package com.zy.common.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.zy.common.model.NavigateNode;
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import com.zy.core.model.command.NyShuttleHttpCommand;
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import com.zy.core.model.protocol.NyShuttleProtocol;
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import springfox.documentation.spring.web.json.Json;
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import java.io.*;
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import java.net.Socket;
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import java.util.*;
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/**
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* 牛眼四向穿梭车HTTP请求工具类
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*/
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public class NyHttpUtils {
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private static final boolean DEBUG = true;//调试模式
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//获取HTTP请求标准结构体
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public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer wrkNo) {
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NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
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httpStandard.setMsgType("requestMsg");//请求消息
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httpStandard.setRobotId(shuttleNo);//车辆编号
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httpStandard.setWrkNo(wrkNo);//工作号
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//设置请求消息
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NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
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NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
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header.setVersion("1.0");//版本号
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header.setRequestId(getRequestId());//消息编号
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//设置请求头
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request.setHeader(header);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取FAS 手动/自动切换
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public static NyShuttleHttpCommand getFASSwitchCommand(Integer shuttleNo, boolean auto) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", auto ? "switchAuto" : "switchManual");
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取移动请求
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public static NyShuttleHttpCommand getMoveCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "move");//移动命令
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body.put("taskId", getTaskId());//TaskID需要随机
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body.put("start", navigateNodeToNyPointNode(start));//起点
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body.put("target", navigateNodeToNyPointNode(target));//终点
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取进出提升机请求
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public static NyShuttleHttpCommand getInOutLiftCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target, boolean in) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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NyShuttleProtocol.NyShuttlePointClass nyStartPoint = new NyShuttleProtocol.NyShuttlePointClass();
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NyShuttleProtocol.NyShuttlePointClass nyTargetPoint = new NyShuttleProtocol.NyShuttlePointClass();
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if (in) {
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//进提升机
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nyStartPoint = navigateNodeToNyPointNode(start);
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nyTargetPoint.setX(target.getX());
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nyTargetPoint.setY(target.getY());
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nyTargetPoint.setZ(target.getZ());
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}else {
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//出提升机
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nyTargetPoint = navigateNodeToNyPointNode(target);
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nyStartPoint.setX(start.getX());
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nyStartPoint.setY(start.getY());
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nyStartPoint.setZ(start.getZ());
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}
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", in ? "intoLift" : "outLift");//进出提升机
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body.put("taskId", getTaskId());//TaskID需要随机
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body.put("start", nyStartPoint);//起点
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body.put("target", nyTargetPoint);//终点
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取顶升命令
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public static NyShuttleHttpCommand getPalletLiftCommand(Integer shuttleNo, Integer wrkNo, boolean lift) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
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body.put("taskId", getTaskId());//TaskID需要随机
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取充电命令
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public static NyShuttleHttpCommand getChargeCommand(Integer shuttleNo, Integer wrkNo, boolean charge) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
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body.put("taskId", getTaskId());//TaskID需要随机
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取管制命令
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public static NyShuttleHttpCommand getSuspendCommand(Integer shuttleNo, Integer wrkNo, boolean suspend) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", suspend ? "stop" : "resume");//管制或取消管制
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body.put("taskId", getTaskId());//TaskID需要随机
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取更新层坐标Z(楼层)命令
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public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z, Integer wrkNo) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "updateFloor");//更新层Z
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body.put("z", z);//坐标Z
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取读FAS状态信息命令
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public static NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "readState");//读FAS状态信息
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取更新FAS基准地图命令
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public static NyShuttleHttpCommand getUpdateFASBaseMapCommand(Integer shuttleNo, Integer xBase, Integer yBase, Integer zBase, Integer xEnd, Integer yEnd, Integer zEnd, Integer xBaseCoord, Integer yBaseCoord, Integer xDefaultSpace, Integer yDefaultSpace) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "updateMapStandard");//更新FAS基准地图
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HashMap<String, Object> standard = new HashMap<>();
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standard.put("xBase", xBase);//库位X向基点
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standard.put("yBase", yBase);//库位Y向基点
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standard.put("zBase", zBase);//库位Z向基点
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standard.put("xEnd", xEnd);//库位X向终点
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standard.put("yEnd", yEnd);//库位Y向终点
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standard.put("zEnd", zEnd);//库位Z向终点
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standard.put("xBaseCoord", xBaseCoord);//库位X向基点坐标 单位mm
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standard.put("yBaseCoord", yBaseCoord);//库位Y向基点坐标 单位mm
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standard.put("xDefaultSpace", xDefaultSpace);//库位X向标准间距 单位mm
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standard.put("yDefaultSpace", yDefaultSpace);//库位Y向标准间距 单位mm
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body.put("standard", standard);
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取更新FAS特殊X轴地图命令
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public static NyShuttleHttpCommand getUpdateMapSpecialXAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "updateMapSpecialXAxis");//更新FAS特殊X轴地图
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body.put("specialXAxis", list);
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取更新FAS特殊Y轴地图命令
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public static NyShuttleHttpCommand getUpdateMapSpecialYAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "updateMapSpecialYAxis");//更新FAS特殊Y轴地图
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body.put("specialYAxis", list);
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取更新FAS特殊库位点地图命令
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public static NyShuttleHttpCommand getUpdateMapSpecialPointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "updateMapSpecialPoint");//更新FAS特殊库位点地图
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body.put("specialPoint", list);
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取更新FAS提升机点位地图命令
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public static NyShuttleHttpCommand getUpdateMapDevicePointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "updateMapDevicePoint");//更新FAS提升机点位地图
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body.put("devicePoint", list);
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取单个RFID录写命令
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public static NyShuttleHttpCommand getWriteSingleRFIDCommand(Integer shuttleNo, Integer xPoint, Integer yPoint, Integer zPoint) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "WriteSingleRFID");//单个RFID录写
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body.put("xPoint", xPoint);//X 点位
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body.put("yPoint", yPoint);//Y 点位
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body.put("zPoint", zPoint);//Z 点位
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取自动录写RFID命令
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public static NyShuttleHttpCommand getAutoWriteRFIDCommand(Integer shuttleNo, Integer dir, Integer xBase, Integer yBase, Integer zBase, Integer pointEnd, List<Integer> specialPoint) {
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NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
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NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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HashMap<String, Object> body = new HashMap<>();
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body.put("requestType", "AutoWriteRFID");//自动录写RFID
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body.put("requestCode", dir);//方向xDir/yDir
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body.put("xBase", xBase);//X 起始点位
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body.put("yBase", yBase);//Y 起始点位
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body.put("zBase", zBase);//Z 起始点位
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body.put("pointEnd", pointEnd);//终点坐标 根据requestCode来决定终点坐标的方向
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body.put("specialPoint", specialPoint);//特殊点位过程中不需要录制的RFID点位
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request.setBody(body);
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httpStandard.setRequest(request);
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return httpStandard;
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}
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//获取请求编号
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public static Integer getRequestId() {
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Random random = new Random();
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return random.nextInt(9999999);
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}
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//获取TaskId
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public static Integer getTaskId() {
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Random random = new Random();
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return random.nextInt(999999);
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}
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//发出请求
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public static JSONObject requestCommand(Socket socket, NyShuttleHttpCommand httpCommand) throws IOException {
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if (socket == null) {
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return null;
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}
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//压缩数据包
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JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
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data.remove("nodes");
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// 获取输入流和输出流
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BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
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OutputStreamWriter writer = new OutputStreamWriter(socket.getOutputStream());
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writer.write(JSON.toJSONString(data) + "\r\n");
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writer.flush();
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// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
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// 读取服务器的响应
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StringBuffer sb = new StringBuffer();
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char[] chars = new char[2048];//缓冲区
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while (true) {
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reader.read(chars);
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String trim = new String(chars);
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sb.append(trim);
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if (trim.lastIndexOf("\r\n") != -1) {
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break;
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}
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}
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JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
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if (!result.get("msgType").equals("responseMsg")) {//不是响应内容
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return null;
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}
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JSONObject resultResponse = JSON.parseObject(result.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 != httpCommand.getRequest().getHeader().getRequestId()) {
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return null;//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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return filterBodyData(result);//返回Body结果集
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}
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public static JSONObject filterBodyData(JSONObject data) {
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Object response = data.get("response");
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if (response == null) {
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return null;
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}
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JSONObject result = JSON.parseObject(response.toString());
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Object body = result.get("body");
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if (body == null) {
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return null;
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}
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JSONObject jsonBody = JSON.parseObject(body.toString());
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return jsonBody;
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}
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//地图节点转换牛眼节点
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public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToNyPointNode(NavigateNode node) {
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int[] NyPosition = NavigatePositionConvert.WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS系统坐标转牛眼坐标
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NyShuttleProtocol.NyShuttlePointClass point = new NyShuttleProtocol.NyShuttlePointClass();
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point.setX(NyPosition[0]);
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point.setY(NyPosition[1]);
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point.setZ(NyPosition[2]);
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return point;
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}
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}
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