
    // 从设备信息中动态创建Modbus配置
    
    const host = this.config.deviceInfo.ip;
    const port = parseInt(this.config.deviceInfo.port) || 502;
    const unitId = parseInt(this.config.deviceInfo.slaveId) || 1;
    
    this.logger.debug("📋 Modbus connection parameters", {
      host,
      port,
      unitId,
      deviceName: this.config.deviceInfo.deviceName,
      brandName: this.config.deviceInfo.brandName,
      protocolType: this.config.deviceInfo.protocolType
    });
    
    this.log(`Creating Modbus config from device info: ${host}:${port}, unitId: ${unitId}`);
    this.log(`Device: ${this.config.deviceInfo.deviceName} (${this.config.deviceInfo.brandName})`);
    this.log(`Protocol: ${this.config.deviceInfo.protocolType}`);
    
    // 获取设备品牌特定的轮询间隔
    const pollInterval = getDefaultPollInterval(this.config.deviceInfo.brandName);
    this.logger.debug("⏱️ Poll interval configuration", {
      brandName: this.config.deviceInfo.brandName,
      pollInterval: `${pollInterval}ms`
    });
    this.log(`Using poll interval for ${this.config.deviceInfo.brandName || "通用"}: ${pollInterval}ms`);
    
    let pollConfig: Array<{
      fn: "readHoldingRegisters" | "readInputRegisters" | "readCoils" | "readDiscreteInputs";
      start: number;
      len: number;
      mqttKey: string;
      bind?: string;
    }> = [];
    
    // 检查是否有寄存器配置
    this.logger.trace("🔍 Checking for registers configuration in device info...");
    
    // 首先检查 deviceInfo.registers
    let registersConfigString: string | undefined;
    
    if (this.config.deviceInfo.registers) {
      registersConfigString = this.config.deviceInfo.registers;
      this.logger.info("✅ Found registers configuration in deviceInfo.registers");
      this.logger.trace("📝 Raw registers config from deviceInfo", { config: registersConfigString });
      this.log("✅ Found registers configuration in deviceInfo.registers");
    } else {
      // 如果 deviceInfo.registers 不存在，则检查 actionParameters
      const registersParam = this.config.actionParameters?.find(param => param.key === "registers");
      if (registersParam && registersParam.value) {
        registersConfigString = registersParam.value;
        this.logger.info("✅ Found registers configuration in action parameters");
        this.logger.trace("📝 Raw registers config from actionParameters", { config: registersConfigString });
        this.log("✅ Found registers configuration in action parameters");
      }
    }
    
    if (registersConfigString) {
      this.log(`📝 Raw registers config: ${registersConfigString}`);
      
      // 验证JSON格式
      try {
        const parsedConfig = JSON.parse(registersConfigString);
        this.logger.debug("✅ Registers configuration JSON validation passed", {
          registersCount: Array.isArray(parsedConfig) ? parsedConfig.length : 'not_array',
          structure: parsedConfig
        });
        this.log("✅ Registers configuration is valid JSON");
      } catch (error) {
        this.logger.error("❌ Invalid JSON in registers configuration", {
          error: (error as Error).message,
          rawConfig: registersConfigString
        });
        this.log(`❌ Invalid JSON in registers configuration: ${(error as Error).message}`);
        pollConfig = [];
        return;
      }
      
      // 解析寄存器配置
      const registers = perfMonitor.measure("register_parsing", () => 
        parseRegistersFromString(registersConfigString!)
      );
      
      this.logger.info("📊 Register parsing completed", {
        totalRegisters: registers.length,
        registers: registers.map(reg => ({
          name: reg.name,
          fnCode: reg.fnCode,
          address: reg.regAddress,
          count: reg.regCount
        }))
      });
      
      this.log(`📊 Parsed ${registers.length} register definitions:`);
      
      if (registers.length === 0) {
        this.logger.warn("⚠️ No valid register definitions found after parsing");
        this.log("⚠️ No valid register definitions found after parsing");
      }
      
      registers.forEach((reg, index) => {
        this.logger.trace(`Register definition [${index + 1}]`, {
          name: reg.name,
          fnCode: reg.fnCode,
          fnDescription: this.getFunctionCodeDescription(reg.fnCode),
          address: reg.regAddress,
          count: reg.regCount
        });
        
        this.log(`  [${index + 1}] ${reg.name}:`);
        this.log(`      - Function Code: ${reg.fnCode} (${this.getFunctionCodeDescription(reg.fnCode)})`);
        this.log(`      - Address: ${reg.regAddress}`);
        this.log(`      - Count: ${reg.regCount}`);
      });
      
      // 使用解析的寄存器创建轮询配置
      pollConfig = perfMonitor.measure("poll_config_creation", () =>
        createModbusPollConfigFromRegisters(registers)
      );
      
      this.logger.info("🔄 Polling configuration created", {
        totalTasks: pollConfig.length,
        tasks: pollConfig.map(config => ({
          function: config.fn,
          startAddress: config.start,
          length: config.len,
          mqttKey: config.mqttKey
        }))
      });
      
      this.log(`🔄 Created ${pollConfig.length} polling tasks from register definitions:`);
      
      pollConfig.forEach((config, index) => {
        this.log(`  [${index + 1}] ${config.fn}:`);
        this.log(`      - Start Address: ${config.start}`);
        this.log(`      - Length: ${config.len}`);
        this.log(`      - MQTT Key: ${config.mqttKey}`);
      });
      
    } else {
      this.logger.warn("❌ No registers configuration found");
      this.log("❌ No registers configuration found");
      this.log("💡 Expected registers configuration in deviceInfo.registers or actionParameters");
      this.log("📝 Example: [{\"fnCode\":\"6\",\"name\":\"button1\",\"regCount\":\"1\",\"regAddress\":\"1\"}]");
      pollConfig = [];
    }
    
    // 动态创建Modbus配置
    this.config.modbus = {
      host: host,
      port: port,
      unitId: unitId,
      poll: pollConfig,
      pollInterval: pollInterval
    };
    
    this.modbus = new ModbusManager(
      this.config.modbus.host,
      this.config.modbus.port,
      this.config.modbus.unitId,
      (msg) => this.log(`[Modbus] ${msg}`)
    );
    
    try {
      await this.modbus.init();
    } catch (error) {
      const errorMessage = (error as Error).message;
      this.log(`❌ Modbus initialization failed: ${errorMessage}`);
      // Report initialization error without auto-reset
      this.sendMessage("error", { error: `Modbus initialization error: ${errorMessage}` });
      throw error;
    }

    // 只有在有轮询配置时才启动循环读取任务
    if (this.config.modbus.poll.length > 0) {
      this.modbusPollTimer = setInterval(
        () => { void this.pollModbus(); },
        this.config.modbus.pollInterval
      );
      this.log(`Modbus setup completed - polling ${this.config.modbus.poll.length} register groups every ${this.config.modbus.pollInterval}ms`);
    } else {
      this.log(`Modbus setup completed - no polling configured, only write operations will be available`);
    }
  }

  private async pollModbus() {
    try {
      // 确保Modbus配置存在
      if (!this.config.modbus) {
        this.logger.error("❌ Modbus configuration not available for polling");
        this.log("❌ Modbus configuration not available for polling");
        return;
      }

      const pollStartTime = performance.now();
      this.logger.debug("🔄 Starting Modbus polling cycle", {
        totalGroups: this.config.modbus.poll.length,
        pollInterval: this.config.modbus.pollInterval
      });
      
      this.log(`🔄 Starting Modbus polling cycle - ${this.config.modbus.poll.length} register groups to read`);

      for (const [index, item] of this.config.modbus.poll.entries()) {
        const itemStartTime = performance.now();
        
        try {
          this.logger.trace(`📖 Reading register group [${index + 1}/${this.config.modbus.poll.length}]`, {
            function: item.fn,
            startAddress: item.start,
            length: item.len,
            mqttKey: item.mqttKey
          });
          
          this.log(`📖 [${index + 1}/${this.config.modbus.poll.length}] Reading ${item.fn} - Address: ${item.start}, Length: ${item.len}`);
          
          const values = await perfMonitor.measureAsync(`modbus_read_${item.mqttKey}`, async () =>
            this.modbus.enqueueRead(item.fn, item.start, item.len)
          );
          
          const readDuration = performance.now() - itemStartTime;
          this.logger.debug("✅ Modbus read successful", {
            mqttKey: item.mqttKey,
            values,
            duration: `${readDuration.toFixed(2)}ms`,
            valuesCount: Array.isArray(values) ? values.length : 1
          });
          
          this.log(`✅ Read successful: ${JSON.stringify(values)}`);
          
          // 将寄存器数据存储到information数组中
          const registerName = item.mqttKey.split('/').pop() || `register_${item.start}`;
          const bind = item.bind || registerName;
          const registerValues = Array.isArray(values) ? values : [values];
          const timestamp = new Date().toISOString();
          
          // 更新或添加到information数组
          this.updateRegisterInformation(registerName, bind, registerValues, item.start, item.len, item.fn, timestamp);
          
          this.logger.trace("📦 Register data stored in information", {
            registerName,
            address: item.start,
            count: item.len,
            values: registerValues,
            function: item.fn,
            totalInformation: this.state.information.length
          });
          
          this.log(`📦 Stored register data in information: ${registerName} = ${JSON.stringify(registerValues)}`);
        } catch (error) {
          const readDuration = performance.now() - itemStartTime;
          const errorMessage = (error as Error).message;
          
          this.logger.error("❌ Modbus read error", {
            mqttKey: item.mqttKey,
            function: item.fn,
            startAddress: item.start,
            length: item.len,
            error: errorMessage,
            duration: `${readDuration.toFixed(2)}ms`
          });
          
          this.log(`❌ Modbus read error for ${item.mqttKey}: ${errorMessage}`);
          this.log(`🔧 Failed operation: ${item.fn} at address ${item.start}, length ${item.len}`);
          
          // 检查是否为连接失效错误，如果是则请求重置worker
          if (this.isConnectionError(errorMessage)) {
            this.log(`❌ Modbus connection failure detected, requesting worker reset`);
            this.sendMessage("reset", { 
              reason: "modbus_connection_failure", 
              error: `Modbus connection error: ${errorMessage}` 
            });
            return; // 停止当前轮询周期
          }
        }
      }
      
      const totalDuration = performance.now() - pollStartTime;
      this.logger.debug("🏁 Modbus polling cycle completed", {
        totalDuration: `${totalDuration.toFixed(2)}ms`,
        averagePerGroup: `${(totalDuration / this.config.modbus.poll.length).toFixed(2)}ms`,
        groupsProcessed: this.config.modbus.poll.length
      });
      
      this.log(`🏁 Modbus polling cycle completed`);
      
      // 记录内存使用情况（每10次轮询记录一次）
      if (Math.random() < 0.1) {
        logMemoryUsage("DEVICE_SIMULATOR");
      }
    } catch (error) {
      // 捕获整个轮询周期的未预期错误
      const errorMessage = (error as Error).message;
      this.logger.error("❌ Unexpected error in Modbus polling cycle", {
        error: errorMessage,
        stack: (error as Error).stack
      });
      
      this.log(`❌ Unexpected error in Modbus polling cycle: ${errorMessage}`);
      
      // 检查是否为连接相关错误
      if (this.isConnectionError(errorMessage)) {
        this.log(`❌ Polling cycle connection failure detected, requesting worker reset`);
        this.sendMessage("reset", { 
          reason: "modbus_polling_failure", 
          error: `Modbus polling error: ${errorMessage}` 
        });
      }
    }
  }

  // 检查是否为连接相关错误的辅助方法
  private isConnectionError(errorMessage: string): boolean {
    const connectionErrors = [
      "no connection",
      "connection lost", 
      "connection closed",
      "connection refused",
      "timeout",
      "timed out",
      "ECONNRESET",
      "ENOTCONN",
      "ECONNREFUSED",
      "ETIMEDOUT",
      "EPIPE",
      "ENETUNREACH",
      "EHOSTUNREACH"
    ];
    
    return connectionErrors.some(keyword => 
      errorMessage.toLowerCase().includes(keyword.toLowerCase())
    );
  }

  private setupMqttHandlers() {
    // 订阅instantActions主题
    const instantActionsTopic = `${this.config.vdaInterface}/${this.config.vehicle.vdaVersion}/${this.config.vehicle.manufacturer}/${this.config.vehicle.serialNumber}/instantActions`;
    this.client.subscribe(instantActionsTopic, (err: Error | null) => {
      if (err) {
        this.log(`Failed to subscribe to ${instantActionsTopic}: ${err.message}`);
      } else {
        this.log(`Subscribed to ${instantActionsTopic}`);
      }
    });

    this.client.on("message", (topic: string, message: Uint8Array) => {
      try {
        const data = JSON.parse(new TextDecoder().decode(message));
        this.log(`📥 Received message on ${topic}`);
        
        if (topic.endsWith("/instantActions")) {
          this.handleInstantActions(data);
        }
      } catch (error) {
        this.log(`Error parsing message: ${(error as Error).message}`);
      }
    });

    this.client.on("disconnect", () => {
      this.isConnected = false;
      this.log("❌ Disconnected from MQTT broker, requesting worker reset");
      this.sendMessage("reset", { reason: "mqtt_disconnect", error: "MQTT broker disconnected" });
    });

    this.client.on("error", (error: Error) => {
      this.log(`❌ MQTT runtime error: ${error.message}, requesting worker reset`);
      this.sendMessage("reset", { reason: "mqtt_runtime_error", error: error.message });
    });
  }

  private initializeState() {
    const now = new Date().toISOString();
    
    this.state = {
      headerId: this.headerId++,
      timestamp: now,
      version: this.config.vehicle.vdaVersion,
      manufacturer: this.config.vehicle.manufacturer,
      serialNumber: this.config.vehicle.serialNumber,
      orderId: "order_0",
      orderUpdateId: 0,
      zoneSetId: "zone_0",
      lastNodeId: "node_0",
      lastNodeSequenceId: 0,
      driving: false,
      paused: false,
      newBaseRequest: false,
      distanceSinceLastNode: 0,
      operatingMode: "AUTOMATIC",
      nodeStates: [],
      edgeStates: [],
      agvPosition: {
        x: 0,
        y: 0,
        theta: 0,
        mapId: "map_1",
        mapDescription: "Device Map",
        positionInitialized: true,
        localizationScore: 1.0,
        deviationRange: 0.1,
      },
      velocity: {
        vx: 0,
        vy: 0,
        omega: 0,
      },
      loads: [],
      batteryState: {
        batteryCharge: 85.5,
        batteryVoltage: 24.2,
        batteryHealth: 95.0,
        charging: false,
        reach: 8500,
      },
      errors: [],
      information: [],
      safetyState: {
        eStop: "NONE",
        fieldViolation: false,
      },
      actionStates: [],
      waitingForInteractionZoneRelease: false,
    };
  }

  private initializeConnection() {
    const now = new Date().toISOString();
    
    this.connection = {
      headerId: this.headerId++,
      timestamp: now,
      version: this.config.vehicle.vdaVersion,
      manufacturer: this.config.vehicle.manufacturer,
      serialNumber: this.config.vehicle.serialNumber,
      connectionState: "ONLINE",
    };
  }

  private startPeriodicReporting() {
    // 每2秒发送状态
    this.stateInterval = setInterval(() => {
      this.publishState();
    }, 2000);

    // 每1秒发送连接状态
    this.connectionInterval = setInterval(() => {
      this.publishConnection();
    }, 1000);

    // 立即发送一次
    this.publishState();
    this.publishConnection();
  }

  private publishState() {
    if (!this.isConnected) return;

    this.state.headerId = this.headerId++;
    this.state.timestamp = new Date().toISOString();
    this.state.actionStates = [...this.deviceActions];

    const topic = `${this.config.vdaInterface}/${this.config.vehicle.vdaVersion}/${this.config.vehicle.manufacturer}/${this.config.vehicle.serialNumber}/state`;
    const message = JSON.stringify(this.state, null, 2);

    this.client.publish(topic, message, (err?: Error) => {
      if (err) {
        this.log(`Failed to publish state: ${err.message}`);
      } else {
        // this.log(`📤 Published state (headerId: ${this.state.headerId})`);
      }
    });
  }

  private publishConnection() {
    if (!this.isConnected) return;

    this.connection.headerId = this.headerId++;
    this.connection.timestamp = new Date().toISOString();

    const topic = `${this.config.vdaInterface}/${this.config.vehicle.vdaVersion}/${this.config.vehicle.manufacturer}/${this.config.vehicle.serialNumber}/connection`;
    const message = JSON.stringify(this.connection, null, 2);

    this.client.publish(topic, message, (err?: Error) => {
      if (err) {
        this.log(`Failed to publish connection: ${err.message}`);
      } else {
        // this.log(`📤 Published connection (headerId: ${this.connection.headerId})`);
      }
    });
  }

  private handleInstantActions(message: any) {
    this.log(`Processing instantActions message`);

    try {
      // 支持两种格式：标准VDA 5050的instantActions和实际使用的actions
      const actions = message.instantActions || message.actions || [];
      
      if (!Array.isArray(actions)) {
        this.log("❌ Invalid actions format - not an array");
        return;
      }

      for (const action of actions) {
        // 检查是否为Modbus写操作
        if (action.actionType === "deviceWrite") {
          this.handleModbusWrite(action);
        } else {
          this.processDeviceAction(action);
        }
      }
    } catch (error) {
      this.log(`❌ Error processing instantActions: ${(error as Error).message}`);
    }
  }

  private async handleModbusWrite(action: any) {
    this.log(`🔧 Processing Modbus write action: ${action.actionId}`);
    console.log("收到 Modbus 写入动作消息", action);
    
    try {
      // 提取设备信息
      const getParam = (key: string) => action.actionParameters?.find((p: any) => p.key === key)?.value;
      
      const protocolType = getParam("protocolType");
      const brandName = getParam("brandName");
      const ip = getParam("ip");
      const port = getParam("port");
      const deviceName = getParam("deviceName");
      const slaveId = getParam("slaveId");
      const registersParam = getParam("registers");

      this.log(`📋 设备信息: ${deviceName} (${brandName}) - ${ip}:${port}, SlaveID: ${slaveId}, 协议: ${protocolType}`);

      if (!registersParam) {
        this.log(`❌ Missing registers parameter in Modbus write action`);
        return;
      }

      // 解析寄存器数组
      let registers: any[];
      try {
        registers = JSON.parse(registersParam);
        if (!Array.isArray(registers)) {
          throw new Error("Registers parameter is not an array");
        }
      } catch (error) {
        this.log(`❌ Failed to parse registers parameter: ${(error as Error).message}`);
        return;
      }

      this.log(`📝 解析到 ${registers.length} 个寄存器写入操作:`);
      registers.forEach((reg, index) => {
        this.log(`  [${index + 1}] ${reg.name}: 功能码${reg.fnCode}, 地址${reg.regAddress}, 值${reg.regValue}`);
      });

      // 创建动作状态
      const actionState: ActionState = {
        actionType: action.actionType,
        actionId: action.actionId,
        actionDescription: `Modbus write ${registers.length} registers to ${deviceName}`,
        actionStatus: "RUNNING",
        actionParameters: action.actionParameters || [],
        blockingType: action.blockingType || "NONE",
      };

      this.deviceActions.push(actionState);

      // 执行所有寄存器写操作
      const writeResults: any[] = [];
      let successCount = 0;
      let failureCount = 0;

      for (const [index, register] of registers.entries()) {
        try {
          const address = Number(register.regAddress);
          const value = Number(register.regValue);
          const fnCode = register.fnCode;
          const registerName = register.name;

          this.log(`🔧 [${index + 1}/${registers.length}] 写入寄存器 ${registerName}: 地址${address}, 值${value}, 功能码${fnCode}`);

          // 根据功能码确定写入类型和数据格式
          let functionType: "writeSingleRegister" | "writeMultipleRegisters";
          let payload: number | number[];
          
          if (fnCode === "6") {
            functionType = "writeSingleRegister";
            payload = value; // 单个寄存器写入，使用单个数值
          } else if (fnCode === "16" || fnCode === "10") {
            functionType = "writeMultipleRegisters";
            payload = [value]; // 多个寄存器写入，需要数组格式
          } else {
            throw new Error(`Unsupported function code: ${fnCode}`);
          }

          this.log(`📡 执行 ${functionType}(地址${address}, 数据${JSON.stringify(payload)})`);

          // 执行Modbus写操作
          await this.modbus.enqueueWrite(functionType, address, payload);

          writeResults.push({
            registerName,
            address,
            value,
            fnCode,
            status: "success"
          });
          successCount++;

          this.log(`✅ 寄存器 ${registerName} 写入成功`);

        } catch (error) {
          const errorMsg = (error as Error).message;
          this.log(`❌ 寄存器 ${register.name} 写入失败: ${errorMsg}`);
          
          // 检查是否为连接失效错误
          if (this.isConnectionError(errorMsg)) {
            this.log(`❌ Modbus write connection failure detected, requesting worker reset`);
            this.sendMessage("reset", { 
              reason: "modbus_write_connection_failure", 
              error: `Modbus write connection error: ${errorMsg}` 
            });
            return; // 停止当前写操作
          }
          
          writeResults.push({
            registerName: register.name,
            address: register.regAddress,
            value: register.regValue,
            fnCode: register.fnCode,
            status: "error",
            error: errorMsg
          });
          failureCount++;
        }
      }

      // 更新动作状态
      if (failureCount === 0) {
        actionState.actionStatus = "FINISHED";
        actionState.resultDescription = `All ${successCount} registers written successfully`;
        this.log(`✅ 所有 ${successCount} 个寄存器写入完成`);
      } else if (successCount === 0) {
        actionState.actionStatus = "FAILED";
        actionState.resultDescription = `All ${failureCount} registers failed to write`;
        this.log(`❌ 所有 ${failureCount} 个寄存器写入失败`);
      } else {
        actionState.actionStatus = "FINISHED";
        actionState.resultDescription = `Partial success: ${successCount} succeeded, ${failureCount} failed`;
        this.log(`⚠️ 部分成功: ${successCount} 个成功, ${failureCount} 个失败`);
      }

      // 发布写操作结果的MQTT消息
      const topic = `${this.config.vdaInterface}/${this.config.vehicle.vdaVersion}/${this.config.vehicle.manufacturer}/${this.config.vehicle.serialNumber}/writeResult`;
      const resultPayload = JSON.stringify({
        timestamp: new Date().toISOString(),
        deviceId: this.config.deviceId,
        actionId: action.actionId,
        deviceInfo: {
          deviceName,
          brandName,
          ip,
          port,
          slaveId,
          protocolType
        },
        writeResults,
        summary: {
          total: registers.length,
          success: successCount,
          failure: failureCount
        },
        status: failureCount === 0 ? "success" : (successCount === 0 ? "error" : "partial")
      });
      
      this.client.publish(topic, resultPayload);

    } catch (error) {
      this.log(`❌ Modbus write action failed: ${(error as Error).message}`);
      
      // 更新动作状态为失败
      const actionState = this.deviceActions.find(a => a.actionId === action.actionId);
      if (actionState) {
        actionState.actionStatus = "FAILED";
        actionState.resultDescription = `Modbus write action failed: ${(error as Error).message}`;
      }

      // 发布写操作失败的MQTT消息
      const topic = `${this.config.vdaInterface}/${this.config.vehicle.vdaVersion}/${this.config.vehicle.manufacturer}/${this.config.vehicle.serialNumber}/writeResult`;
      const resultPayload = JSON.stringify({
        timestamp: new Date().toISOString(),
        deviceId: this.config.deviceId,
        actionId: action.actionId,
        status: "error",
        error: (error as Error).message
      });
      
      this.client.publish(topic, resultPayload);
    }
  }

  private processDeviceAction(action: any) {
    this.log(`🔧 Processing device action: ${action.actionType}`);

    // 创建动作状态
    const actionState: ActionState = {
      actionType: action.actionType,
      actionId: action.actionId,
      actionDescription: action.actionDescription || `Device action: ${action.actionType}`,
      actionStatus: "RUNNING",
      actionParameters: action.actionParameters || [],
      blockingType: action.blockingType || "NONE",
    };

    // 添加到设备动作列表
    this.deviceActions.push(actionState);

    // 模拟设备操作
    this.simulateDeviceOperation(actionState);
  }

  private simulateDeviceOperation(actionState: ActionState) {
    this.log(`🎯 Simulating device operation: ${actionState.actionType}`);

    // 根据动作类型执行不同的模拟操作
    switch (actionState.actionType) {
      case "deviceSetup":
        this.simulateDeviceSetup(actionState);
        break;
      case "deviceWrite":
        this.simulateDeviceWrite(actionState);
        break;
      case "deviceRead":
        this.simulateDeviceRead(actionState);
        break;
      case "deviceStop":
        this.simulateDeviceStop(actionState);
        break;
      case "deviceDelete":
        this.simulateDeviceDelete(actionState);
        break;
      default:
        this.log(`⚠️  Unknown device action type: ${actionState.actionType}`);
        actionState.actionStatus = "FAILED";
        actionState.resultDescription = `Unknown action type: ${actionState.actionType}`;
    }
  }

  private simulateDeviceSetup(actionState: ActionState) {
    this.log(`📱 Setting up device with parameters:`);
    
    if (actionState.actionParameters) {
      for (const param of actionState.actionParameters) {
        this.log(`  ${param.key}: ${param.value}`);
      }
    }

    // 模拟设备设置过程
    setTimeout(() => {
      actionState.actionStatus = "FINISHED";
      actionState.resultDescription = "Device setup completed successfully";
      this.log(`✅ Device setup completed for action ${actionState.actionId}`);
    }, 2000);
  }

  private simulateDeviceWrite(actionState: ActionState) {
    this.log(`✍️  Writing to device registers`);

    // 模拟写入操作
    setTimeout(() => {
      actionState.actionStatus = "FINISHED";
      actionState.resultDescription = "Device write operation completed";
      this.log(`✅ Device write completed for action ${actionState.actionId}`);
    }, 1000);
  }

  private simulateDeviceRead(actionState: ActionState) {
    this.log(`📖 Reading from device registers`);

    // 模拟读取操作
    setTimeout(() => {
      actionState.actionStatus = "FINISHED";
      actionState.resultDescription = "Device read operation completed";
      this.log(`✅ Device read completed for action ${actionState.actionId}`);
    }, 500);
  }

  private simulateDeviceStop(actionState: ActionState) {
    this.log(`🛑 Processing device stop operation`);
    
    if (actionState.actionParameters) {
      this.log(`📱 Stopping device with parameters:`);
      for (const param of actionState.actionParameters) {
        this.log(`  ${param.key}: ${param.value}`);
      }
    }

    // 模拟设备停止过程
    setTimeout(() => {
      actionState.actionStatus = "FINISHED";
      actionState.resultDescription = "Device stop operation completed successfully";
      this.log(`✅ Device stop completed for action ${actionState.actionId}`);
      
      // 注意：实际的设备停止操作由主进程管理器处理
      // 这里只是模拟设备层面的停止确认
    }, 1000);
  }

  private simulateDeviceDelete(actionState: ActionState) {
    this.log(`🗑️ Processing device delete operation`);
    
    if (actionState.actionParameters) {
      this.log(`📱 Deleting device with parameters:`);
      for (const param of actionState.actionParameters) {
        this.log(`  ${param.key}: ${param.value}`);
      }
    }

    // 模拟设备删除过程
    setTimeout(async () => {
      actionState.actionStatus = "FINISHED";
      actionState.resultDescription = "Device delete operation completed successfully";
      this.log(`✅ Device delete completed for action ${actionState.actionId}`);
      
      // 发送最后一次状态更新，包含删除完成的动作状态
      this.publishState();
      
      // 等待一小段时间确保状态发送完成
      setTimeout(async () => {
        this.log(`🔄 Device delete action completed, initiating worker shutdown...`);
        
        // 主动关闭设备模拟器 worker
        await this.close();
      }, 500);
    }, 1000);
  }

  async handleAction(actionMessage: any) {
    this.log(`Handling external action: ${actionMessage.actionType}`);
    this.processDeviceAction(actionMessage);
  }

  async reconnect() {
    this.log("Reconnecting to MQTT broker...");
    
    try {
      if (this.client) {
        await this.client.endAsync();
      }
      await this.connectMqtt();
      this.log("Reconnected successfully");
      this.sendMessage("status", { status: "reconnected" });
    } catch (error) {
      this.log(`Reconnection failed: ${(error as Error).message}`);
      this.sendMessage("error", { error: (error as Error).message });
    }
  }

  async close() {
    this.log("Closing device simulator...");

    // 清理定时器
    if (this.stateInterval) {
      clearInterval(this.stateInterval);
    }
    if (this.connectionInterval) {
      clearInterval(this.connectionInterval);
    }

    // 清理Modbus定时器和连接
    if (this.modbusPollTimer) {
      clearInterval(this.modbusPollTimer);
    }
    if (this.modbus) {
      try {
        await this.modbus.close();
        this.log("Modbus connection closed");
      } catch (error) {
        this.log(`Error closing Modbus connection: ${(error as Error).message}`);
      }
    }

    // 关闭MQTT连接
    if (this.client) {
      try {
        await this.client.endAsync();
        this.log("MQTT connection closed");
      } catch (error) {
        this.log(`Error closing MQTT connection: ${(error as Error).message}`);
      }
    }

    this.sendMessage("status", { status: "closed" });
  }
}

// Worker消息处理
const simulator = new DeviceSimulator();

// 全局错误处理器
self.addEventListener('error', (event) => {
  console.error('❌ Uncaught error in device simulator worker:', event.error);
  
  // 检查是否为连接相关错误
  const errorMessage = event.error?.message || event.message || 'Unknown error';
  const isConnError = [
    "no connection", "connection lost", "connection closed", "connection refused",
    "timeout", "timed out", "ECONNRESET", "ENOTCONN", "ECONNREFUSED", 
    "ETIMEDOUT", "EPIPE", "ENETUNREACH", "EHOSTUNREACH"
  ].some(keyword => errorMessage.toLowerCase().includes(keyword.toLowerCase()));
  
  if (isConnError) {
    console.log('❌ Global error handler detected connection failure, requesting worker reset');
    self.postMessage({
      type: "reset",
      data: { 
        reason: "uncaught_connection_error", 
        error: `Uncaught connection error: ${errorMessage}` 
      }
    } as DeviceMainMessage);
  } else {
    self.postMessage({
      type: "error",
      data: { error: errorMessage }
    } as DeviceMainMessage);
  }
});

// 全局Promise拒绝处理器
self.addEventListener('unhandledrejection', (event) => {
  console.error('❌ Unhandled promise rejection in device simulator worker:', event.reason);
  
  // 检查是否为连接相关错误
  const errorMessage = event.reason?.message || event.reason || 'Unknown promise rejection';
  const isConnError = [
    "no connection", "connection lost", "connection closed", "connection refused",
    "timeout", "timed out", "ECONNRESET", "ENOTCONN", "ECONNREFUSED", 
    "ETIMEDOUT", "EPIPE", "ENETUNREACH", "EHOSTUNREACH"
  ].some(keyword => String(errorMessage).toLowerCase().includes(keyword.toLowerCase()));
  
  if (isConnError) {
    console.log('❌ Global promise rejection handler detected connection failure, requesting worker reset');
    self.postMessage({
      type: "reset",
      data: { 
        reason: "uncaught_promise_rejection", 
        error: `Uncaught promise rejection: ${errorMessage}` 
      }
    } as DeviceMainMessage);
  } else {
    self.postMessage({
      type: "error",
      data: { error: String(errorMessage) }
    } as DeviceMainMessage);
  }
  
  // 阻止默认的错误处理
  event.preventDefault();
});

self.onmessage = async (event: MessageEvent<DeviceWorkerMessage>) => {
  const { type, data } = event.data;

  try {
    switch (type) {
      case "init":
        await simulator.initialize(data);
        break;

      case "action":
        await simulator.handleAction(data);
        break;

      case "reconnect":
        await simulator.reconnect();
        break;

      case "close":
        await simulator.close();
        break;

      default:
        console.warn(`Unknown message type: ${type}`);
    }
  } catch (error) {
    console.error(`Error handling message ${type}:`, error);
    
    // 检查是否为连接相关错误
    const errorMessage = (error as Error).message;
    const isConnError = [
      "no connection", "connection lost", "connection closed", "connection refused",
      "timeout", "timed out", "ECONNRESET", "ENOTCONN", "ECONNREFUSED", 
      "ETIMEDOUT", "EPIPE", "ENETUNREACH", "EHOSTUNREACH"
    ].some(keyword => errorMessage.toLowerCase().includes(keyword.toLowerCase()));
    
    if (isConnError) {
      console.log(`❌ Message handler detected connection failure, requesting worker reset`);
      self.postMessage({
        type: "reset",
        data: { 
          reason: "message_handler_connection_error", 
          error: `Message handler connection error: ${errorMessage}` 
        }
      } as DeviceMainMessage);
    } else {
      self.postMessage({
        type: "error",
        data: { error: errorMessage }
      } as DeviceMainMessage);
    }
  }
};