Merge remote-tracking branch 'origin/skwcs' into tzskwcs

Junjie

2023-10-09 31db311cbc564a85ed843913c32017c77705e148

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

@@ -5,6 +5,7 @@
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;
@@ -14,6 +15,8 @@
 * 牛眼四向穿梭车HTTP请求工具类
 */
public class NyHttpUtils {

    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, Integer wrkNo) {
@@ -68,11 +71,27 @@
        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", getTaskId());//TaskID需要随机
        body.put("start", navigateNodeToNyPointNode(start));//起点
        body.put("target", navigateNodeToNyPointNode(target));//终点
        body.put("start", nyStartPoint);//起点
        body.put("target", nyTargetPoint);//终点
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -122,8 +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, 9999);
    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<>();
@@ -278,39 +297,52 @@
    }

    //发出请求
    public static JSONObject requestCommand(Socket socket, NyShuttleHttpCommand httpCommand) {
        try {
            if (socket == null) {
                return null;
            }
            // 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(httpCommand) + "\r\n");
            writer.flush();
    public static JSONObject requestCommand(Socket socket, NyShuttleHttpCommand httpCommand) throws IOException {
        if (socket == 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);
        // 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);
             return JSON.parseObject(sb.toString());
        } catch (Exception e) {
            e.printStackTrace();

        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;
        }
        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 filterData(JSONObject data) {
    public static JSONObject filterBodyData(JSONObject data) {
        Object response = data.get("response");
        if (response == null) {
            return null;