Merge remote-tracking branch 'origin/shuttle_rcs' into shuttle_rcs

Junjie

2025-05-23 1b007b8d43f82cf86e3cf5f2a316f30bae51deb2

 src/main/java/com/zy/core/thread/impl/NyShuttleThread.java

@@ -42,6 +42,7 @@
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.net.InetAddress;
import java.net.Socket;
import java.text.MessageFormat;
import java.util.*;
@@ -57,6 +58,7 @@

    private static final boolean DEBUG = false;//调试模式

    private List<JSONObject> socketReadResults = new ArrayList<>();
    private List<JSONObject> socketResults = new ArrayList<>();

    //原始设备数据
@@ -77,6 +79,7 @@
            while (true) {
                try {
                    listenSocketMessage();
                    listenInit();//监听初始化事件
                } catch (Exception e) {
                    e.printStackTrace();
                }
@@ -135,7 +138,6 @@
        Thread otherThread = new Thread(() -> {
            while (true) {
                try {
                    listenInit();//监听初始化事件
                    saveLog();//保存数据
                } catch (Exception e) {
                    e.printStackTrace();
@@ -194,6 +196,18 @@
            }

            JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集

            String msgType = result.getString("msgType");
            if ("responseMsg".equals(msgType)) {
                JSONObject response = result.getJSONObject("response");
                JSONObject body = response.getJSONObject("body");
                if (body.containsKey("workingMode")) {
                    //read
                    socketReadResults.add(body);
                    return;
                }
            }

            if (!socketResults.isEmpty() && socketResults.size() >= 20) {
                socketResults.remove(0);//清理头节点
            }
@@ -276,11 +290,22 @@

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
            JSONObject data = requestCommand(readStatusCommand);
            requestCommandAsync(readStatusCommand);//请求状态

            if (this.socketReadResults.isEmpty()) {
                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
                    //最后一次上线时间超过60s，认定离线
                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }
                return;
            }

            JSONObject data = this.socketReadResults.get(0);
            this.socketReadResults.remove(0);
            if (data == null) {
                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
                    //最后一次上线时间超过60s，认定离线
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            }else {
@@ -337,9 +362,13 @@
                    shuttleProtocol.setPakMk(true);
                }

                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 1) {
                    //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

                if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE) && shuttleProtocol.getDeviceStatus().intValue() == 1) {
                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

                this.originDeviceData = data;
@@ -383,6 +412,9 @@
                String requestType = resultBody.getString("requestType");
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    removeIdx = i;//此数据已经处理，从结果集中剔除
                    socketResults.remove(removeIdx);

                    Integer code = resultBody.getInteger("code");
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -390,16 +422,10 @@
                    NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
                    JSONObject requestResult = requestCommand(httpCommand);

                    removeIdx = i;//此数据已经处理，从结果集中剔除

                    log.info(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
                    break;
                }
            }

            if (removeIdx != -1) {
                socketResults.remove(removeIdx);
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -696,6 +722,19 @@
            }
        }

        //***************判断是否满充校准***************
        Config shuttleMaxPowerVerifyConfig = configService.selectOne(new EntityWrapper<Config>()
                .eq("code", "shuttleMaxPowerVerify")
                .eq("status", 1));
        if (shuttleMaxPowerVerifyConfig != null) {
            if (shuttleMaxPowerVerifyConfig.getValue().equals("true")) {
                if (this.shuttleProtocol.getBatteryVoltage() < 5630) {
                    return false;//电压不够继续充电
                }
            }
        }
        //***************判断是否满充校准***************

        if (this.shuttleProtocol.getHasCharge() == null) {
            return false;
        }
@@ -723,12 +762,21 @@
            return false;
        }

        if (this.shuttleProtocol.getMode() == 0) {
            return true;
        }

        if (!this.shuttleProtocol.getErrorCode().equals("0")) {
            return true;
        }

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
        boolean res = this.shuttleProtocol.getMode() == 0
                && !this.shuttleProtocol.getErrorCode().equals("0")
                && extend.getSuspendState() == 1
                ;
        return res;

        if (extend.getSuspendState() == 1) {
            return true;
        }

        return false;
    }

    @Override
@@ -1020,12 +1068,15 @@
    @Override
    public boolean connect() {
        try {
            Socket socket = new Socket(slave.getIp(), slave.getPort());
            socket.setSoTimeout(10000);
            socket.setKeepAlive(true);
            this.socket = socket;
            log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        } catch (IOException e) {
            InetAddress address = InetAddress.getByName(slave.getIp());
            if (address.isReachable(10000)) {
                Socket socket = new Socket(slave.getIp(), slave.getPort());
                socket.setSoTimeout(10000);
                socket.setKeepAlive(true);
                this.socket = socket;
                log.info(MessageFormat.format("【{0}】四向穿梭车Socket链接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket链接失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            return false;
        }
@@ -1084,46 +1135,74 @@

    //发出请求
    private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
        if (this.socket == null) {
            return null;
        }
        try {
            if (this.socket == null) {
                return null;
            }

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

        // 获取输出流
        OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
        writer.write(JSON.toJSONString(data) + "\r\n");
        writer.flush();
            // 获取输出流
            OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
            writer.write(JSON.toJSONString(data) + "\r\n");
            writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));

        String requestType = null;
        String taskId = null;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
            taskId = httpCommand.getRequest().getBody().get("taskId").toString();
        } catch (Exception e) {
            String requestType = null;
            String taskId = null;
            try {
                requestType = httpCommand.getRequest().getBody().get("requestType").toString();
                taskId = httpCommand.getRequest().getBody().get("taskId").toString();
            } catch (Exception e) {
//            return null;
            //taskId可能取空，不报错，正常情况
                //taskId可能取空，不报错，正常情况
            }

            // 获取服务器响应
            // 尝试10次
            JSONObject result = null;
            for (int i = 0; i < 10; i++) {
                result = getRequestBody(requestType, taskId);
                if (result == null) {
                    try {
                        Thread.sleep(100);
                    } catch (Exception e) {
                        e.printStackTrace();
                    }
                }else {
                    break;
                }
            }
            return result;//返回Body结果集
        }catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
        if (this.socket == null) {
            return;
        }

        // 获取服务器响应
        // 尝试100次
        JSONObject result = null;
        for (int i = 0; i < 100; i++) {
            result = getRequestBody(requestType, taskId);
            if (result == null) {
                try {
                    Thread.sleep(100);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }else {
                break;
            }
        }
        return result;//返回Body结果集
       try {
           //压缩数据包
           JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
           data.remove("nodes");

           // 获取输出流
           OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
           writer.write(JSON.toJSONString(data) + "\r\n");
           writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
       }catch (Exception e) {
//           e.printStackTrace();
//           System.out.println("socket write error");
           this.socket.close();
           this.socket = null;
       }
    }

    private JSONObject filterBodyData(JSONObject data) {