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.alibaba.fastjson.serializer.SerializerFeature;
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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.common.ExecuteSupport;
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import com.zy.asrs.wcs.core.entity.BasLift;
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import com.zy.asrs.wcs.core.model.command.LiftCommand;
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import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
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import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
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import com.zy.asrs.wcs.core.service.BasLiftService;
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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.LiftProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
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import com.zy.asrs.wcs.rcs.thread.LiftThread;
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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 SurayLiftThread implements LiftThread {
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private static 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 LiftProtocol liftProtocol;
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public SurayLiftThread(Device device,RedisUtil redisUtil) {
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this.device = device;
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this.redisUtil = redisUtil;
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API_URL = "http://" + device.getIp() + ":" + device.getPort();
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}
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@Override
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public void run() {
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News.info("{}号提升机线程启动", 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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e.printStackTrace();
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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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//提升机处于运行状态，将标记置为true
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if (liftProtocol.getRun()) {
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liftProtocol.setPakMk(true);
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}
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} catch (Exception e) {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), 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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//获取提升机数据
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JSONObject data = requestDeviceStatus();
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if (data != null) {
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if (null == liftProtocol) {
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liftProtocol = new LiftProtocol();
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liftProtocol.setLiftNo(Integer.valueOf(device.getDeviceNo()));
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liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
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liftProtocol.setDevice(device);
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InnerLiftExtend innerLiftExtend = new InnerLiftExtend();
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innerLiftExtend.setLock(false);//默认未锁定
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liftProtocol.setExtend(innerLiftExtend);
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}
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//----------读取提升机状态-----------
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//模式
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liftProtocol.setModel(true);
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//运行状态
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liftProtocol.setRun(data.getInteger("runningState") == 1);
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//就绪状态
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liftProtocol.setReady(data.getInteger("readyState") == 1);
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//有托盘
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liftProtocol.setHasTray(data.getString("haveCargo").equals("Y"));
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//有小车
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liftProtocol.setHasCar(data.getInteger("haveCar") == 1);
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//故障码
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liftProtocol.setErrorCode("0");
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//层
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liftProtocol.setLev(data.getInteger("curFloor"));
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//************补充扩展字段*************
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InnerLiftExtend liftExtend = (InnerLiftExtend) liftProtocol.getExtend();
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liftExtend.setLock(data.getInteger("lockStatus") == 1 ? true : false);
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liftProtocol.setExtend(liftExtend);
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// //前超限
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// liftProtocol.setFrontOverrun(status1[4]);
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// //后超限
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// liftProtocol.setBackOverrun(status1[5]);
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// //左超限
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// liftProtocol.setLeftOverrun(status1[6]);
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// //右超限
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// liftProtocol.setRightOverrun(status1[7]);
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// //超高
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// liftProtocol.setOverHeight(status2[0]);
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// //超重
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// liftProtocol.setOverWeight(status2[1]);
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// //有托盘
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// liftProtocol.setHasTray(status2[5]);
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// //有小车
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// liftProtocol.setHasCar(status2[6]);
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// //设备故障
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// liftProtocol.setDeviceError(status2[7]);
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// //任务号
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// liftProtocol.setTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 2));
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// //目的地址
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// liftProtocol.setDistAddress(siemensS7Net.getByteTransform().TransInt16(result1.Content, 4));
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// //已完成任务号
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// liftProtocol.setCompleteTaskNo(siemensS7Net.getByteTransform().TransInt16(result1.Content, 6));
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// liftProtocol.setLev(lev);
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if (System.currentTimeMillis() - liftProtocol.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(liftProtocol));
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deviceDataLog.setType("lift");
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deviceDataLog.setDeviceNo(String.valueOf(liftProtocol.getLiftNo()));
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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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liftProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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//将提升机状态保存至数据库
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BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
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BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
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.eq(BasLift::getLiftNo, device.getDeviceNo())
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.eq(BasLift::getHostId, device.getHostId()));
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if (basLift == null) {
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basLift = new BasLift();
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//提升机号
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basLift.setLiftNo(Integer.valueOf(device.getDeviceNo()));
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basLift.setStatus(1);
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basLift.setDeleted(0);
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basLift.setHostId(device.getHostId());
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basLift.setDeviceId(device.getId());
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basLiftService.save(basLift);
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}
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//任务号
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basLift.setTaskNo(liftProtocol.getTaskNo().intValue());
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//修改时间
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basLift.setUpdateTime(new Date());
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//设备状态
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basLift.setProtocol(JSON.toJSONString(liftProtocol));
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if (basLiftService.updateById(basLift)) {
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OutputQueue.LIFT.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.LIFT.offer(MessageFormat.format("【{0}】{1}读取提升机状态信息失败", DateUtils.convert(new Date()), device.getId()));
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throw new CoolException(MessageFormat.format( "读取提升机状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getId(), device.getIp(), device.getPort()));
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}
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Thread.sleep(200);
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} catch (Exception e) {
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OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), 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 false;
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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 LiftProtocol getStatus() {
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return this.liftProtocol.clone();
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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 move(LiftCommand 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/lifterTask")
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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 palletInOut(LiftCommand 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/lifterTask")
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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 lock(LiftCommand 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/lifterOperation")
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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 unlock(LiftCommand 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/lifterOperation")
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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(LiftCommand 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/lifterOperation")
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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 boolean isIdle() {
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return isIdle(null);
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}
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@Override
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public boolean isIdle(MotionCtgType flag) {
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if (flag == null) {
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InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//获取扩展字段
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// 判断提升机是否自动、就绪、空闲、未锁定
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if (this.liftProtocol.getModel()
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&& !this.liftProtocol.getRun()
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&& this.liftProtocol.getPakMk()
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&& this.liftProtocol.getReady()
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&& this.liftProtocol.getErrorCode().equals("0")
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&& (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
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|| this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
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&& !extend.getLock()
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) {
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return true;
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}
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return false;
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}
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switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(flag)))){
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case SHUTTLE_MOVE_FROM_LIFT://穿梭车出提升机
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case SHUTTLE_MOVE_TO_LIFT://穿梭车进提升机
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return isIdleShuttleMoveToLift();
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}
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return false;
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}
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//穿梭车进提升机时-提升机状态判断
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private boolean isIdleShuttleMoveToLift() {
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InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//获取扩展字段
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// 判断提升机是否自动、就绪、空闲
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if (this.liftProtocol.getModel()
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&& !this.liftProtocol.getRun()
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&& this.liftProtocol.getPakMk()
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&& this.liftProtocol.getErrorCode().equals("0")
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&& (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
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|| this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
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) {
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if (!extend.getLock()) {
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//提升机未锁定，需要判断是否就绪
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if (!this.liftProtocol.getReady()) {
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return false;
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}
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}
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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 isDeviceIdle() {
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return isDeviceIdle(null);
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}
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@Override
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public boolean isDeviceIdle(ExecuteSupport support) {
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if (null != support) {
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Boolean judgement = support.judgement();
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if (judgement != null && !judgement) {
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return true;
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}
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}
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// 判断提升机是否自动、就绪、空闲
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if (this.liftProtocol.getModel()
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&& !this.liftProtocol.getRun()
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&& this.liftProtocol.getErrorCode().equals("0")
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) {
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if (this.liftProtocol.getTaskNo() == 0) {
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//无任务情况下检测是否就绪
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if (!this.liftProtocol.getReady()) {
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return false;
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}
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}
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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 setProtocolStatus(LiftProtocolStatusType status) {
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this.liftProtocol.setProtocolStatus(status);
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return true;
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}
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@Override
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public boolean setSyncTaskNo(Integer taskNo) {
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this.liftProtocol.setTaskNo(taskNo);
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return true;
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}
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@Override
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public boolean isLock(ExecuteSupport support) {
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InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();
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return extend.getLock();
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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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//模拟数据
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// String data = "[{\"taskNo\":1244,\"curFloor\":2,\"readyState\":1,\"haveCar\":'N',\"completeTaskNo\":0,\"haveCargo\":\"Y\",\"runningstate\":0,\"floors\":[{\"floor\":1,\"location\":1,\"run\":1,\"error\":1,\"cargoState\":\"Y\"},{\"floor\":1,\"location\":2,\"run\":0,\"error\":0,\"cargoState\":\"N\"}]}]";
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// return JSON.parseArray(data).getJSONObject(0);
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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/deviceLifterStatus")
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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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//空载移动
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@Override
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public List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
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int taskMode = 3;//空载移动
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HashMap<String, Object> body = new HashMap<>();
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body.put("messageName", "lifterTask");
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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("startLayer", 0);
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body.put("endLayer", targetLev);
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body.put("startLocation", 0);
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body.put("endLocation", 0);
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body.put("model", taskMode);
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LiftCommand command = new LiftCommand();
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command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
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command.setBody(JSON.toJSONString(body));
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command.setMode(LiftCommandModeType.MOVE.id);
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command.setOriginLev(0);
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command.setTargetLev(targetLev);
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ArrayList<LiftCommand> list = new ArrayList<>();
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list.add(command);
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list.addAll(getTaskClearCommand());
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return list;
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}
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//载车移动
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@Override
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public List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
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HashMap<String, Object> body = new HashMap<>();
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body.put("messageName", "lifterTask");
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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("startLayer", sourceLev);
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body.put("endLayer", targetLev);
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body.put("startLocation", 0);
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body.put("endLocation", 0);
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body.put("model", 2);//载车移动
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LiftCommand command = new LiftCommand();
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command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
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command.setBody(JSON.toJSONString(body));
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command.setMode(LiftCommandModeType.MOVE.id);
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command.setOriginLev(sourceLev);
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command.setTargetLev(targetLev);
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ArrayList<LiftCommand> list = new ArrayList<>();
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list.add(command);
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list.addAll(getTaskClearCommand());
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return list;
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}
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//托盘出入
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@Override
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public List<LiftCommand> getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
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HashMap<String, Object> body = new HashMap<>();
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body.put("messageName", "lifterTask");
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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("startLayer", sourceLev);
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body.put("endLayer", targetLev);
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body.put("startLocation", originSta);
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body.put("endLocation", targetSta);
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body.put("model", 1);//托盘出入
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LiftCommand command = new LiftCommand();
|
command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(LiftCommandModeType.PALLET_INOUT.id);
|
command.setOriginLev(sourceLev);
|
command.setTargetLev(targetLev);
|
command.setOriginSta(originSta);
|
command.setTargetSta(targetSta);
|
|
ArrayList<LiftCommand> list = new ArrayList<>();
|
list.add(command);
|
list.addAll(getTaskClearCommand());
|
return list;
|
}
|
|
//锁定/解锁提升机
|
@Override
|
public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("messageName", "lifterOperation");
|
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
|
body.put("taskId", taskNo);
|
body.put("operation", lock ? 6 : 7);
|
body.put("remark", taskNo);
|
|
LiftCommand command = new LiftCommand();
|
command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(lock ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);
|
|
ArrayList<LiftCommand> list = new ArrayList<>();
|
list.add(command);
|
return list;
|
}
|
|
//小车已到位/已驶离信号
|
@Override
|
public List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal) {
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("messageName", "lifterOperation");
|
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
|
body.put("taskId", taskNo);
|
body.put("operation", signal ? 4 : 5);
|
|
LiftCommand command = new LiftCommand();
|
command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(signal ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);
|
|
ArrayList<LiftCommand> list = new ArrayList<>();
|
list.add(command);
|
return list;
|
}
|
|
//获取提升机任务清除命令
|
private List<LiftCommand> getTaskClearCommand() {
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("messageName", "lifterOperation");
|
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
|
body.put("operation", 1);
|
|
LiftCommand command = new LiftCommand();
|
command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(LiftCommandModeType.RESET.id);
|
|
ArrayList<LiftCommand> list = new ArrayList<>();
|
list.add(command);
|
return list;
|
}
|
|
/**
|
* 扩展字段
|
*/
|
@Data
|
private class InnerLiftExtend {
|
|
/**
|
* 提升机锁定
|
*/
|
private Boolean lock = false;
|
|
}
|
|
}
|
