package com.zy.core.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.mapper.EntityWrapper;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.zy.asrs.entity.BasShuttle;
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import com.zy.asrs.entity.DeviceDataLog;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.service.BasShuttleService;
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import com.zy.asrs.service.DeviceDataLogService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.ExecuteSupport;
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import com.zy.common.model.MapNode;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.utils.NavigateMapData;
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import com.zy.common.utils.NavigatePositionConvert;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.action.ShuttleAction;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.enums.*;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.command.NyShuttleHttpCommand;
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import com.zy.core.model.command.ShuttleCommand;
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import com.zy.core.model.command.ShuttleRedisCommand;
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import com.zy.core.model.param.ShuttleMoveLocParam;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.thread.ShuttleThread;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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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 ShuttleSlave slave;
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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 = false;//调试模式
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private List<JSONObject> socketResults = new ArrayList<>();
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//原始设备数据
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private Object originDeviceData;
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public NyShuttleThread(ShuttleSlave slave, RedisUtil redisUtil) {
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this.slave = slave;
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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", slave.getId());
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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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try {
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listenSocketMessage();
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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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innerThread.start();
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//设备读取
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Thread readThread = new Thread(() -> {
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while (true) {
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try {
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read();
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Thread.sleep(50);
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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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readThread.start();
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//设备执行
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Thread executeThread = new Thread(() -> {
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while (true) {
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try {
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ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
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if (shuttleAction == null) {
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continue;
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}
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Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
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if (object == null) {
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continue;
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}
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Integer taskNo = Integer.valueOf(String.valueOf(object));
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if (taskNo != 0) {
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//存在任务需要执行
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boolean result = shuttleAction.executeWork(slave.getId(), taskNo);
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}
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// //小车空闲且有跑库程序
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// shuttleAction.moveLoc(slave.getId());
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//演示模式
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shuttleAction.demo(slave.getId());
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Thread.sleep(200);
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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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executeThread.start();
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//其他任务
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Thread otherThread = new Thread(() -> {
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while (true) {
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try {
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listenInit();//监听初始化事件
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saveLog();//保存数据
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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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});
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otherThread.start();
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}
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private void saveLog() {
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if (shuttleProtocol == null) {
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return;
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}
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if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
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if (this.originDeviceData != null) {
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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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if (deviceDataLogService == null) {
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return;
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}
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
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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(slave.getId());
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deviceDataLog.setCreateTime(new Date());
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deviceDataLogService.insert(deviceDataLog);
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//更新采集时间
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shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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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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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 (!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(String type) {
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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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if (type.equals("readState")) {
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type = "state";
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}
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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 resultBody = JSON.parseObject(resultResponse.get("body").toString());
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String responseType = resultBody.get("responseType").toString();
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if (DEBUG) {
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result = socketResult;
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break;
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}
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if (!responseType.equals(type)) {
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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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} catch (Exception e) {
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return null;
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}
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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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} 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()), slave.getId(), slave.getIp(), slave.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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if (null == shuttleProtocol) {
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shuttleProtocol = new ShuttleProtocol();
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shuttleProtocol.setShuttleNo(slave.getId());
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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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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NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
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JSONObject data = requestCommand(readStatusCommand);
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if (data == null) {
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if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
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//最后一次上线时间超过60s，认定离线
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
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}
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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()), slave.getId(), slave.getIp(), slave.getPort()));
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}else {
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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("point"));
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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.getJSONArray("errCode").getString(0));
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//是否顶升
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shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? 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("runDir"));
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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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//运行速度
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shuttleProtocol.setSpeed(data.getInteger("speed"));
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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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//最高电芯电压(mV)
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extend.setMaxCellVoltage(data.getInteger("maxCellVoltage"));
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//最低电芯电压(mV)
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extend.setMinCellVoltage(data.getInteger("minCellVoltage"));
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//电池电压
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extend.setVoltage(data.getInteger("voltage"));
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//充放电循环次数
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extend.setChargeCycleTimes(data.getInteger("chargeCycleTimes"));
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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true
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if (shuttleProtocol.getDeviceStatus() == 0) {
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shuttleProtocol.setPakMk(true);
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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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this.originDeviceData = data;
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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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()), slave.getId(), slave.getIp(), slave.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 == null) {
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continue;
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}
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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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Integer code = resultBody.getInteger("code");
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//小车复位请求
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ShuttleCommand initCommand = getInitCommand(requestId, code);
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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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log.info(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
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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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return getStatus(true);
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}
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@Override
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public ShuttleProtocol getStatus(boolean clone) {
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if (this.shuttleProtocol == null) {
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return null;
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}
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return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
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}
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@Override
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public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
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CommandResponse response = new CommandResponse(true);
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return response;
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}
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@Override
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public CommandResponse move(ShuttleCommand command) {
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CommandResponse response = new CommandResponse(false);
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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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Map<String, Object> body = httpCommand.getRequest().getBody();
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Object pathObj = body.get("path");
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int taskId = Integer.parseInt(body.get("taskId").toString());
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List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
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ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
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while (!path.isEmpty()) {
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ArrayList<Map<String, Object>> list = new ArrayList<>();
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if (path.size() > 10) {
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List<JSONObject> subList = path.subList(0, 10);
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list.addAll(subList);
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List<JSONObject> tmp = new ArrayList<>();
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for (int i = 10; i < path.size(); i++) {
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tmp.add(path.get(i));
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}
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path = tmp;
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}else {
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list.addAll(path);
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path.clear();
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}
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NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
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JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
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NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
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bodyCopy.put("path", list);
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bodyCopy.put("taskId", taskId++);
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request.setBody(bodyCopy);
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httpCommandCopy.setRequest(request);
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commandList.add(httpCommandCopy);//add copy
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}
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for (NyShuttleHttpCommand requestCommand : commandList) {
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JSONObject result = requestCommand(requestCommand);
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if (result == null) {
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return response;//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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response.setMessage(JSON.toJSONString(result));
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response.setResult(true);
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}
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return response;
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} catch (Exception e) {
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e.printStackTrace();
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response.setMessage(e.getMessage());
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return response;
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}
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}
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@Override
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public CommandResponse lift(ShuttleCommand command) {
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CommandResponse response = new CommandResponse(false);
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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 response;//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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response.setMessage(JSON.toJSONString(result));
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response.setResult(true);
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return response;
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} catch (Exception e) {
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e.printStackTrace();
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return response;
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}
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}
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@Override
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public CommandResponse charge(ShuttleCommand command) {
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CommandResponse response = new CommandResponse(false);
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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 response;//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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response.setMessage(JSON.toJSONString(result));
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response.setResult(true);
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return response;
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} catch (Exception e) {
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e.printStackTrace();
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return response;
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}
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}
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@Override
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public CommandResponse reset(ShuttleCommand command) {
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setSyncTaskNo(0);
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setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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enableMoveLoc(null, false);
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return new CommandResponse(true, JSON.toJSONString(command));
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}
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@Override
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public CommandResponse updateLocation(ShuttleCommand command) {
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CommandResponse response = new CommandResponse(false);
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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 response;//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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response.setMessage(JSON.toJSONString(result));
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response.setResult(true);
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return response;
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} catch (Exception e) {
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e.printStackTrace();
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return response;
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}
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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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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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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() == 1
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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.getTaskNo() == 0
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&& (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
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|| this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
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|| this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id)
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&& extend.getSuspendState() == 0;
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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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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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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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}
|
|
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
|
|
boolean res = this.shuttleProtocol.getDeviceStatus() == 1
|
&& this.shuttleProtocol.getMode() == 1
|
&& this.shuttleProtocol.getPakMk()
|
&& this.shuttleProtocol.getErrorCode().equals("0")
|
&& extend.getSuspendState() == 0
|
;
|
return res;
|
}
|
|
@Override
|
public boolean isRequireCharge() {
|
if (this.shuttleProtocol.getDeviceStatus() == null
|
|| this.shuttleProtocol.getPakMk() == null
|
|| this.shuttleProtocol.getErrorCode() == null
|
|| this.shuttleProtocol.getProtocolStatus() == null
|
|| this.shuttleProtocol.getMode() == null
|
|| this.shuttleProtocol.getExtend() == null
|
) {
|
return false;
|
}
|
|
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
|
|
boolean res = this.shuttleProtocol.getDeviceStatus() == 1
|
&& this.shuttleProtocol.getMode() == 1
|
&& this.shuttleProtocol.getPakMk()
|
&& this.shuttleProtocol.getErrorCode().equals("0")
|
&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
|
&& extend.getSuspendState() == 0
|
;
|
if (!res) {
|
return res;
|
} else {
|
// 电量小于阈值需要进行充电
|
try {
|
BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
|
if (shuttleService == null) {
|
return false;
|
}
|
BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", slave.getId()));
|
if (basShuttle == null) {
|
return false;
|
}
|
Integer chargeLine = basShuttle.getChargeLine();
|
if (chargeLine == null) {
|
return false;
|
}
|
return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
|
} catch (Exception e) {
|
return false;
|
}
|
}
|
}
|
|
@Override
|
public boolean isCharging() {
|
if (this.shuttleProtocol.getDeviceStatus() == null || this.shuttleProtocol.getHasCharge() == null) {
|
return false;
|
}
|
|
if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
|
//运行中 && 充电中
|
return true;
|
}
|
return false;
|
}
|
|
@Override
|
public boolean isChargingCompleted() {
|
Integer maxPower = 100;
|
ConfigService configService = SpringUtils.getBean(ConfigService.class);
|
if (configService != null) {
|
Config chargeMaxValue = configService.selectOne(new EntityWrapper<Config>()
|
.eq("code", "chargeMaxValue")
|
.eq("status", 1));
|
if (chargeMaxValue != null) {
|
maxPower = Integer.parseInt(chargeMaxValue.getValue());
|
}
|
}
|
|
if (this.shuttleProtocol.getHasCharge() == null) {
|
return false;
|
}
|
|
if (this.shuttleProtocol.getBatteryPower() == null) {
|
return false;
|
}
|
|
if (!this.shuttleProtocol.getHasCharge()) {
|
return false;
|
}
|
|
if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
|
return true;
|
}
|
return false;
|
}
|
|
@Override
|
public List<NavigateNode> getMoveAdvancePath() {
|
ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
|
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
|
ArrayList<NavigateNode> path = new ArrayList<>();
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//存在任务，获取指令
|
Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
|
if (object != null) {
|
ShuttleRedisCommand redisCommand = null;
|
try {
|
redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
|
} catch (IOException e) {
|
return path;
|
}
|
List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
|
if (nodes == null) {
|
return path;
|
}
|
if (!nodes.isEmpty()) {
|
path.addAll(nodes);
|
}
|
NavigateNode navigateNode = path.get(0);
|
int lev = navigateNode.getZ();
|
|
//将路径锁与小车路径进行匹配
|
ArrayList<NavigateNode> tmp = new ArrayList<>();
|
//检测路径是否被锁定
|
int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, null);
|
for (NavigateNode node : path) {
|
if(map[node.getX()][node.getY()] == -999) {
|
tmp.add(node);
|
}
|
}
|
|
path = tmp;
|
}
|
}
|
return path;
|
}
|
|
@Override
|
public int generateDeviceTaskNo(int taskNo, ShuttleTaskNoType type) {
|
return taskNo;
|
}
|
|
@Override
|
public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
|
this.shuttleProtocol.setProtocolStatus(status);
|
return true;
|
}
|
|
@Override
|
public synchronized boolean setTaskNo(Integer taskNo) {
|
this.shuttleProtocol.setTaskNo(taskNo);
|
return true;
|
}
|
|
@Override
|
public synchronized boolean setSyncTaskNo(Integer taskNo) {
|
this.shuttleProtocol.setSyncTaskNo(taskNo);
|
return true;
|
}
|
|
@Override
|
public synchronized boolean setPakMk(boolean pakMk) {
|
this.shuttleProtocol.setPakMk(pakMk);
|
return true;
|
}
|
|
@Override
|
public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
|
if (enable) {
|
shuttleProtocol.setMoveLoc(true);//开启跑库
|
shuttleProtocol.setMoveType(param.getMoveType());
|
shuttleProtocol.setXStart(param.getStartX());
|
shuttleProtocol.setXTarget(param.getTargetX());
|
shuttleProtocol.setXCurrent(param.getStartX());
|
shuttleProtocol.setYStart(param.getStartY());
|
shuttleProtocol.setYTarget(param.getTargetY());
|
shuttleProtocol.setYCurrent(param.getStartY());
|
}else {
|
shuttleProtocol.setMoveLoc(false);
|
shuttleProtocol.setMoveType(0);
|
shuttleProtocol.setXStart(0);
|
shuttleProtocol.setXTarget(0);
|
shuttleProtocol.setXCurrent(0);
|
shuttleProtocol.setYStart(0);
|
shuttleProtocol.setYTarget(0);
|
shuttleProtocol.setYCurrent(0);
|
}
|
return true;
|
}
|
|
@Override
|
public boolean requestWaiting() {
|
if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
|
this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
|
return true;
|
}
|
return false;
|
}
|
|
@Override
|
public boolean enableDemo(boolean enable) {
|
shuttleProtocol.setDemo(enable);
|
return true;
|
}
|
|
@Override
|
public boolean offerSystemMsg(String format, Object... arguments) {
|
String msg = News.replace(format, arguments);
|
shuttleProtocol.setSystemMsg(msg);
|
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(slave.getId(), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
ArrayList<HashMap<String, Object>> path = new ArrayList<>();
|
|
Integer taskId = getTaskId();
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", "move");//移动命令
|
body.put("taskId", taskId);//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);
|
for (NavigateNode node : nodes) {
|
HashMap<String, Object> data = new HashMap<>();
|
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
|
Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
|
int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
|
int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
|
int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
|
|
List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), 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());
|
path.add(data);
|
}
|
|
httpStandard.setRequest(request);
|
|
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
|
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
|
.eq("qr_code_value", distCodeNum));
|
if (locMast == null) {
|
throw new CoolException("库位信息不存在");
|
}
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(slave.getId());
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(ShuttleCommandModeType.MOVE.id);
|
command.setTargetLocNo(locMast.getLocNo());
|
command.setTaskNo(taskId);
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
|
NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
Integer taskId = getTaskId();//TaskID需要随机
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
|
body.put("taskId", taskId);
|
request.setBody(body);
|
|
httpStandard.setRequest(request);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(slave.getId());
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
|
command.setTaskNo(taskId);
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
|
NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
Integer taskId = getTaskId();//TaskID需要随机
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
|
body.put("taskId", taskId);
|
request.setBody(body);
|
|
httpStandard.setRequest(request);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(slave.getId());
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
|
command.setTaskNo(taskId);
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
|
NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("requestType", "updateFloor");//更新层Z
|
body.put("z", Utils.getLev(locNo));//坐标Z
|
request.setBody(body);
|
|
httpStandard.setRequest(request);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(slave.getId());
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
|
command.setTaskNo(taskNo);
|
return command;
|
}
|
|
//获取小车复位响应命令
|
public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
|
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
|
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
|
NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
|
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
|
|
//code -> {Integer@13781} 1101101
|
int lev = code % 100;
|
int bay = code / 100 % 1000;
|
int row = code / 100000;
|
|
HashMap<String, Object> map = new HashMap<>();
|
map.put("x", row);
|
map.put("y", bay);
|
map.put("z", lev);
|
|
String mapStr = JSON.toJSONString(map);
|
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
|
.eq("qr_code_value", mapStr));
|
if (locMast == null) {
|
throw new CoolException("地址码不存在");
|
}
|
|
List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.NONE.id, null, null);
|
List<MapNode> mapNodes = mapData.get(locMast.getRow1());
|
MapNode mapNode = mapNodes.get(locMast.getBay1());
|
|
HashMap<String, Object> location = new HashMap<>();
|
location.put("xp", row);
|
location.put("yp", bay);
|
location.put("z", lev);
|
location.put("x", mapNode.getXBase());
|
location.put("y", mapNode.getYBase());
|
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("responseType", "init");//复位
|
body.put("location", location);//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(slave.getId());
|
command.setBody(JSON.toJSONString(httpStandard));
|
command.setMode(ShuttleCommandModeType.RESET.id);
|
command.setTaskNo(taskNo);
|
return command;
|
}
|
|
@Override
|
public boolean connect() {
|
try {
|
Socket socket = new Socket(slave.getIp(), slave.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()), slave.getId(), slave.getIp(), slave.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()), slave.getId(), slave.getIp(), slave.getPort()));
|
return false;
|
}
|
|
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));
|
|
String requestType = null;
|
try {
|
requestType = httpCommand.getRequest().getBody().get("requestType").toString();
|
} catch (Exception e) {
|
return null;
|
}
|
|
// 获取服务器响应
|
// 尝试10次
|
JSONObject result = null;
|
for (int i = 0; i < 10; i++) {
|
result = getRequestBody(requestType);
|
if (result == null) {
|
try {
|
Thread.sleep(100);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}else {
|
break;
|
}
|
}
|
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;
|
|
// int x1 = x + 10;
|
// int y1 = y + 10;
|
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
|
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
|
.eq("row1", x)
|
.eq("bay1", y)
|
.eq("lev1", z)
|
.eq("status", 1));
|
if (locMast == null) {
|
return null;
|
}
|
|
String qrCodeValue = locMast.getQrCodeValue();
|
JSONObject data = JSON.parseObject(qrCodeValue);
|
return new int[]{data.getInteger("y"), data.getInteger("x"), z};
|
}
|
|
@Data
|
private class InnerSuhttleExtend {
|
|
/**
|
* 管制状态不在管制下/被管制中
|
* 0/1
|
*/
|
private Integer suspendState;
|
|
/**
|
* 最高电芯电压(mV)
|
*/
|
private Integer maxCellVoltage;
|
|
/**
|
* 最低电芯电压(mV)，低于2900mv需要立即充电
|
*/
|
private Integer minCellVoltage;
|
|
/**
|
* 电池电压（mV）
|
*/
|
private Integer voltage;
|
|
/**
|
* 充放电循环次数
|
*/
|
private Integer chargeCycleTimes;
|
|
/**
|
* 剩余电量/10(A)
|
*/
|
private Integer surplusQuantity;
|
|
/**
|
* 总电量/10(A)
|
*/
|
private Integer countQuantity;
|
|
}
|
}
|
