package com.zy.core.thread.fake;
|
|
import com.alibaba.fastjson.JSON;
|
import com.alibaba.fastjson.JSONObject;
|
import com.zy.common.SpringUtils;
|
import com.zy.common.exception.CoolException;
|
import com.zy.common.utils.RedisUtil;
|
import com.zy.core.News;
|
import com.zy.core.ThreadHandler;
|
import com.zy.core.cache.SlaveConnection;
|
import com.zy.core.enums.SlaveType;
|
import com.zy.core.properties.DeviceConfig;
|
import com.zy.core.thread.impl.NyShuttleThread;
|
import com.zy.core.utils.FakeDeviceUtils;
|
import lombok.extern.slf4j.Slf4j;
|
|
import java.io.*;
|
import java.net.ServerSocket;
|
import java.net.Socket;
|
import java.util.ArrayList;
|
import java.util.HashMap;
|
import java.util.List;
|
|
@Slf4j
|
@SuppressWarnings("all")
|
public class FakeNyShuttleThread implements ThreadHandler {
|
|
|
private RedisUtil redisUtil;
|
private JSONObject fakeStatusDemo = JSONObject.parseObject("{\"mode\":1,\"extend\":{\"countQuantity\":400,\"suspendState\":0,\"minCellVoltage\":3279,\"chargeCycleTimes\":0,\"maxCellVoltage\":3281,\"surplusQuantity\":204,\"voltage\":5248},\"hasLift\":false,\"hasPallet\":false,\"batteryVoltage\":5248,\"runDirection\":\"2\",\"currentCode\":\"{\\\"x\\\":12,\\\"y\\\":37,\\\"z\\\":3}\",\"errorCode\":\"0\",\"hasCharge\":false,\"batteryPower\":\"51\",\"speed\":0,\"deviceStatus\":1}");
|
private HashMap<String, Socket> fakeServerMap = new HashMap();
|
private HashMap<String, JSONObject> fakeStatusMap = new HashMap();
|
|
private boolean fake = false;
|
|
public FakeNyShuttleThread(RedisUtil redisUtil) {
|
this.redisUtil = redisUtil;
|
}
|
|
@Override
|
public void run() {
|
News.info("Fake Server is Started");
|
while (true) {
|
try {
|
initFakeDeviceServer();
|
}catch (Exception e){
|
e.printStackTrace();
|
}
|
}
|
}
|
|
private void initFakeDeviceServer() {
|
FakeDeviceUtils fakeDeviceUtils = null;
|
try {
|
fakeDeviceUtils = SpringUtils.getBean(FakeDeviceUtils.class);
|
}catch (Exception e){}
|
if(fakeDeviceUtils == null){
|
return;
|
}
|
String fakeDeviceConfig = fakeDeviceUtils.getFakeDeviceConfig();
|
if(null != fakeDeviceConfig){
|
List<DeviceConfig> deviceConfigs = JSON.parseArray(fakeDeviceConfig, DeviceConfig.class);
|
for (DeviceConfig device : deviceConfigs) {
|
if (!device.getDeviceType().equals(String.valueOf(SlaveType.Shuttle))) {
|
continue;
|
}
|
|
if (!device.getThreadImpl().equals("NyShuttleThread")) {
|
continue;
|
}
|
|
if (fakeServerMap.containsKey(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo())) {
|
continue;
|
}
|
|
Thread fakeThread = new Thread(() -> {
|
try {
|
ServerSocket serverSocket = new ServerSocket(device.getPort());
|
Socket fakeSocket = serverSocket.accept();
|
fakeServerMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeSocket);
|
fakeStatusMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), JSON.parseObject(JSON.toJSONString(fakeStatusDemo)));
|
while (true) {
|
if(fakeSocket == null) {
|
fakeServerMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
|
break;
|
}
|
|
handleClient(fakeSocket, device);
|
}
|
}catch (Exception e){
|
e.printStackTrace();
|
}
|
});
|
fakeThread.start();
|
|
// init
|
ThreadHandler thread = new NyShuttleThread(device, redisUtil);;
|
new Thread(thread).start();
|
SlaveConnection.put(SlaveType.Shuttle, device.getDeviceNo(), thread);
|
}
|
}
|
}
|
|
private void handleClient(Socket socket, DeviceConfig device) throws IOException {
|
try {
|
// 获取输入流
|
BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
|
// 读取服务器的响应
|
StringBuffer sb = new StringBuffer();
|
char[] chars = new char[2048];//缓冲区
|
while (true) {
|
reader.read(chars);
|
String trim = new String(chars);
|
sb.append(trim);
|
if (trim.lastIndexOf("\r\n") != -1) {
|
break;
|
}
|
}
|
|
JSONObject result = JSON.parseObject(sb.toString());
|
log.info("收到Client Data: {}", JSON.toJSONString(result));
|
processCommand(result, device);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
public void processCommand(JSONObject result, DeviceConfig device) throws IOException {
|
String response = null;
|
JSONObject fakeStatus = fakeStatusMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
|
|
JSONObject request = result.getJSONObject("request");
|
JSONObject header = request.getJSONObject("header");
|
JSONObject body = request.getJSONObject("body");
|
|
Integer requestId = header.getInteger("requestId");
|
String requestType = body.getString("requestType");
|
Integer taskId = body.getInteger("taskId");
|
if (requestType.equals("liftUp")) {
|
fakeStatus.put("hasLift", true);
|
response = genereateFakeCommandResponse(requestId, taskId, requestType);
|
} else if (requestType.equals("liftDown")) {
|
fakeStatus.put("hasLift", false);
|
response = genereateFakeCommandResponse(requestId, taskId, requestType);
|
} else if (requestType.equals("charge")) {
|
fakeStatus.put("hasCharge", true);
|
response = genereateFakeCommandResponse(requestId, taskId, requestType);
|
} else if (requestType.equals("stopCharge")) {
|
fakeStatus.put("hasCharge", false);
|
response = genereateFakeCommandResponse(requestId, taskId, requestType);
|
} else if (requestType.equals("updateFloor")) {
|
String currentCode = fakeStatus.getString("currentCode");
|
JSONObject point = JSON.parseObject(currentCode);
|
point.put("z", body.getInteger("z"));
|
fakeStatus.put("currentCode", JSON.toJSONString(point));
|
response = genereateFakeCommandResponse(requestId, taskId, requestType);
|
} else if (requestType.equals("move")) {
|
String pathList = body.getString("path");
|
List<JSONObject> list = JSON.parseArray(pathList, JSONObject.class);
|
for (JSONObject path : list) {
|
String currentCode = fakeStatus.getString("currentCode");
|
JSONObject point = JSON.parseObject(currentCode);
|
point.put("x", path.getInteger("xp"));
|
point.put("y", path.getInteger("yp"));
|
point.put("z", path.getInteger("z"));
|
fakeStatus.put("currentCode", JSON.toJSONString(point));
|
try {
|
Thread.sleep(100);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
} else if (requestType.equals("readState")) {
|
response = genereateFakeStatusResponse(requestId, fakeStatus);
|
}
|
|
fakeStatusMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeStatus);
|
if (response != null) {
|
Socket fakeSocket = fakeServerMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
|
OutputStreamWriter writer = new OutputStreamWriter(fakeSocket.getOutputStream());
|
writer.write(response + "\r\n");
|
writer.flush();
|
}
|
}
|
|
public String genereateFakeStatusResponse(Integer taskId, JSONObject fakeStatus) {
|
JSONObject result = new JSONObject();
|
JSONObject response = new JSONObject();
|
result.put("msgType", "responseMsg");
|
result.put("robotId", 5001);
|
result.put("response", response);
|
|
JSONObject header = new JSONObject();
|
JSONObject body = new JSONObject();
|
response.put("header", header);
|
response.put("body", body);
|
|
header.put("responseId", taskId);
|
header.put("version", "GV-APP-F427-N24036-1112");
|
|
body.put("responseType", "state");
|
body.put("workingMode", fakeStatus.getInteger("mode"));
|
body.put("free", fakeStatus.getInteger("deviceStatus"));
|
body.put("point", fakeStatus.getString("currentCode"));
|
body.put("powerPercent", fakeStatus.getString("batteryPower"));
|
body.put("voltage", fakeStatus.getInteger("batteryVoltage"));
|
body.put("errCode", new ArrayList<Integer>(){{add(fakeStatus.getInteger("errorCode"));add(0);}});
|
body.put("liftPosition", fakeStatus.getBoolean("hasLift") == true ? 2 : 1);
|
body.put("loadState", fakeStatus.getBoolean("hasPallet") == true ? 1 : 0);
|
body.put("runDir", fakeStatus.getString("runDirection"));
|
body.put("chargState", fakeStatus.getBoolean("hasCharge") == true ? 1 : 0);
|
body.put("speed", fakeStatus.getInteger("speed"));
|
|
JSONObject extend = fakeStatus.getJSONObject("extend");
|
body.put("suspendState", extend.getInteger("suspendState"));
|
body.put("maxCellVoltage", extend.getInteger("maxCellVoltage"));
|
body.put("minCellVoltage", extend.getInteger("minCellVoltage"));
|
body.put("voltage", extend.getInteger("voltage"));
|
body.put("chargeCycleTimes", extend.getInteger("chargeCycleTimes"));
|
body.put("surplusQuantity", extend.getInteger("surplusQuantity"));
|
body.put("countQuantity", extend.getInteger("countQuantity"));
|
return JSON.toJSONString(result);
|
}
|
|
public String genereateFakeCommandResponse(Integer responseId, Integer taskId, String commandType) {
|
JSONObject result = new JSONObject();
|
JSONObject response = new JSONObject();
|
result.put("msgType", "responseMsg");
|
result.put("robotId", 5001);
|
result.put("response", response);
|
|
JSONObject header = new JSONObject();
|
JSONObject body = new JSONObject();
|
response.put("header", header);
|
response.put("body", body);
|
|
header.put("responseId", responseId);
|
header.put("version", "GV-APP-F427-N24036-1112");
|
|
body.put("responseType", commandType);
|
body.put("result", "success");
|
body.put("taskId", taskId);
|
return JSON.toJSONString(result);
|
}
|
|
@Override
|
public boolean connect() {
|
return true;
|
}
|
|
@Override
|
public void close() {
|
|
}
|
|
}
|
