package com.zy.core.thread.fake;
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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.Cools;
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import com.zy.common.R;
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import com.zy.common.SpringUtils;
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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.cache.SlaveConnection;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.param.UpdateFakeThreadStatusParam;
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import com.zy.core.properties.DeviceConfig;
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import com.zy.core.thread.FakeThread;
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import com.zy.core.thread.impl.NyShuttleThread;
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import com.zy.core.utils.FakeDeviceUtils;
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import lombok.extern.slf4j.Slf4j;
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import java.io.*;
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import java.net.ServerSocket;
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import java.net.Socket;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.concurrent.ConcurrentHashMap;
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@Slf4j
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@SuppressWarnings("all")
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public class FakeNyShuttleThread implements FakeThread {
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private RedisUtil redisUtil;
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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\\\":19,\\\"y\\\":11,\\\"z\\\":2}\",\"errorCode\":\"0\",\"hasCharge\":false,\"batteryPower\":\"51\",\"speed\":0,\"deviceStatus\":1}");
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private ServerSocket serverSocket;
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private Integer gatewayPort;
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private boolean enableFake;
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private boolean enableFakeDeviceThread;
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private ConcurrentHashMap<String, Thread> fakeThreadMap = new ConcurrentHashMap();
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private ConcurrentHashMap<String, Socket> fakeServerMap = new ConcurrentHashMap();
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private ConcurrentHashMap<String, JSONObject> fakeStatusMap = new ConcurrentHashMap();
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private ConcurrentHashMap<String, JSONObject> fakeCommandMap = new ConcurrentHashMap();
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private boolean fake = false;
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public FakeNyShuttleThread(RedisUtil redisUtil, Integer gatewayPort, boolean enableFake, boolean enableFakeDeviceThread) {
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this.redisUtil = redisUtil;
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this.gatewayPort = gatewayPort;
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this.enableFake = enableFake;
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this.enableFakeDeviceThread = enableFakeDeviceThread;
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}
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@Override
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public void run() {
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News.info("Fake Server is Started");
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FakeDeviceUtils fakeDeviceUtils = null;
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while (true) {
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try {
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fakeDeviceUtils = SpringUtils.getBean(FakeDeviceUtils.class);
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}catch (Exception e){}
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if(fakeDeviceUtils == null){
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continue;
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}
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break;
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}
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acceptorThread();
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fakeCommandThread();
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initDeviceThread(fakeDeviceUtils);
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initFakeDeviceServer(fakeDeviceUtils);
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}
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private void acceptorThread() {
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if(!enableFake){
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return;
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}
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Thread acceptorThread = new Thread(() -> {
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log.info("{}:acceptorThread is start");
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try {
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while (true) {
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try {
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if (serverSocket == null) {
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serverSocket = new ServerSocket(gatewayPort);
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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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if(serverSocket == null){
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continue;
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}
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Socket fakeSocket = serverSocket.accept();
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InputStream inputStream = fakeSocket.getInputStream();
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if(inputStream == null){
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continue;
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}
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// 获取输入流
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BufferedReader reader = new BufferedReader(new InputStreamReader(inputStream));
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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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// log.info("acceptorThread is end:{}", sb.toString());
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JSONObject result = null;
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try {
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result = JSON.parseObject(sb.toString());
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}catch (Exception e) {
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log.error("error body:{}", sb.toString());
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e.printStackTrace();
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}
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if(result == null){
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continue;
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}
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Object msgType = result.get("msgType");
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if (msgType != null) {
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if ("fakeDeviceFirstConnect".equals(msgType)) {
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DeviceConfig device = JSON.parseObject(JSON.toJSONString(result.get("deviceConfig")), DeviceConfig.class);
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log.info("{}:device is start,devices:{}", device.getDeviceNo(),JSON.toJSONString(fakeServerMap));
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String fakeStatus = JSON.toJSONString(fakeStatusDemo);
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if (!Cools.isEmpty(device.getFakeInitStatus())) {
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fakeStatus = device.getFakeInitStatus();
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}
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fakeServerMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeSocket);
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fakeStatusMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), JSON.parseObject(fakeStatus));
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HashMap<String, Object> map = new HashMap<>();
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map.put("deviceNo", device.getDeviceNo());
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map.put("status", "success");
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// 获取输出流
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OutputStreamWriter writer = new OutputStreamWriter(fakeSocket.getOutputStream());
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writer.write(JSON.toJSONString(map) + "\r\n");
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writer.flush();
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}
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}
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Thread.sleep(1000);
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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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acceptorThread.start();
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}
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private void fakeCommandThread() {
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if(!enableFake){
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return;
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}
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Thread fakeCommandThread = new Thread(() -> {
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while (true) {
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try {
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FakeDeviceUtils fakeDeviceUtils = null;
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try {
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fakeDeviceUtils = SpringUtils.getBean(FakeDeviceUtils.class);
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}catch (Exception e){}
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if(fakeDeviceUtils == null){
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continue;
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}
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List<DeviceConfig> deviceConfigs = fakeDeviceUtils.getFakeDeviceConfig();
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for (DeviceConfig device : deviceConfigs) {
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excuteFakeCommand(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
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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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});
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fakeCommandThread.start();
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}
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private synchronized void initFakeDeviceServer(FakeDeviceUtils fakeDeviceUtils) {
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if(!enableFake){
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return;
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}
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List<DeviceConfig> deviceConfigs = fakeDeviceUtils.getFakeDeviceConfig();
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for (DeviceConfig device : deviceConfigs) {
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if (!device.getDeviceType().equals(String.valueOf(SlaveType.Shuttle))) {
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continue;
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}
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if (!device.getThreadImpl().equals("NyShuttleThread")) {
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continue;
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}
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if (fakeThreadMap.containsKey(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo())) {
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continue;
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}
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log.info("{}:device is run,devices:{}", device.getDeviceNo(),JSON.toJSONString(fakeServerMap));
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Thread fakeThread = new Thread(() -> {
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log.info("{}:device is start handle client", device.getDeviceNo());
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try {
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while (true) {
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if(fakeServerMap.containsKey(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo())){
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handleClient(device);
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}
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}
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}catch (Exception e){
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e.printStackTrace();
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}
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});
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fakeThread.start();
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fakeThreadMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeThread);
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}
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}
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private void initDeviceThread(FakeDeviceUtils fakeDeviceUtils) {
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if (!enableFakeDeviceThread) {
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return;
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}
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List<DeviceConfig> deviceConfigs = fakeDeviceUtils.getFakeDeviceConfig();
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for (DeviceConfig device : deviceConfigs) {
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if (!device.getDeviceType().equals(String.valueOf(SlaveType.Shuttle))) {
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continue;
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}
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if (!device.getThreadImpl().equals("NyShuttleThread")) {
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continue;
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}
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NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
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if (shuttleThread == null) {
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// init
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NyShuttleThread thread = new NyShuttleThread(device, redisUtil);;
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new Thread(thread).start();
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SlaveConnection.put(SlaveType.Shuttle, device.getDeviceNo(), thread);
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}
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try {
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Thread.sleep(1000);
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}catch (Exception e){}
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}
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}
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private void excuteFakeCommand(String key) {
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if (!fakeCommandMap.containsKey(key)) {
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return;
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}
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JSONObject command = fakeCommandMap.get(key);
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fakeCommandMap.remove(key);
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new Thread(() -> {
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try {
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log.info("Fake Shuttle Command Running: {}", JSON.toJSONString(command));
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JSONObject fakeStatus = fakeStatusMap.get(key);
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String commandType = command.getString("commandType");
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if (commandType == null) {
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return;
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}
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if (commandType.equals("liftUp")) {
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fakeStatus.put("deviceStatus", 0);//设备忙碌
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fakeStatusMap.put(key, fakeStatus);
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//delay
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Thread.sleep(2000);
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fakeStatus.put("hasLift", true);
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fakeStatus.put("deviceStatus", 1);//设备空闲
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fakeStatusMap.put(key, fakeStatus);
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}else if (commandType.equals("liftDown")) {
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fakeStatus.put("deviceStatus", 0);//设备忙碌
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fakeStatusMap.put(key, fakeStatus);
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//delay
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Thread.sleep(2000);
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fakeStatus.put("hasLift", false);
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fakeStatus.put("deviceStatus", 1);//设备空闲
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fakeStatusMap.put(key, fakeStatus);
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}else if (commandType.equals("charge")) {
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fakeStatus.put("deviceStatus", 0);//设备忙碌
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fakeStatusMap.put(key, fakeStatus);
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//delay
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Thread.sleep(2000);
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fakeStatus.put("hasCharge", true);
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Integer batteryPower = Integer.parseInt(fakeStatus.getString("batteryPower"));
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while (true) {
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Thread.sleep(10000);
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batteryPower = batteryPower + 1;
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fakeStatus.put("batteryPower", batteryPower);
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fakeStatusMap.put(key, fakeStatus);
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if(batteryPower >= 100) {
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break;
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}
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}
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fakeStatus.put("deviceStatus", 1);//设备空闲
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fakeStatusMap.put(key, fakeStatus);
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}else if (commandType.equals("stopCharge")) {
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fakeStatus.put("deviceStatus", 0);//设备忙碌
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fakeStatusMap.put(key, fakeStatus);
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//delay
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Thread.sleep(2000);
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fakeStatus.put("hasCharge", false);
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fakeStatus.put("deviceStatus", 1);//设备空闲
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fakeStatusMap.put(key, fakeStatus);
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}else if (commandType.equals("updateFloor")) {
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fakeStatus.put("deviceStatus", 0);//设备忙碌
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fakeStatusMap.put(key, fakeStatus);
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//delay
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Thread.sleep(2000);
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JSONObject body = command.getJSONObject("commandBody");
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String currentCode = fakeStatus.getString("currentCode");
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JSONObject point = JSON.parseObject(currentCode);
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point.put("z", body.getInteger("z"));
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fakeStatus.put("currentCode", JSON.toJSONString(point));
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fakeStatus.put("deviceStatus", 1);//设备空闲
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fakeStatusMap.put(key, fakeStatus);
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}else if (commandType.equals("move")) {
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fakeStatus.put("deviceStatus", 0);//设备忙碌
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fakeStatusMap.put(key, fakeStatus);
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Thread.sleep(2000);
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JSONObject body = command.getJSONObject("commandBody");
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String pathList = body.getString("path");
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List<JSONObject> list = JSON.parseArray(pathList, JSONObject.class);
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for (JSONObject path : list) {
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while (true) {
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JSONObject realFakeStatus = fakeStatusMap.get(key);
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Integer errorCode = realFakeStatus.getInteger("errorCode");
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if (errorCode > 0) {
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continue;
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}
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break;
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}
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String currentCode = fakeStatus.getString("currentCode");
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JSONObject point = JSON.parseObject(currentCode);
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point.put("x", path.getInteger("xp"));
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point.put("y", path.getInteger("yp"));
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point.put("z", path.getInteger("z"));
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fakeStatus.put("currentCode", JSON.toJSONString(point));
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fakeStatus.put("deviceStatus", 0);//设备忙碌
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fakeStatusMap.put(key, fakeStatus);
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Thread.sleep(2000);
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}
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fakeStatus.put("deviceStatus", 1);//设备空闲
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fakeStatusMap.put(key, fakeStatus);
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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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}).start();
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}
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private void handleClient(DeviceConfig device) throws IOException {
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try {
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Socket socket = fakeServerMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
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if (socket == null) {
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return;
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}
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InputStream inputStream = socket.getInputStream();
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if(inputStream == null){
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removeFake(device);
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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(inputStream));
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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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int lastIndexOf = trim.lastIndexOf("\r\n");
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if (lastIndexOf != -1) {
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trim = trim.substring(0, lastIndexOf);
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sb.append(trim);
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break;
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}
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}
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JSONObject result = JSON.parseObject(sb.toString());
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// log.info("收到Client Data: {}", JSON.toJSONString(result));
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processCommand(result, device);
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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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private void removeFake(DeviceConfig device) {
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fakeServerMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
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fakeStatusMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
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fakeCommandMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
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}
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public void processCommand(JSONObject result, DeviceConfig device) throws IOException {
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String response = null;
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JSONObject fakeStatus = fakeStatusMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
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JSONObject request = result.getJSONObject("request");
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JSONObject header = request.getJSONObject("header");
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JSONObject body = request.getJSONObject("body");
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Integer requestId = header.getInteger("requestId");
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String requestType = body.getString("requestType");
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Integer taskId = body.getInteger("taskId");
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JSONObject fakeCommand = new JSONObject();
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fakeCommand.put("deviceNo", device.getDeviceNo());
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fakeCommand.put("deviceType", device.getDeviceType());
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fakeCommand.put("commandType", requestType);
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fakeCommand.put("commandBody", body);
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if (requestType.equals("liftUp")) {
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fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
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response = genereateFakeCommandResponse(requestId, taskId, requestType);
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} else if (requestType.equals("liftDown")) {
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fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
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response = genereateFakeCommandResponse(requestId, taskId, requestType);
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} else if (requestType.equals("charge")) {
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fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
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response = genereateFakeCommandResponse(requestId, taskId, requestType);
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} else if (requestType.equals("stopCharge")) {
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fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
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response = genereateFakeCommandResponse(requestId, taskId, requestType);
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} else if (requestType.equals("updateFloor")) {
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fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
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response = genereateFakeCommandResponse(requestId, taskId, requestType);
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} else if (requestType.equals("move")) {
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fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
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response = genereateFakeCommandResponse(requestId, taskId, requestType);
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} else if (requestType.equals("readState")) {
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response = genereateFakeStatusResponse(requestId, fakeStatus, device.getDeviceNo());
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}
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fakeStatusMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeStatus);
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if (response != null) {
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Socket fakeSocket = fakeServerMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
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OutputStreamWriter writer = new OutputStreamWriter(fakeSocket.getOutputStream());
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writer.write(response + "\r\n");
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writer.flush();
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}
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}
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public String genereateFakeStatusResponse(Integer taskId, JSONObject fakeStatus, Integer deviceNo) {
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JSONObject result = new JSONObject();
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JSONObject response = new JSONObject();
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result.put("msgType", "responseMsg");
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result.put("robotId", deviceNo);
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result.put("response", response);
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JSONObject header = new JSONObject();
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JSONObject body = new JSONObject();
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response.put("header", header);
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response.put("body", body);
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header.put("responseId", taskId);
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header.put("version", "GV-APP-F427-N24036-1112");
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body.put("responseType", "state");
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body.put("workingMode", fakeStatus.getInteger("mode"));
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body.put("free", fakeStatus.getInteger("deviceStatus"));
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body.put("point", fakeStatus.getString("currentCode"));
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body.put("powerPercent", fakeStatus.getString("batteryPower"));
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body.put("voltage", fakeStatus.getInteger("batteryVoltage"));
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body.put("errCode", new ArrayList<Integer>() {{
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add(fakeStatus.getInteger("errorCode"));
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add(0);
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}});
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body.put("liftPosition", fakeStatus.getBoolean("hasLift") == true ? 2 : 1);
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body.put("loadState", fakeStatus.getBoolean("hasPallet") == true ? 1 : 0);
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body.put("runDir", fakeStatus.getString("runDirection"));
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body.put("chargState", fakeStatus.getBoolean("hasCharge") == true ? 1 : 0);
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body.put("speed", fakeStatus.getInteger("speed"));
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JSONObject extend = fakeStatus.getJSONObject("extend");
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body.put("suspendState", extend.getInteger("suspendState"));
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body.put("maxCellVoltage", extend.getInteger("maxCellVoltage"));
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body.put("minCellVoltage", extend.getInteger("minCellVoltage"));
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body.put("voltage", extend.getInteger("voltage"));
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body.put("chargeCycleTimes", extend.getInteger("chargeCycleTimes"));
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body.put("surplusQuantity", extend.getInteger("surplusQuantity"));
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body.put("countQuantity", extend.getInteger("countQuantity"));
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return JSON.toJSONString(result);
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}
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public String genereateFakeCommandResponse(Integer responseId, Integer taskId, String commandType) {
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JSONObject result = new JSONObject();
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JSONObject response = new JSONObject();
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result.put("msgType", "responseMsg");
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result.put("robotId", 5001);
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result.put("response", response);
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JSONObject header = new JSONObject();
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JSONObject body = new JSONObject();
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response.put("header", header);
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response.put("body", body);
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header.put("responseId", responseId);
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header.put("version", "GV-APP-F427-N24036-1112");
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body.put("responseType", commandType);
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body.put("result", "success");
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body.put("taskId", taskId);
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return JSON.toJSONString(result);
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}
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@Override
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public boolean connect() {
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return true;
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}
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@Override
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public void close() {
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}
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@Override
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public ConcurrentHashMap<String, Thread> getFakeThreadMap() {
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return this.fakeThreadMap;
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}
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@Override
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public ConcurrentHashMap<String, JSONObject> getFakeStatusMap() {
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return this.fakeStatusMap;
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}
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@Override
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public ConcurrentHashMap<String, JSONObject> getFakeCommandMap() {
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return this.fakeCommandMap;
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}
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@Override
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public boolean updateFakeStatus(UpdateFakeThreadStatusParam param) {
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String key = param.getDeviceType() + param.getDeviceNo();
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JSONObject result = fakeStatusMap.get(key);
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if (result == null) {
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return false;
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}
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JSONObject newData = JSON.parseObject(param.getData());
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this.fakeStatusMap.put(key, newData);
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return true;
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}
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}
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