package com.zy.core.thread.impl;
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import HslCommunication.Core.Types.OperateResult;
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import HslCommunication.Core.Types.OperateResultExOne;
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import HslCommunication.Profinet.Siemens.SiemensS7Net;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONArray;
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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.zy.asrs.entity.BasLift;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.entity.DeviceDataLog;
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import com.zy.asrs.service.BasLiftService;
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import com.zy.asrs.service.DeviceDataLogService;
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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.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.action.ForkLiftAction;
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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.*;
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import com.zy.core.model.command.ForkLiftCommand;
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import com.zy.core.model.protocol.ForkLiftProtocol;
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import com.zy.core.model.protocol.ForkLiftStaProtocol;
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import com.zy.core.thread.ForkLiftThread;
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import com.zy.core.utils.DeviceMsgUtils;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.io.IOException;
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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 ZyForkLiftThread implements ForkLiftThread {
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private DeviceConfig device;
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private ForkLiftProtocol forkLiftProtocol;
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private RedisUtil redisUtil;
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private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
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private List<DeviceMsgModel> readResultList = new ArrayList<>();
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private List<DeviceMsgModel> resultList = new ArrayList<>();
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public ZyForkLiftThread(DeviceConfig device, List<LiftStation> stationList, RedisUtil redisUtil) {
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this.device = device;
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this.redisUtil = redisUtil;
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//初始化站点
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for (LiftStation station : stationList) {
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ForkLiftStaProtocol forkLiftStaProtocol = new ForkLiftStaProtocol();
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forkLiftStaProtocol.setStaNo(station.getStaNo());//站点号
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forkLiftStaProtocol.setLev(station.getLev());//站点楼层
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String locNo = Utils.getLocNo(station.getRow(), station.getBay(), station.getLev());
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forkLiftStaProtocol.setLocNo(locNo);//站点库位号
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forkLiftStaProtocol.setLiftNo(station.getLiftNo());//提升机号
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forkLiftStaProtocols.add(forkLiftStaProtocol);
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}
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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 void run() {
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News.info("{}号货叉提升机线程启动", device.getDeviceNo());
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this.connect();
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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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listenMessageFromRedis();
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read();
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Thread.sleep(100);
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} catch (Exception e) {
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log.error("ForkliftThread Fail", e);
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}
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}
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});
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readThread.start();
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while (true) {
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try {
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execute();
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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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private void execute() {
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ForkLiftAction forkLiftAction = null;
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try {
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forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
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}catch (Exception e){}
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if (forkLiftAction == null) {
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return;
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}
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Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + device.getDeviceNo());
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if (object == null) {
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return;
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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 = forkLiftAction.executeWork(device.getDeviceNo(), taskNo);
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}
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}
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private void read() {
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try {
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readStatus();
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//提升机处于运行状态，将标记置为true
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if (forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PICK_UP)
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|| forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PUT_DOWN)
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|| forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.WAITING)) {
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forkLiftProtocol.setPakMk(true);
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}
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} catch (Exception e) {
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OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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}
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private void readStatus() {
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try {
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//获取提升机数据
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DeviceMsgUtils deviceMsgUtils = null;
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try {
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deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
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}catch (Exception e){
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}
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if(deviceMsgUtils == null){
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return;
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}
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ForkLiftCommand readStatusCommand = getReadStatusCommand();
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//指令超过2条，不再下发任务状态请求
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TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.ForkLift, device.getDeviceNo());
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if (deviceCommandMsgListKey.size() < 2) {
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requestCommand(readStatusCommand);//请求状态
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}
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if (this.readResultList.isEmpty()) {
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return;
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}
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DeviceMsgModel deviceMsgModel = this.readResultList.get(0);
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this.readResultList.remove(0);
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JSONObject deviceMsg = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
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if (!deviceMsg.getString("result").equals("success")) {
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return;
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}
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JSONObject data = deviceMsg.getJSONObject("deviceStatus");
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if (null == forkLiftProtocol) {
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forkLiftProtocol = new ForkLiftProtocol();
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forkLiftProtocol.setLiftNo(device.getDeviceNo());
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forkLiftProtocol.setProtocolStatus(ForkLiftProtocolStatusType.NONE);
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InnerForkLiftExtend innerForkLiftExtend = new InnerForkLiftExtend();
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}
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//----------读取提升机状态-----------
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//模式
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forkLiftProtocol.setModel(data.getInteger("model"));
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//PLC任务号
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forkLiftProtocol.setWrkNo(data.getInteger("wrkNo"));
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//任务状态
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forkLiftProtocol.setProtocolStatus(data.getInteger("protocolStatus"));
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//任务模式
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forkLiftProtocol.setTaskMode(data.getInteger("taskMode"));
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//取货数据
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forkLiftProtocol.setPick(data.getInteger("pick"));
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//放货数据
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forkLiftProtocol.setPut(data.getInteger("put"));
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//出入库模式
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forkLiftProtocol.setIOMode(data.getInteger("iOMode"));
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//故障码
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forkLiftProtocol.setErrorCode(data.getInteger("errorCode"));
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//当前层
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forkLiftProtocol.setLev(data.getInteger("lev"));
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//************补充扩展字段*************
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InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
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forkLiftProtocol.setExtend(forkLiftExtend);
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JSONArray trayList = data.getJSONArray("trayList");
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for (int i = 0; i < trayList.size(); i++) {
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int hasTray = (int) trayList.get(i);
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ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
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forkLiftStaProtocol.setHasTray(hasTray == 1);
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}
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JSONArray carList = data.getJSONArray("carList");
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for (int i = 0; i < carList.size(); i++) {
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int hasCar = (int) carList.get(i);
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ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
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forkLiftStaProtocol.setHasCar(hasCar == 1);
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}
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if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
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//采集时间超过5s，保存一次数据记录
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//保存数据记录
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DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(JSON.toJSONString(data));
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deviceDataLog.setWcsData(JSON.toJSONString(forkLiftProtocol));
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deviceDataLog.setType("forkLift");
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deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo());
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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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forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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//将提升机状态保存至数据库
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BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
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BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>()
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.eq("lift_no", device.getDeviceNo()));
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if (basLift == null) {
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basLift = new BasLift();
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//提升机号
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basLift.setLiftNo(forkLiftProtocol.getLiftNo());
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basLift.setStatus(1);
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basLiftService.insert(basLift);
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}
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//任务号
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basLift.setWrkNo(forkLiftProtocol.getTaskNo());
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//修改时间
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basLift.setUpdateTime(new Date());
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//设备状态
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basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
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if (basLiftService.updateById(basLift)) {
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OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), forkLiftProtocol.getLiftNo()));
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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.FORKLIFT.offer(MessageFormat.format("【{0}】读取货叉提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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}
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@Override
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public ForkLiftProtocol getStatus(boolean clone) {
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if (this.forkLiftProtocol == null) {
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return null;
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}
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return clone ? this.forkLiftProtocol.clone() : this.forkLiftProtocol;
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}
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@Override
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public List<ForkLiftStaProtocol> getForkLiftStaProtocols() {
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return this.forkLiftStaProtocols;
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}
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@Override
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public ForkLiftProtocol getStatus() {
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return getStatus(true);
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}
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@Override
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public CommandResponse pickAndPut(ForkLiftCommand 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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String resultKey = requestCommand(command);
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//查询请求结果
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JSONObject result = queryCommandStatus(resultKey);
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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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if(!result.getString("result").equals("success")) {
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return response;//请求失败
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}
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this.forkLiftProtocol.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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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 shuttleSwitch(ForkLiftCommand 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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String resultKey = requestCommand(command);
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//查询请求结果
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JSONObject result = queryCommandStatus(resultKey);
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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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if(!result.getString("result").equals("success")) {
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return response;//请求失败
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}
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this.forkLiftProtocol.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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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 move(ForkLiftCommand 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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String resultKey = requestCommand(command);
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//查询请求结果
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JSONObject result = queryCommandStatus(resultKey);
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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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if(!result.getString("result").equals("success")) {
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return response;//请求失败
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}
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this.forkLiftProtocol.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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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 switchIOMode(ForkLiftCommand 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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String resultKey = requestCommand(command);
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//查询请求结果
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JSONObject result = queryCommandStatus(resultKey);
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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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if(!result.getString("result").equals("success")) {
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return response;//请求失败
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}
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this.forkLiftProtocol.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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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 reset() {
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CommandResponse response = new CommandResponse(false);
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try {
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ForkLiftCommand resetCommand = getResetCommand(9999);
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//发出请求
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String resultKey = requestCommand(resetCommand);
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//查询请求结果
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JSONObject result = queryCommandStatus(resultKey);
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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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if(!result.getString("result").equals("success")) {
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return response;//请求失败
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}
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this.forkLiftProtocol.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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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 boolean isIdle() {
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if (this.forkLiftProtocol.getTaskNo() == null
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|| this.forkLiftProtocol.getProtocolStatus() == null
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|| this.forkLiftProtocol.getModel() == null
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|| this.forkLiftProtocol.getErrorCode() == null
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) {
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return false;
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}
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boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
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&& this.forkLiftProtocol.getWrkNo() == 0
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&& this.forkLiftProtocol.getTaskNo() == 0
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&& this.forkLiftProtocol.getModel() == 2
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&& this.forkLiftProtocol.getErrorCode() == 0
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;
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return res;
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}
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@Override
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public boolean isDeviceIdle() {
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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.forkLiftProtocol.getTaskNo() == null
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|| this.forkLiftProtocol.getProtocolStatus() == null
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|| this.forkLiftProtocol.getModel() == null
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|| this.forkLiftProtocol.getErrorCode() == null
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) {
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return false;
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}
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boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
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&& this.forkLiftProtocol.getWrkNo() == 0
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&& this.forkLiftProtocol.getModel() == 2
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&& this.forkLiftProtocol.getErrorCode() == 0
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;
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return res;
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}
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@Override
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public boolean setProtocolStatus(ForkLiftProtocolStatusType status) {
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return false;
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}
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@Override
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public boolean setSyncTaskNo(Integer taskNo) {
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this.forkLiftProtocol.setSyncTaskNo(taskNo);
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return true;
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}
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@Override
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public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
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return taskNo;
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}
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@Override
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public ForkLiftCommand getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
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Integer realPick = pick % 1000;
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Integer realPut = put % 1000;
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(device.getDeviceNo());
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command.setTaskNo(taskNo);
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command.setMode(ForkLiftTaskModeType.PICK_PUT.id);
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command.setPick(realPick);
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command.setPut(realPut);
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command.setConfirm(1);
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return command;
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}
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@Override
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public ForkLiftCommand getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
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Integer realPick = pick % 1000;
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Integer realPut = put % 1000;
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(device.getDeviceNo());
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command.setTaskNo(taskNo);
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command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id);
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command.setPick(realPick);
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command.setPut(realPut);
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command.setConfirm(1);
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return command;
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}
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@Override
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public ForkLiftCommand getMoveCommand(Integer taskNo, Integer pick, Integer put) {
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Integer realPick = pick % 1000;
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Integer realPut = put % 1000;
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(device.getDeviceNo());
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command.setTaskNo(taskNo);
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command.setMode(ForkLiftTaskModeType.MOVE.id);
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command.setPick(realPick);
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command.setPut(realPut);
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command.setConfirm(1);
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return command;
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}
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@Override
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public ForkLiftCommand getSwitchIOCommand(Integer taskNo, ForkLiftIoModeType mode) {
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(device.getDeviceNo());
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if (mode.equals(ForkLiftIoModeType.IN)) {
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command.setMode(ForkLiftTaskModeType.SWITCH_IN.id);
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} else {
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command.setMode(ForkLiftTaskModeType.SWITCH_OUt.id);
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}
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return command;
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}
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@Override
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public ForkLiftCommand getResetCommand(Integer taskNo) {
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(device.getDeviceNo());
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command.setMode(ForkLiftTaskModeType.RESET.id);
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return command;
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}
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//获取读状态信息命令
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private ForkLiftCommand getReadStatusCommand() {
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ForkLiftCommand command = new ForkLiftCommand();
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command.setLiftNo(device.getDeviceNo());
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command.setMode(ForkLiftTaskModeType.READ_STATUS.id);
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return command;
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}
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//发出请求
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private String requestCommand(ForkLiftCommand command) throws IOException {
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try {
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DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
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if (deviceMsgUtils == null) {
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return null;
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}
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//压缩数据包
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JSONObject data = JSON.parseObject(JSON.toJSONString(command));
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DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
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commandMsgModel.setDeviceId(device.getDeviceNo());
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commandMsgModel.setDeviceType(String.valueOf(SlaveType.ForkLift));
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commandMsgModel.setCommand(data);
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String key = deviceMsgUtils.sendDeviceCommand(SlaveType.ForkLift, device.getDeviceNo(), commandMsgModel);
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return key;
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}catch (Exception e) {
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e.printStackTrace();
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}
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return null;
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}
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private JSONObject queryCommandStatus(String resultKey) {
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// 获取服务器响应
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// 尝试50次
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JSONObject result = null;
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for (int i = 0; i < 50; i++) {
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result = getRequestBody(resultKey);
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if (result == null) {
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try {
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Thread.sleep(500);
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} catch (Exception e) {
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e.printStackTrace();
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}
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}else {
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break;
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}
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}
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return result;
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}
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public JSONObject getRequestBody(String resultKey) {
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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 idx = -1;
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for (int i = 0; i < resultList.size(); i++) {
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DeviceMsgModel deviceMsgModel = resultList.get(i);
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if(deviceMsgModel.getResultKey().equals(resultKey)){
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idx = i;
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result = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
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break;
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}
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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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resultList.remove(idx);
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return result;
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} catch (Exception e) {
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return null;
|
}
|
}
|
|
private void listenMessageFromRedis() {
|
try {
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DeviceMsgUtils deviceMsgUtils = null;
|
try {
|
deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
|
}catch (Exception e){
|
|
}
|
if (deviceMsgUtils == null) {
|
return;
|
}
|
DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.ForkLift, device.getDeviceNo());
|
if(deviceMsg == null){
|
return;
|
}
|
|
if (deviceMsg.getDeviceMsgType().equals("status")) {
|
readResultList.add(deviceMsg);
|
}else {
|
resultList.add(deviceMsg);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 扩展字段
|
*/
|
@Data
|
private class InnerForkLiftExtend {
|
|
}
|
}
|
