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.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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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.BasShuttle;
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import com.zy.asrs.wcs.core.entity.Loc;
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import com.zy.asrs.wcs.core.model.MapNode;
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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.command.ShuttleRedisCommand;
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import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
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import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
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import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
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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.NavigateMapData;
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import com.zy.asrs.wcs.core.utils.NavigatePositionConvert;
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import com.zy.asrs.wcs.core.utils.RedisUtil;
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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.constant.DeviceRedisConstant;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
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import com.zy.asrs.wcs.rcs.model.command.NyShuttleHttpCommand;
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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.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.io.BufferedReader;
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import java.io.IOException;
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import java.io.InputStreamReader;
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import java.io.OutputStreamWriter;
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import java.net.Socket;
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import java.text.MessageFormat;
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import java.util.*;
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@Slf4j
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@SuppressWarnings("all")
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public class NyShuttleThread implements ShuttleThread {
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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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private Socket socket;
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private static final boolean DEBUG = true;//调试模式
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private List<JSONObject> socketResults = new ArrayList<>();
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public NyShuttleThread(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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//监听消息并存储
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Thread innerThread = new Thread(() -> {
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while (true) {
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listenSocketMessage();
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}
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});
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innerThread.start();
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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 listenSocketMessage() {
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try {
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if (this.socket == null) {
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return;
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}
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// 获取输入流
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BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
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// 读取服务器的响应
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StringBuffer sb = new StringBuffer();
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String response = null;
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char[] chars = new char[2048];//缓冲区
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do {
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reader.read(chars);
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String trim = new String(chars).trim();
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sb.append(trim);
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if (sb.lastIndexOf("\r\n") != -1) {
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break;
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}
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} while (response != null);
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// System.out.println("Received response from server: " + sb);
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JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
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if (!socketResults.isEmpty() && socketResults.size() >= 5) {
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socketResults.remove(0);//清理头节点
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}
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socketResults.add(result);//添加数据
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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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public JSONObject getRequestBody(Integer requestId) {
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// 获取服务器响应
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JSONObject result = null;
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for (int i = 0; i < socketResults.size(); i++) {
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JSONObject socketResult = socketResults.get(i);
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if (!socketResult.get("msgType").equals("responseMsg")) {//不是响应内容
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continue;
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}
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JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
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JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
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int responseId = Integer.parseInt(resultHeader.get("responseId").toString());
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if (!DEBUG && responseId != requestId) {
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continue;//响应ID与请求ID不一致，不在调试模式下
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}
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result = socketResult;
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break;
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}
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if (result == null) {
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return null;//无响应结果
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}
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return filterBodyData(result);//返回Body结果集
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}
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private void read() {
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try {
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if (this.socket == null || this.socket.isClosed()) {
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//链接断开重新链接
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this.connect();
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}
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readStatus();
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listenInit();//监听初始化事件
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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.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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//----------读取四向穿梭车状态-----------
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NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(Integer.parseInt(device.getDeviceNo()));
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JSONObject data = requestCommand(readStatusCommand);
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if (data == null) {
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket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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}else {
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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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shuttleProtocol.setDeviceStatus(data.getInteger("free"));
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//小车模式
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shuttleProtocol.setMode(data.getInteger("workingMode"));
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//当前二维码
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shuttleProtocol.setCurrentCode(data.getString("coord"));
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//电池电量
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shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
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//电池电压
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shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
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//故障
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shuttleProtocol.setErrorCode(data.getString("errState"));
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//是否顶升
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shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? true : false);
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//是否有托盘
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shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
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//行驶方向
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shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("direction"));
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//是否为充电状态
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shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? 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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//管制状态
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extend.setSuspendState(data.getInteger("suspendState"));
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//当前速度
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extend.setSpeed(data.getInteger("speed"));
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//剩余电量
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extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
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//总电量
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extend.setCountQuantity(data.getInteger("countQuantity"));
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shuttleProtocol.setExtend(extend);//扩展字段
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//最近一次在线时间
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shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
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///读取四向穿梭车状态-end
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//小车处于运行中，将标记置为false
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if (shuttleProtocol.getDeviceStatus() == 1) {
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shuttleProtocol.setPakMk(false);
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}
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if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
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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.setStatus(1);
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basShuttle.setDeleted(0);
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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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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket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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try {
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this.socket.close();
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this.socket = null;
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Thread.sleep(1000);
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this.connect();
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} catch (IOException | InterruptedException exception) {
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e.printStackTrace();
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}
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}
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}
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/**
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* 监听小车复位初始化信号
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*/
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public void listenInit() {
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try {
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// 获取服务器响应
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JSONObject result = null;
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int removeIdx = -1;
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for (int i = 0; i < socketResults.size(); i++) {
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JSONObject socketResult = socketResults.get(i);
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if (!socketResult.get("msgType").equals("requestMsg")) {//不是请求内容
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continue;
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}
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JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
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JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
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JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
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String requestType = resultBody.getString("requestType");
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Integer requestId = resultHeader.getInteger("requestId");
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if (requestType.equals("init")) {
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//小车复位请求
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ShuttleCommand initCommand = getInitCommand(requestId);
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//发出请求
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NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
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JSONObject requestResult = requestCommand(httpCommand);
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removeIdx = i;//此数据已经处理，从结果集中剔除
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break;
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}
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}
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if (removeIdx != -1) {
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socketResults.remove(removeIdx);
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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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}
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@Override
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public ShuttleProtocol getStatus() {
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if (this.shuttleProtocol == null) {
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return null;
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}
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return this.shuttleProtocol.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 boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
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return true;
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}
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@Override
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public boolean move(ShuttleCommand command) {
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try {
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//发出请求
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NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
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JSONObject result = requestCommand(httpCommand);
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if (result == null) {
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return false;//请求失败
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}
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this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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return true;
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} catch (IOException e) {
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return false;
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}
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}
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@Override
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public boolean lift(ShuttleCommand command) {
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try {
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//发出请求
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NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
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JSONObject result = requestCommand(httpCommand);
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if (result == null) {
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return false;//请求失败
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}
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this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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return true;
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} catch (IOException e) {
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return false;
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}
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}
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@Override
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public boolean charge(ShuttleCommand command) {
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try {
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//发出请求
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NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
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JSONObject result = requestCommand(httpCommand);
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if (result == null) {
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return false;//请求失败
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}
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this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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return true;
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} catch (IOException e) {
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return false;
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}
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}
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@Override
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public boolean reset(ShuttleCommand command) {
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this.shuttleProtocol.setTaskNo(0);
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this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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return true;
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}
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@Override
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public boolean isIdle() {
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return this.isIdle(null);
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}
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@Override
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public boolean isIdle(ExecuteSupport support) {
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if (null != support) {
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if (!support.judgement()) {
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return false;
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}
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}
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if (this.shuttleProtocol.getDeviceStatus() == 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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|| this.shuttleProtocol.getMode() == null
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|| this.shuttleProtocol.getExtend() == null
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) {
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return false;
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}
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InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
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boolean res = this.shuttleProtocol.getDeviceStatus() == 0
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&& this.shuttleProtocol.getMode() == 1
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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 || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id)
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&& extend.getSuspendState() == 0
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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 isDeviceIdle() {
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if (this.shuttleProtocol.getDeviceStatus() == null
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|| this.shuttleProtocol.getPakMk() == null
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|| this.shuttleProtocol.getErrorCode() == null
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|| this.shuttleProtocol.getMode() == null
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|| this.shuttleProtocol.getExtend() == null
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) {
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return false;
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}
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InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
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boolean res = this.shuttleProtocol.getDeviceStatus() == 0
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&& this.shuttleProtocol.getMode() == 1
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&& this.shuttleProtocol.getPakMk()
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&& this.shuttleProtocol.getErrorCode().equals("0")
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&& extend.getSuspendState() == 0
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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.getDeviceStatus() == 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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|| this.shuttleProtocol.getMode() == null
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|| this.shuttleProtocol.getExtend() == null
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) {
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return false;
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}
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InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
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boolean res = this.shuttleProtocol.getDeviceStatus() == 0
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&& this.shuttleProtocol.getMode() == 1
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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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&& extend.getSuspendState() == 0
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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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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 || this.shuttleProtocol.getHasCharge() == null) {
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return false;
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}
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if (this.shuttleProtocol.getDeviceStatus() == 1 && this.shuttleProtocol.getHasCharge()) {
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//运行中 && 充电中
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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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Integer maxPower = 100;
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DictService dictService = SpringUtils.getBean(DictService.class);
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if (dictService != null) {
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Dict chargeMaxValue = dictService.getOne(new LambdaQueryWrapper<Dict>()
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.eq(Dict::getFlag, "chargeMaxValue")
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.eq(Dict::getStatus, 1));
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if (chargeMaxValue != null) {
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maxPower = Integer.parseInt(chargeMaxValue.getValue());
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}
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}
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if (this.shuttleProtocol.getHasCharge() == null) {
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return false;
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}
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if (this.shuttleProtocol.getBatteryPower() == null) {
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return false;
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}
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if (!this.shuttleProtocol.getHasCharge()) {
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return false;
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}
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if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
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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 List<NavigateNode> getMoveAdvancePath() {
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ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
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ArrayList<NavigateNode> path = new ArrayList<>();
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if (shuttleProtocol.getTaskNo() != 0) {
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//存在任务，获取指令
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Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
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if (object != null) {
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ShuttleRedisCommand redisCommand = null;
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try {
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redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
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} catch (JsonProcessingException e) {
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return path;
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}
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List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
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if (nodes == null) {
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return path;
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}
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if (!nodes.isEmpty()) {
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path.addAll(nodes);
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}
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}
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}
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return path;
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}
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@Override
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public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
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return taskNo;
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}
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@Override
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public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
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this.shuttleProtocol.setProtocolStatus(status);
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return true;
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}
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@Override
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public synchronized boolean setSyncTaskNo(Integer taskNo) {
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this.shuttleProtocol.setSyncTaskNo(taskNo);
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return true;
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}
|
|
@Override
|
public synchronized boolean setPakMk(boolean pakMk) {
|
this.shuttleProtocol.setPakMk(pakMk);
|
return true;
|
}
|
|
@Override
|
public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
|
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
|
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
ArrayList<HashMap<String, Object>> path = new ArrayList<>();
|
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", "move");//移动命令
|
body.put("taskId", getTaskId());//TaskID需要随机
|
// body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//起点
|
// body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//终点
|
body.put("path", path);
|
request.setBody(body);
|
|
NavigateNode startNode = nodes.get(0);
|
navigateMapData.setLev(startNode.getZ());
|
for (NavigateNode node : nodes) {
|
HashMap<String, Object> data = new HashMap<>();
|
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ(), device.getHostId());
|
Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum, device.getHostId()));
|
int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
|
int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
|
int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
|
|
List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, null, null);
|
List<MapNode> mapNodes = mapData.get(node.getX());
|
MapNode mapNode = mapNodes.get(node.getY());
|
|
data.put("xp", xp);
|
data.put("yp", yp);
|
data.put("z", z);
|
data.put("x", mapNode.getXBase());
|
data.put("y", mapNode.getYBase());
|
}
|
|
|
httpStandard.setRequest(request);
|
|
LocService locService = SpringUtils.getBean(LocService.class);
|
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
|
.eq(Loc::getCode, distCodeNum)
|
.eq(Loc::getHostId, this.device.getHostId()));
|
if (loc == null) {
|
throw new CoolException("库位信息不存在");
|
}
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(ShuttleCommandModeType.MOVE.id);
|
command.setTargetLocNo(loc.getLocNo());
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
|
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
|
body.put("taskId", getTaskId());//TaskID需要随机
|
request.setBody(body);
|
|
httpStandard.setRequest(request);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
|
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
|
body.put("taskId", getTaskId());//TaskID需要随机
|
request.setBody(body);
|
|
httpStandard.setRequest(request);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
|
return command;
|
}
|
|
//获取小车复位响应命令
|
public ShuttleCommand getInitCommand(Integer taskNo) {
|
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("responseType", "init");//复位
|
body.put("location", new ArrayList<>());//初始化坐标
|
body.put("devicePoints", new ArrayList<>());//提升机点位
|
body.put("specialPoints", new ArrayList<>());//特殊条码坐标
|
request.setBody(body);
|
|
httpStandard.setRequest(request);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(ShuttleCommandModeType.RESET.id);
|
return command;
|
}
|
|
@Override
|
public boolean connect() {
|
try {
|
Socket socket = new Socket(device.getIp(),device.getPort());
|
socket.setSoTimeout(10000);
|
socket.setKeepAlive(true);
|
this.socket = socket;
|
log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
|
} catch (IOException e) {
|
OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket链接失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
|
}
|
return true;
|
}
|
|
@Override
|
public void close() {
|
|
}
|
|
//获取HTTP请求标准结构体
|
private NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer taskNo) {
|
NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
|
httpStandard.setMsgType("requestMsg");//请求消息
|
httpStandard.setRobotId(shuttleNo);//车辆编号
|
httpStandard.setTaskNo(taskNo);//工作号
|
|
//设置请求消息
|
NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
|
NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
|
header.setVersion("1.0");//版本号
|
header.setRequestId(getRequestId());//消息编号
|
|
//设置请求头
|
request.setHeader(header);
|
httpStandard.setRequest(request);
|
return httpStandard;
|
}
|
|
//获取请求编号
|
private Integer getRequestId() {
|
Random random = new Random();
|
return random.nextInt(9999999);
|
}
|
|
//获取TaskId
|
private static Integer getTaskId() {
|
Random random = new Random();
|
return random.nextInt(999999);
|
}
|
|
//获取读FAS状态信息命令
|
private NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
|
NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", "readState");//读FAS状态信息
|
request.setBody(body);
|
|
httpStandard.setRequest(request);
|
return httpStandard;
|
}
|
|
//发出请求
|
private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
|
if (this.socket == null) {
|
return null;
|
}
|
|
//压缩数据包
|
JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
|
data.remove("nodes");
|
|
// 获取输出流
|
OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
|
writer.write(JSON.toJSONString(data) + "\r\n");
|
writer.flush();
|
// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
|
|
// 获取服务器响应
|
// 尝试10次
|
JSONObject result = null;
|
for (int i = 0; i < 10; i++) {
|
result = getRequestBody(httpCommand.getRequest().getHeader().getRequestId());
|
if (result == null) {
|
try {
|
Thread.sleep(100);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
}
|
return result;//返回Body结果集
|
}
|
|
private JSONObject filterBodyData(JSONObject data) {
|
Object response = data.get("response");
|
if (response == null) {
|
return null;
|
}
|
|
JSONObject result = JSON.parseObject(response.toString());
|
Object body = result.get("body");
|
if (body == null) {
|
return null;
|
}
|
JSONObject jsonBody = JSON.parseObject(body.toString());
|
return jsonBody;
|
}
|
|
//地图节点转换牛眼节点
|
private static Map<String, Object> navigateNodeToNyPointNode(NavigateNode node) {
|
int[] NyPosition = WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS系统坐标转牛眼坐标
|
HashMap<String, Object> point = new HashMap<>();
|
point.put("x", NyPosition[0]);
|
point.put("y", NyPosition[1]);
|
point.put("z", NyPosition[2]);
|
return point;
|
}
|
|
//WCS系统坐标转牛眼坐标
|
private static int[] WCSXyzToNyXyz(int x, int y, int z) {
|
//WCS系统Y轴 => 牛眼X轴转换公式
|
int x1 = Math.abs(y - 61) + 11;
|
//WCS系统X轴 => 牛眼Y轴转换公式
|
int y1 = x + 10;
|
return new int[]{x1, y1, z};
|
}
|
|
@Data
|
private class InnerSuhttleExtend {
|
|
/**
|
* 管制状态不在管制下/被管制中
|
* 0/1
|
*/
|
private Integer suspendState;
|
|
/**
|
* 当前速度，单位mm/s
|
*/
|
private Integer speed;
|
|
/**
|
* 剩余电量/10(A)
|
*/
|
private Integer surplusQuantity;
|
|
/**
|
* 总电量/10(A)
|
*/
|
private Integer countQuantity;
|
|
}
|
}
|
