#地图增加分布式锁

Junjie

2023-10-19 191f08b7a74c461d1914652aed737888967a69f1

 src/main/java/com/zy/common/utils/NyHttpUtils.java

@@ -5,7 +5,10 @@
import com.zy.common.model.NavigateNode;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.protocol.NyShuttleProtocol;
import springfox.documentation.spring.web.json.Json;

import java.io.*;
import java.net.Socket;
import java.util.*;

/**
@@ -13,13 +16,14 @@
 */
public class NyHttpUtils {

    private static final String requestUrl = "localhost:9090/tzskwcs";
    private static final boolean DEBUG = true;//调试模式

    //获取HTTP请求标准结构体
    public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo) {
    public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer wrkNo) {
        NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
        httpStandard.setMsgType("requestMsg");//请求消息
        httpStandard.setRobotId(shuttleNo);//车辆编号
        httpStandard.setWrkNo(wrkNo);//工作号

        //设置请求消息
        NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
@@ -35,7 +39,7 @@

    //获取FAS 手动/自动切换
    public static NyShuttleHttpCommand getFASSwitchCommand(Integer shuttleNo, boolean auto) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -48,12 +52,12 @@

    //获取移动请求
    public static NyShuttleHttpCommand getMoveCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", wrkNo);//任务号
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("start", navigateNodeToNyPointNode(start));//起点
        body.put("target", navigateNodeToNyPointNode(target));//终点
        request.setBody(body);
@@ -64,14 +68,30 @@

    //获取进出提升机请求
    public static NyShuttleHttpCommand getInOutLiftCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target, boolean in) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        NyShuttleProtocol.NyShuttlePointClass nyStartPoint = new NyShuttleProtocol.NyShuttlePointClass();
        NyShuttleProtocol.NyShuttlePointClass nyTargetPoint = new NyShuttleProtocol.NyShuttlePointClass();
        if (in) {
            //进提升机
            nyStartPoint = navigateNodeToNyPointNode(start);
            nyTargetPoint.setX(target.getX());
            nyTargetPoint.setY(target.getY());
            nyTargetPoint.setZ(target.getZ());
        }else {
            //出提升机
            nyTargetPoint = navigateNodeToNyPointNode(target);
            nyStartPoint.setX(start.getX());
            nyStartPoint.setY(start.getY());
            nyStartPoint.setZ(start.getZ());
        }

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", in ? "intoLift" : "outLift");//进出提升机
        body.put("taskId", wrkNo);//任务号
        body.put("start", navigateNodeToNyPointNode(start));//起点
        body.put("target", navigateNodeToNyPointNode(target));//终点
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("start", nyStartPoint);//起点
        body.put("target", nyTargetPoint);//终点
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -80,12 +100,12 @@

    //获取顶升命令
    public static NyShuttleHttpCommand getPalletLiftCommand(Integer shuttleNo, Integer wrkNo, boolean lift) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
        body.put("taskId", wrkNo);//任务号
        body.put("taskId", getTaskId());//TaskID需要随机
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -94,12 +114,12 @@

    //获取充电命令
    public static NyShuttleHttpCommand getChargeCommand(Integer shuttleNo, Integer wrkNo, boolean charge) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
        body.put("taskId", wrkNo);//任务号
        body.put("taskId", getTaskId());//TaskID需要随机
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -108,12 +128,12 @@

    //获取管制命令
    public static NyShuttleHttpCommand getSuspendCommand(Integer shuttleNo, Integer wrkNo, boolean suspend) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", suspend ? "stop" : "resume");//管制或取消管制
        body.put("taskId", wrkNo);//任务号
        body.put("taskId", getTaskId());//TaskID需要随机
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -121,8 +141,8 @@
    }

    //获取更新层坐标Z(楼层)命令
    public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
    public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z, Integer wrkNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -136,7 +156,7 @@

    //获取读FAS状态信息命令
    public static NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -149,7 +169,7 @@

    //获取更新FAS基准地图命令
    public static NyShuttleHttpCommand getUpdateFASBaseMapCommand(Integer shuttleNo, Integer xBase, Integer yBase, Integer zBase, Integer xEnd, Integer yEnd, Integer zEnd, Integer xBaseCoord, Integer yBaseCoord, Integer xDefaultSpace, Integer yDefaultSpace) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -175,7 +195,7 @@

    //获取更新FAS特殊X轴地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialXAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -189,7 +209,7 @@

    //获取更新FAS特殊Y轴地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialYAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -203,7 +223,7 @@

    //获取更新FAS特殊库位点地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialPointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -217,7 +237,7 @@

    //获取更新FAS提升机点位地图命令
    public static NyShuttleHttpCommand getUpdateMapDevicePointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -231,7 +251,7 @@

    //获取单个RFID录写命令
    public static NyShuttleHttpCommand getWriteSingleRFIDCommand(Integer shuttleNo, Integer xPoint, Integer yPoint, Integer zPoint) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -247,7 +267,7 @@

    //获取自动录写RFID命令
    public static NyShuttleHttpCommand getAutoWriteRFIDCommand(Integer shuttleNo, Integer dir, Integer xBase, Integer yBase, Integer zBase, Integer pointEnd, List<Integer> specialPoint) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -270,30 +290,71 @@
        return random.nextInt(9999999);
    }

    //获取TaskId
    public static Integer getTaskId() {
        Random random = new Random();
        return random.nextInt(999999);
    }

    //发出请求
    public static JSONObject requestCommand(NyShuttleHttpCommand httpCommand) {
        try {
            String response = new HttpHandler.Builder()
                    .setUri(requestUrl)
                    .setPath("/static/readStatus.json")
                    .setJson(JSON.toJSONString(httpCommand))
                    .build()
                    .doGet();
            JSONObject jsonObject = JSON.parseObject(response);
            JSONObject response2 = jsonObject.getJSONObject("response");
            JSONObject body = response2.getJSONObject("body");

            if (body.get("responseType").equals("state")) {//读取状态，不需要判断success
                return body;
            }

            if (body.get("result").equals("success")) {
                return body;
            }
        } catch (Exception e) {
//            e.printStackTrace();
    public static JSONObject requestCommand(Socket socket, NyShuttleHttpCommand httpCommand) throws IOException {
        if (socket == null) {
            return null;
        }
        return null;

        //压缩数据包
        JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
        data.remove("nodes");

        // 获取输入流和输出流
        BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
        OutputStreamWriter writer = new OutputStreamWriter(socket.getOutputStream());
        writer.write(JSON.toJSONString(data) + "\r\n");
        writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));

        // 读取服务器的响应
        StringBuffer sb = new StringBuffer();
        String response = null;
        char[] chars = new char[2048];//缓冲区
        do {
            reader.read(chars);
            String trim = new String(chars).trim();
            sb.append(trim);
            if (sb.lastIndexOf("\r\n") != -1) {
                break;
            }
        } while (response != null);
//            System.out.println("Received response from server: " + sb);

        JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
        if (!result.get("msgType").equals("responseMsg")) {//不是响应内容
            return null;
        }

        JSONObject resultResponse = JSON.parseObject(result.get("response").toString());
        JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
        int responseId = Integer.parseInt(resultHeader.get("responseId").toString());
        if (!DEBUG && responseId != httpCommand.getRequest().getHeader().getRequestId()) {
            return null;//响应ID与请求ID不一致，不在调试模式下
        }

        return filterBodyData(result);//返回Body结果集
    }

    public static 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