package com.zy.asrs.wcs.rcs.thread.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.common.utils.HttpHandler;
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import com.zy.asrs.framework.common.DateUtils;
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import com.zy.asrs.framework.common.SpringUtils;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.core.entity.BasShuttle;
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import com.zy.asrs.wcs.core.entity.Loc;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
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import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
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import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
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import com.zy.asrs.wcs.core.service.BasShuttleService;
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import com.zy.asrs.wcs.core.service.LocService;
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import com.zy.asrs.wcs.core.utils.NavigateUtils;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.OutputQueue;
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import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
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import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import com.zy.asrs.wcs.core.utils.RedisUtil;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.text.SimpleDateFormat;
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import java.util.*;
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@Slf4j
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@SuppressWarnings("all")
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public class SurayShuttleThread implements ShuttleThread {
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private static final String API_URL = "http://127.0.0.1:8082";
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private Device device;
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private RedisUtil redisUtil;
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private ShuttleProtocol shuttleProtocol;
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public SurayShuttleThread(Device device,RedisUtil redisUtil) {
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this.device = device;
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this.redisUtil = redisUtil;
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}
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@Override
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public void run() {
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News.info("{}号四向车线程启动", device.getDeviceNo());
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this.connect();
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while (true) {
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try {
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read();
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Thread.sleep(500);
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} catch (Exception e) {
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log.error("ShuttleThread Fail", e);
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}
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}
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}
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private void read() {
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try {
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readStatus();
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// //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
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// if (shuttleProtocol.getTaskNo() != 0) {
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// Object obj = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
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// if (null != obj) {
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// ShuttleRedisCommand redisCommand = JSON.parseObject(obj.toString(), ShuttleRedisCommand.class);
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// executeWork(redisCommand);
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// }
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// }
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//
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// //小车空闲且有跑库程序
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// if (shuttleProtocol.isIdle() && shuttleProtocol.getMoveLoc()) {
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// moveLoc();
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// }
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} catch (Exception e) {
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log.error("ShuttleThread Fail!", e);
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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}
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private void readStatus() {
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try {
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JSONObject data = requestDeviceStatus();
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if (data != null) {
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if (null == shuttleProtocol) {
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shuttleProtocol = new ShuttleProtocol();
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shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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shuttleProtocol.setDevice(device);
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InnerSuhttleExtend extend = new InnerSuhttleExtend();
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shuttleProtocol.setExtend(extend);
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}
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//----------读取四向穿梭车状态-----------
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//小车设备状态
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Integer deviceStatus = data.getInteger("deviceStatus");
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if (deviceStatus == 255) {
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//离线
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
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}
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shuttleProtocol.setDeviceStatus(deviceStatus);
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//当前二维码
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shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
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//电池电量
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shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));
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//是否顶升
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shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
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//是否有托盘
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shuttleProtocol.setHasPallet(data.getInteger("hasPallet") == null ? true : data.getInteger("hasPallet") != 2 ? true : false);
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//行驶方向
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shuttleProtocol.setRunDirection(data.getString("direction") == null ? "none" : data.getString("direction"));
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//是否为充电状态
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shuttleProtocol.setHasCharge((deviceStatus == 5 || deviceStatus == 13) ? true : false);
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//*********读取扩展字段**********
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InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
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extend.setMapVersion(data.getString("version"));//地图版本
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extend.setStatusDescription(data.getString("statusDescription"));//状态描述
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shuttleProtocol.setExtend(extend);//扩展字段
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///读取四向穿梭车状态-end
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//小车处于忙碌状态，将标记置为true
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if (!shuttleProtocol.getIdle()) {
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shuttleProtocol.setPakMk(true);
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}
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if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 3) {
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//小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
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shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
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}
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if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
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//采集时间超过5s，保存一次数据记录
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//保存数据记录
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DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(JSON.toJSONString(data));
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deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
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deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
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deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
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deviceDataLog.setCreateTime(new Date());
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deviceDataLog.setHostId(device.getHostId());
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deviceDataLogService.save(deviceDataLog);
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//更新采集时间
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shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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//将四向穿梭车状态保存至数据库
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BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
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BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
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.eq(BasShuttle::getShuttleNo, device.getDeviceNo())
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.eq(BasShuttle::getHostId, device.getHostId()));
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if (basShuttle == null) {
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basShuttle = new BasShuttle();
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//四向穿梭车号
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basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
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basShuttle.setHostId(device.getHostId());
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shuttleService.save(basShuttle);
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}
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//任务号
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basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
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//修改时间
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basShuttle.setUpdateTime(new Date());
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//设备状态
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basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
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if (shuttleService.updateById(basShuttle)) {
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
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}
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} else {
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}读取四向穿梭车状态信息失败", DateUtils.convert(new Date()), device.getDeviceNo()));
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throw new CoolException(MessageFormat.format("读取四向穿梭车状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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}
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@Override
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public boolean connect() {
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return true;
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}
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@Override
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public void close() {
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}
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@Override
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public ShuttleProtocol getStatus() {
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return this.shuttleProtocol;
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}
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@Override
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public Device getDevice() {
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return this.device;
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}
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@Override
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public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
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//获取分段路径
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ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
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for (ArrayList<NavigateNode> sectionNodes : data) {
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boolean flag = true;
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int oper;
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//开始路径
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NavigateNode startPath = nodes.get(0);
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if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
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|| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
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//母轨方向
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oper = 5;
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}else {
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//子轨方向
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oper = 6;
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}
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for (NavigateNode node : sectionNodes) {
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HashMap<String, Object> map = new HashMap<>();
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map.put("nodexX", node.getX());
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map.put("nodexY", node.getY());
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map.put("nodexZ", node.getZ());
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if (flag) {
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map.put("oper", oper);
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flag = false;
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}
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modes.add(map);
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}
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}
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HashMap<String, Object> param = new HashMap<>();
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param.put("messageName", "runRoute");
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param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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param.put("deviceNo", device.getDeviceNo());
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param.put("taskId", taskNo);
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param.put("nodeNum", nodes.size());
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param.put("modes", modes);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/runRoute")
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.setHeaders(headers)
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean move(ShuttleCommand command) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/runOrder")
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.setHeaders(headers)
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.setJson(command.getBody())
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean lift(ShuttleCommand command) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/actionOrder")
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.setHeaders(headers)
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.setJson(command.getBody())
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean charge(ShuttleCommand command) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/actionOrder")
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.setHeaders(headers)
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.setJson(command.getBody())
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean reset(ShuttleCommand command) {
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return false;
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}
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@Override
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public boolean isIdle() {
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if (this.shuttleProtocol.getIdle() == null
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|| this.shuttleProtocol.getPakMk() == null
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|| this.shuttleProtocol.getErrorCode() == null
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|| this.shuttleProtocol.getProtocolStatus() == null
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) {
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return false;
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}
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boolean res = this.shuttleProtocol.getIdle()
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&& this.shuttleProtocol.getPakMk()
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&& this.shuttleProtocol.getErrorCode().equals("0")
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&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
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;
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return res;
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}
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@Override
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public boolean isRequireCharge() {
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if (this.shuttleProtocol.getIdle() == null
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|| this.shuttleProtocol.getPakMk() == null
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|| this.shuttleProtocol.getErrorCode() == null
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|| this.shuttleProtocol.getProtocolStatus() == null
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) {
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return false;
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}
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boolean res = this.shuttleProtocol.getIdle()
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&& this.shuttleProtocol.getPakMk()
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&& this.shuttleProtocol.getErrorCode().equals("0")
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&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
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;
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if (!res) {
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return res;
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} else {
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// 电量小于阈值需要进行充电
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try {
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BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
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if (shuttleService == null) {
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return false;
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}
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BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
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if (basShuttle == null) {
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return false;
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}
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Integer chargeLine = basShuttle.getChargeLine();
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if (chargeLine == null) {
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return false;
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}
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return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
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} catch (Exception e) {
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News.error("fail", e);
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return false;
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}
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}
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}
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@Override
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public boolean isCharging() {
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if (this.shuttleProtocol.getDeviceStatus() == null) {
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return false;
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}
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if (this.shuttleProtocol.getDeviceStatus() == 5 || this.shuttleProtocol.getDeviceStatus() == 13) {
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//充电中和电池均衡 =》 充电
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return true;
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}
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return false;
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}
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@Override
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public boolean isChargingCompleted() {
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return false;
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}
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@Override
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public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
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HashMap<String, Object> body = new HashMap<>();
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body.put("messageName", "runOrder");
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body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
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body.put("taskId", taskNo);
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LocService locService = SpringUtils.getBean(LocService.class);
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Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getCode, distCodeNum)
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.eq(Loc::getHostId, this.device.getHostId()));
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if (loc == null) {
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throw new CoolException("库位信息不存在");
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}
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body.put("nodeX", loc.getRow());
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body.put("nodeY", loc.getBay());
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body.put("nodeZ", loc.getLev());
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ShuttleCommand command = new ShuttleCommand();
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command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
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command.setBody(JSON.toJSONString(body));
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command.setMode(ShuttleCommandModeType.MOVE.id);
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command.setTargetLocNo(loc.getLocNo());
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return command;
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}
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@Override
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public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
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HashMap<String, Object> body = new HashMap<>();
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body.put("messageName", "actionOrder");
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body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
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body.put("taskId", taskNo);
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body.put("action", lift ? 1 : 2);
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ShuttleCommand command = new ShuttleCommand();
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command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
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command.setBody(JSON.toJSONString(body));
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command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
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return command;
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}
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@Override
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public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
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HashMap<String, Object> body = new HashMap<>();
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body.put("messageName", "runOrder");
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body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
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body.put("taskId", taskNo);
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body.put("action", charge ? 3 : 4);
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ShuttleCommand command = new ShuttleCommand();
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command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
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command.setBody(JSON.toJSONString(body));
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command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
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return command;
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}
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//***************设备层通讯-不同厂商设备通讯方案不一致***************
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//请求登录
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private String requestLoginToken() {
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try {
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HashMap<String, Object> param = new HashMap<>();
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param.put("username", "admin");
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param.put("password", "admin123");
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param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/loginToken")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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return jsonObject.getString("token");
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return null;
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}
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//获取设备状态
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private JSONObject requestDeviceStatus() {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return null;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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HashMap<String, Object> param = new HashMap<>();
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param.put("messageName", "deviceRgvStatus");
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param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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param.put("deviceNo", device.getDeviceNo());
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/deviceRgvStatus")
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.setHeaders(headers)
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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return jsonObject.getJSONArray("data").getJSONObject(0);
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return null;
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}
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@Data
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private class InnerSuhttleExtend {
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/**
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* 地图版本
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*/
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private String mapVersion;
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/**
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* 状态描述
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*/
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private String statusDescription;
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}
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}
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