#

qlsxk

2025-10-16 3979820ffea1120bc553accbdeba6445da91f277

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

@@ -5,13 +5,11 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.DeviceDataLogService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.ExecuteSupport;
@@ -21,12 +19,16 @@
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
import com.zy.core.action.ShuttleAction;
import com.zy.core.model.DeviceCommandMsgModel;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.utils.DeviceMsgUtils;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.DeviceMsgModel;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
@@ -38,11 +40,7 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.net.Socket;
import java.text.MessageFormat;
import java.util.*;

@@ -50,47 +48,40 @@
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {

    private ShuttleSlave slave;
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ShuttleProtocol shuttleProtocol;
    private Socket socket;
    private ShuttleAction shuttleAction = null;

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

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

    private Long requestReadTime = System.currentTimeMillis();
    //原始设备数据
    private Object originDeviceData;

    public NyShuttleThread(ShuttleSlave slave, RedisUtil redisUtil) {
        this.slave = slave;
    public NyShuttleThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
        this.deviceConfig = deviceConfig;
        this.redisUtil = redisUtil;
    }

    @Override
    public void run() {
        News.info("{}号四向车线程启动", slave.getId());
        this.connect();

        //监听消息并存储
        Thread innerThread = new Thread(() -> {
            while (true) {
                try {
                    listenSocketMessage();
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        innerThread.start();
        News.info("{}号四向车线程启动", deviceConfig.getDeviceNo());

        //设备读取
        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    read();
                    Thread.sleep(50);
                    listenMessageFromRedis();
                    listenInit();//监听初始化事件
                    readStatus();
                    Thread.sleep(100);

//                    //小车空闲且有跑库程序
//                    shuttleAction.moveLoc(deviceConfig.getDeviceNo());
                } catch (Exception e) {
                    log.error("ShuttleThread Fail", e);
                }
@@ -98,181 +89,88 @@
        });
        readThread.start();

        //设备执行
        Thread executeThread = new Thread(() -> {
            while (true) {
                try {
                    ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
                    if (shuttleAction == null) {
                        continue;
                    }

                    Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
                    if (object == null) {
                        continue;
                    }

                    Integer taskNo = Integer.valueOf(String.valueOf(object));
                    if (taskNo != 0) {
                        //存在任务需要执行
                        boolean result = shuttleAction.executeWork(slave.getId(), taskNo);
                    }

//                    //小车空闲且有跑库程序
//                    shuttleAction.moveLoc(slave.getId());

                    //演示模式
                    shuttleAction.demo(slave.getId());

                    Thread.sleep(200);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        executeThread.start();

        //其他任务
        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();
                }
            }
        });
        otherThread.start();
//        //设备执行
//        Thread executeThread = new Thread(() -> {
//            while (true) {
//                try {
//                    if (shuttleAction == null) {
//                        try {
//                            shuttleAction = SpringUtils.getBean(ShuttleAction.class);
//                        }catch (Exception e){
//                        }
//                        continue;
//                    }
//
//                    Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
//                    if (object == null) {
//                        continue;
//                    }
//
//                    Integer taskNo = Integer.valueOf(String.valueOf(object));
//                    if (taskNo != 0) {
//                        //存在任务需要执行
//                        boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
//                    }
//                    Thread.sleep(100);
//                } catch (Exception e) {
//                    e.printStackTrace();
//                }
//            }
//        });
//        executeThread.start();
    }

    private void saveLog() {
        if (shuttleProtocol == null) {
            return;
        }

        if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
            if (this.originDeviceData != null) {
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                if (deviceDataLogService == null) {
                    return;
                }
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
                deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
                deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
                deviceDataLog.setDeviceNo(slave.getId());
                deviceDataLog.setCreateTime(new Date());
                deviceDataLogService.insert(deviceDataLog);

                //更新采集时间
                shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            }
        }
    }

    private void listenSocketMessage() {
    private void listenMessageFromRedis() {
        try {
            if (this.socket == null) {
            DeviceMsgUtils deviceMsgUtils = null;
            try {
                deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            }catch (Exception e){

            }
            if (deviceMsgUtils == null) {
                return;
            }
            DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo());
            if(deviceMsg == null){
                return;
            }

            // 获取输入流
            BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
            // 读取服务器的响应
            StringBuffer sb = new StringBuffer();
            char[] chars = new char[2048];//缓冲区
            while (true) {
                reader.read(chars);
                String trim = new String(chars);
                sb.append(trim);
                if (trim.lastIndexOf("\r\n") != -1) {
                    break;
                }
            }
            JSONObject data = JSON.parseObject(JSON.toJSONString(deviceMsg.getDeviceMsg()));

            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 (deviceMsg.getDeviceMsgType().equals("status")) {
                data.put("originDeviceData", deviceMsg.getDeviceOriginMsg());
                socketReadResults.add(data);
            } else {
                socketResults.add(deviceMsg);//添加数据
            }

            if (!socketResults.isEmpty() && socketResults.size() >= 20) {
                socketResults.remove(0);//清理头节点
            }
            socketResults.add(result);//添加数据
        } catch (Exception e) {
//            e.printStackTrace();
            e.printStackTrace();
        }
    }

    public JSONObject getRequestBody(String type, String taskId) {
    public JSONObject getRequestBody(String resultKey) {
        try {
            // 获取服务器响应
            JSONObject result = null;
            if (type.equals("readState")) {
                type = "state";
            }

            int idx = -1;
            for (int i = 0; i < socketResults.size(); i++) {
                JSONObject socketResult = socketResults.get(i);
                if (!socketResult.get("msgType").equals("responseMsg")) {//不是响应内容
                    continue;
                }

                JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
                String responseType = resultBody.get("responseType").toString();
                if (DEBUG) {
                    result = socketResult;
                DeviceMsgModel deviceMsgModel = socketResults.get(i);
                if(deviceMsgModel.getResultKey().equals(resultKey)){
                    idx = i;
                    result = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
                    break;
                }

                if (!responseType.equals(type)) {
                    continue;//响应类型与请求类型不一致，不在调试模式下
                }

                if (taskId != null) {
                    String responseTaskId = resultBody.get("taskId").toString();
                    if (!responseTaskId.equals(taskId)) {
                        continue;//响应ID与请求ID不一致，不在调试模式下
                    }
                }

                result = socketResult;
                break;
            }

            if (result == null) {
                return null;//无响应结果
            }

            socketResults.remove(idx);
            return filterBodyData(result);//返回Body结果集
        } catch (Exception e) {
            return null;
        }
    }

    private void read() {
        try {
            if (this.socket == null || this.socket.isClosed()) {
                //链接断开重新链接
                this.connect();
            }
            readStatus();
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        }
    }

@@ -280,7 +178,7 @@
        try {
            if (null == shuttleProtocol) {
                shuttleProtocol = new ShuttleProtocol();
                shuttleProtocol.setShuttleNo(slave.getId());
                shuttleProtocol.setShuttleNo(deviceConfig.getDeviceNo());
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);

                InnerSuhttleExtend extend = new InnerSuhttleExtend();
@@ -288,95 +186,103 @@
            }

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
            requestCommandAsync(readStatusCommand);//请求状态
            DeviceMsgUtils deviceMsgUtils = null;
            try {
                deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            }catch (Exception e){

            }
            if(deviceMsgUtils == null){
                return;
            }

            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(deviceConfig.getDeviceNo());
            //指令超过2条，不再下发任务状态请求
            TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, deviceConfig.getDeviceNo());
            if (deviceCommandMsgListKey.size() < 2) {
                if ((System.currentTimeMillis() - requestReadTime) > 500) {
                    requestCommand(readStatusCommand);//请求状态
                    requestReadTime = System.currentTimeMillis();
                }
            }

            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);
                }
                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 {
            //----------读取四向穿梭车状态-----------
            //小车设备状态
            shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
            //小车模式
            shuttleProtocol.setMode(data.getInteger("mode"));
            //当前二维码
            shuttleProtocol.setCurrentCode(data.getString("currentCode"));
            //电池电量
            shuttleProtocol.setBatteryPower(data.getString("batteryPower"));
            //电池电压
            shuttleProtocol.setBatteryVoltage(data.getInteger("batteryVoltage"));
            //故障
            shuttleProtocol.setErrorCode(data.getString("errorCode"));
            //是否顶升
            shuttleProtocol.setHasLift(data.getBoolean("hasLift"));
            //是否有托盘
            shuttleProtocol.setHasPallet(data.getBoolean("hasPallet"));
            //行驶方向
            shuttleProtocol.setRunDirection(data.getString("runDirection"));
            //是否为充电状态
            shuttleProtocol.setHasCharge(data.getBoolean("hasCharge"));
            //运行速度
            shuttleProtocol.setSpeed(data.getInteger("speed"));

                //----------读取四向穿梭车状态-----------
                //小车设备状态
                shuttleProtocol.setDeviceStatus(data.getInteger("free"));
                //小车模式
                shuttleProtocol.setMode(data.getInteger("workingMode"));
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("point"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
                //电池电压
                shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
                //故障
                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));
            //*********读取扩展字段**********
            JSONObject extendData = data.getJSONObject("extend");
            InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
            //管制状态
            extend.setSuspendState(extendData.getInteger("suspendState"));
            //最高电芯电压(mV)
            extend.setMaxCellVoltage(extendData.getInteger("maxCellVoltage"));
            //最低电芯电压(mV)
            extend.setMinCellVoltage(extendData.getInteger("minCellVoltage"));
            //电池电压
            extend.setVoltage(extendData.getInteger("voltage"));
            //充放电循环次数
            extend.setChargeCycleTimes(extendData.getInteger("chargeCycleTimes"));
            //剩余电量
            extend.setSurplusQuantity(extendData.getInteger("surplusQuantity"));
            //总电量
            extend.setCountQuantity(extendData.getInteger("countQuantity"));
            shuttleProtocol.setExtend(extend);//扩展字段

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
                //是否有托盘
                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
                //行驶方向
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
                //是否为充电状态
                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
                //运行速度
                shuttleProtocol.setSpeed(data.getInteger("speed"));
            //最近一次在线时间
            shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
            //读取四向穿梭车状态-end

                //*********读取扩展字段**********
                InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
                //管制状态
                extend.setSuspendState(data.getInteger("suspendState"));
                //最高电芯电压(mV)
                extend.setMaxCellVoltage(data.getInteger("maxCellVoltage"));
                //最低电芯电压(mV)
                extend.setMinCellVoltage(data.getInteger("minCellVoltage"));
                //电池电压
                extend.setVoltage(data.getInteger("voltage"));
                //充放电循环次数
                extend.setChargeCycleTimes(data.getInteger("chargeCycleTimes"));
                //剩余电量
                extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
                //总电量
                extend.setCountQuantity(data.getInteger("countQuantity"));
                shuttleProtocol.setExtend(extend);//扩展字段

                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                ///读取四向穿梭车状态-end

                //小车处于运行中，将标记置为true
                if (shuttleProtocol.getDeviceStatus() == 0) {
                    shuttleProtocol.setPakMk(true);
                }

                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
                    //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.originDeviceData = data;

                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            //小车处于运行中，将标记置为true
            if (shuttleProtocol.getDeviceStatus() == 0) {
                shuttleProtocol.setPakMk(true);
            }

            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
                this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            }

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

            this.originDeviceData = data.getString("originDeviceData");

            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
        } catch (Exception e) {
            e.printStackTrace();
            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()));
            try {
                this.socket.close();
                this.socket = null;
                Thread.sleep(1000);
                this.connect();
            } catch (IOException | InterruptedException exception) {
                e.printStackTrace();
            }
            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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
        }
    }

@@ -388,38 +294,38 @@
            // 获取服务器响应
            JSONObject result = null;
            int removeIdx = -1;
            JSONObject socketResult = null;
            for (int i = 0; i < socketResults.size(); i++) {
                JSONObject socketResult = socketResults.get(i);
                if (socketResult == null) {
                DeviceMsgModel deviceMsgModel = socketResults.get(i);
                if (!deviceMsgModel.getDeviceMsgType().equals("shuttleInit")) {
                    continue;
                }
                if (!socketResult.get("msgType").equals("requestMsg")) {//不是请求内容
                    continue;
                }

                JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
                JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
                String requestType = resultBody.getString("requestType");
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    Integer code = resultBody.getInteger("code");
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
                    //发出请求
                    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;
                }
                removeIdx = i;
                socketResult = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
                break;
            }

            if (removeIdx != -1) {
            if (socketResult == null) {
                return;
            }

            JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
            JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
            JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
            String requestType = resultBody.getString("requestType");
            Integer requestId = resultHeader.getInteger("requestId");
            if (requestType.equals("init")) {
                socketResults.remove(removeIdx);

                Integer code = resultBody.getInteger("code");
                //小车复位请求
                ShuttleCommand initCommand = getInitCommand(requestId, code);
                //发出请求
                NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
                requestCommand(httpCommand);

                log.info(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", deviceConfig.getDeviceNo(), code, deviceConfig.getIp(), deviceConfig.getPort()));
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", deviceConfig.getDeviceNo(), code, deviceConfig.getIp(), deviceConfig.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -445,58 +351,81 @@
        return response;
    }

//    @Override
//    public CommandResponse move(ShuttleCommand command) {
//        CommandResponse response = new CommandResponse(false);
//        try {
//            //发出请求
//            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
//            Map<String, Object> body = httpCommand.getRequest().getBody();
//            Object pathObj = body.get("path");
//            int taskId = Integer.parseInt(body.get("taskId").toString());
//            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
//            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
//            while (!path.isEmpty()) {
//                ArrayList<Map<String, Object>> list = new ArrayList<>();
//                if (path.size() > 10) {
//                    List<JSONObject> subList = path.subList(0, 10);
//                    list.addAll(subList);
//
//                    List<JSONObject> tmp = new ArrayList<>();
//                    for (int i = 10; i < path.size(); i++) {
//                        tmp.add(path.get(i));
//                    }
//                    path = tmp;
//                }else  {
//                    list.addAll(path);
//                    path.clear();
//                }
//
//                NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
//                JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
//
//                NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
//                bodyCopy.put("path", list);
//                bodyCopy.put("taskId", taskId++);
//                request.setBody(bodyCopy);
//                httpCommandCopy.setRequest(request);
//
//                commandList.add(httpCommandCopy);//add copy
//            }
//
//            for (NyShuttleHttpCommand requestCommand : commandList) {
//                while (true) {
//                    JSONObject result = requestCommand(requestCommand);
//                    if (result == null) {
////                        return response;//请求失败
//                        continue;//请求失败尝试重新请求
//                    }
//                    this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
//                    response.setMessage(JSON.toJSONString(result));
//                    response.setResult(true);
//                    break;
//                }
//            }
//            return response;
//        } catch (Exception e) {
//            e.printStackTrace();
//            response.setMessage(e.getMessage());
//            return response;
//        }
//    }

    @Override
    public CommandResponse move(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            Map<String, Object> body = httpCommand.getRequest().getBody();
            Object pathObj = body.get("path");
            int taskId = Integer.parseInt(body.get("taskId").toString());
            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
            while (!path.isEmpty()) {
                ArrayList<Map<String, Object>> list = new ArrayList<>();
                if (path.size() > 10) {
                    List<JSONObject> subList = path.subList(0, 10);
                    list.addAll(subList);

                    List<JSONObject> tmp = new ArrayList<>();
                    for (int i = 10; i < path.size(); i++) {
                        tmp.add(path.get(i));
                    }
                    path = tmp;
                }else  {
                    list.addAll(path);
                    path.clear();
                }

                NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
                JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));

                NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
                bodyCopy.put("path", list);
                bodyCopy.put("taskId", taskId++);
                request.setBody(bodyCopy);
                httpCommandCopy.setRequest(request);

                commandList.add(httpCommandCopy);//add copy
            String resultKey = requestCommand(httpCommand);
            //查询请求结果
            JSONObject result = queryCommandStatus(resultKey);
            if (result == null) {
                return response;//请求失败
            }

            for (NyShuttleHttpCommand requestCommand : commandList) {
                while (true) {
                    JSONObject result = requestCommand(requestCommand);
                    if (result == null) {
//                        return response;//请求失败
                        continue;//请求失败尝试重新请求
                    }
                    this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                    response.setMessage(JSON.toJSONString(result));
                    response.setResult(true);
                    break;
                }
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
@@ -511,7 +440,9 @@
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            String resultKey = requestCommand(httpCommand);
            //查询请求结果
            JSONObject result = queryCommandStatus(resultKey);
            if (result == null) {
                return response;//请求失败
            }
@@ -531,7 +462,9 @@
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            String resultKey = requestCommand(httpCommand);
            //查询请求结果
            JSONObject result = queryCommandStatus(resultKey);
            if (result == null) {
                return response;//请求失败
            }
@@ -559,7 +492,9 @@
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            String resultKey = requestCommand(httpCommand);
            //查询请求结果
            JSONObject result = queryCommandStatus(resultKey);
            if (result == null) {
                return response;//请求失败
            }
@@ -646,7 +581,7 @@
    }

    @Override
    public boolean isRequireCharge() {
    public ShuttleRequireChargeType isRequireCharge() {
        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
@@ -654,7 +589,7 @@
                || this.shuttleProtocol.getMode() == null
                || this.shuttleProtocol.getExtend() == null
        ) {
            return false;
            return ShuttleRequireChargeType.NONE;
        }

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
@@ -667,25 +602,43 @@
                && extend.getSuspendState() == 0
                ;
        if (!res) {
            return res;
            return ShuttleRequireChargeType.NONE;
        } else {
            // 电量小于阈值需要进行充电
            try {
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                if (shuttleService == null) {
                    return false;
                    return ShuttleRequireChargeType.NONE;
                }
                BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", slave.getId()));

                BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", deviceConfig.getDeviceNo()));
                if (basShuttle == null) {
                    return false;
                    return ShuttleRequireChargeType.NONE;
                }

                Integer chargeLine = basShuttle.getChargeLine();
                if (chargeLine == null) {
                    return false;
                    return ShuttleRequireChargeType.NONE;
                }
                return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;

                boolean chargeResult = Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
                if (chargeResult) {
                    return ShuttleRequireChargeType.FORCE_CHARGE;//需要强制充电
                }

                Integer suggestChargeLine = basShuttle.getSuggestChargeLine();
                if (suggestChargeLine == null) {
                    return ShuttleRequireChargeType.NONE;
                }

                boolean suggestChargeResult = Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < suggestChargeLine;
                if (suggestChargeResult) {
                    return ShuttleRequireChargeType.SUGGEST_CHARGE;//建议充电
                }

                return ShuttleRequireChargeType.NONE;
            } catch (Exception e) {
                return false;
                return ShuttleRequireChargeType.NONE;
            }
        }
    }
@@ -716,6 +669,19 @@
            }
        }

        //***************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;
        }
@@ -743,12 +709,21 @@
            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
@@ -779,7 +754,7 @@
                //将路径锁与小车路径进行匹配
                ArrayList<NavigateNode> tmp = new ArrayList<>();
                //检测路径是否被锁定
                int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, null);
                int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.getDfxWithDevice(), null, null);
                for (NavigateNode node : path) {
                    if(map[node.getX()][node.getY()] == -999) {
                        tmp.add(node);
@@ -799,19 +774,24 @@

    @Override
    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
        if (status.equals(ShuttleProtocolStatusType.IDLE)) {
            this.shuttleProtocol.setIdleTime(System.currentTimeMillis());
        }
        this.shuttleProtocol.setProtocolStatus(status);
        return true;
    }

    @Override
    public synchronized boolean setTaskNo(Integer taskNo) {
        redisUtil.set(RedisKeyType.SHUTTLE_FLAG.key + shuttleProtocol.getShuttleNo(), taskNo);
        this.shuttleProtocol.setTaskNo(taskNo);
        return true;
    }

    @Override
    public synchronized boolean setSyncTaskNo(Integer taskNo) {
        this.shuttleProtocol.setSyncTaskNo(taskNo);
        redisUtil.setSync(RedisKeyType.SHUTTLE_FLAG.key + shuttleProtocol.getShuttleNo(), taskNo);
        this.shuttleProtocol.setTaskNo(taskNo);
        return true;
    }

@@ -868,9 +848,154 @@
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
    public boolean setTrafficControl(boolean enable, List<NavigateNode> nodeList) {
        shuttleProtocol.setTrafficControl(enable);
        shuttleProtocol.setTrafficControlNodes(nodeList);
        return true;
    }

    @Override
    public void updateDeviceDataLogTime(long time) {
        shuttleProtocol.setDeviceDataLog(time);
    }

    @Override
    public JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol) {
        JSONObject result = new JSONObject();
        result.put("msgType", "responseMsg");
        result.put("robotId", 5002);

        JSONObject header = new JSONObject();
        header.put("responseId", 5005631);
        header.put("version", "RGV-APP-F427-N24036-1112");

        JSONObject body = new JSONObject();
        body.put("responseType", "state");

        return null;
    }

    @Override
    public boolean restartCalcPath() {
        ConfigService configService = SpringUtils.getBean(ConfigService.class);
        if (configService == null) {
            return false;
        }

        ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
        if (shuttleAction == null) {
            return false;
        }

        ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
        if (shuttleOperaUtils == null) {
            return false;
        }

        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        if (objectMapper == null) {
            return false;
        }

        boolean trafficControlRestartCalcPath = false;
        Config trafficControlRestartCalcPathConfig = configService.selectOne(new EntityWrapper<Config>()
                .eq("code", "trafficControlRestartCalcPath")
        );
        if(trafficControlRestartCalcPathConfig != null) {
            trafficControlRestartCalcPath = trafficControlRestartCalcPathConfig.getValue().equals("Y") ? true : false;
        }

        if (!trafficControlRestartCalcPath) {
            return false;
        }

        if (shuttleProtocol.getTaskNo() == 0) {
            return false;
        }

        if (!this.isDeviceIdle()) {
            return false;
        }

        Object object = redisUtil.get(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo());
        if (object != null) {
            return false;
        }

        Integer taskNo = shuttleProtocol.getTaskNo();
        Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
        if (obj == null) {
            return false;
        }

        ShuttleRedisCommand redisCommand = null;
        try {
            redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
        } catch (IOException e) {
            throw new RuntimeException(e);
        }

        if (redisCommand == null) {
            return false;
        }

        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        String locNo = assignCommand.getLocNo();
        List<NavigationMapType> mapTypes = assignCommand.getMapTypes();
        if (locNo == null) {
            return false;
        }

        if (mapTypes == null) {
            return false;
        }

        List<NavigationMapType> restartCalcMapTypes = new ArrayList<>(mapTypes);
        restartCalcMapTypes.add(NavigationMapType.SHUTTLE);

        if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
            restartCalcMapTypes.add(NavigationMapType.DFX);
        }

        String currentLocNo = shuttleProtocol.getCurrentLocNo();
        List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, restartCalcMapTypes, assignCommand, this);
        if (commands == null) {
            return false;
        }

        if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
            List<ShuttleCommand> originCommands = assignCommand.getCommands();
            if (originCommands == null) {
                return false;
            }

            ShuttleCommand firstCommand = originCommands.get(0);
            ShuttleCommand endCommand = originCommands.get(originCommands.size() - 1);

            if (firstCommand.getMode() != ShuttleCommandModeType.PALLET_LIFT.id) {
                return false;
            }

            if (endCommand.getMode() != ShuttleCommandModeType.PALLET_DOWN.id) {
                return false;
            }

            commands.add(0, firstCommand);
            commands.add(endCommand);
        }

        assignCommand.setCommands(commands);

        //下发任务
        shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
        redisUtil.set(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo(), true, 60);
        return true;
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean shuttleDirectionReverse) {
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        ArrayList<HashMap<String, Object>> path = new ArrayList<>();
@@ -879,21 +1004,25 @@
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", taskId);//TaskID需要随机
//        body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//起点
//        body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//终点
        body.put("path", path);
        request.setBody(body);

        NavigateNode startNode = nodes.get(0);
        List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
        for (NavigateNode node : nodes) {
            HashMap<String, Object> data = new HashMap<>();
            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
            int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));

            int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            if (shuttleDirectionReverse) {
                xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
                yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            }

            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));

            List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.NONE.id, null, null);
            List<MapNode> mapNodes = mapData.get(node.getX());
            MapNode mapNode = mapNodes.get(node.getY());

@@ -907,25 +1036,84 @@

        httpStandard.setRequest(request);

        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("qr_code_value", distCodeNum));
        if (locMast == null) {
            throw new CoolException("库位信息不存在");
        }
        Object object = redisUtil.get(RedisKeyType.LOC_MAP.key);
        HashMap<String, String> locMap = (HashMap<String, String>) object;
        String targetLocNo = locMap.get(distCodeNum);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setShuttleNo(deviceConfig.getDeviceNo());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(locMast.getLocNo());
        command.setTargetLocNo(targetLocNo);
        command.setTaskNo(taskId);
        return command;
    }

    @Override
    public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn, Boolean shuttleDirectionReverse) {
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        ArrayList<HashMap<String, Object>> path = new ArrayList<>();

        Integer taskId = getTaskId();
        HashMap<String, Object> body = new HashMap<>();
//        if (moveIn) {
//            body.put("requestType", "intoLift");//进提升机
//        } else {
//            body.put("requestType", "outLift");//出提升机
//        }
        body.put("requestType", "move");//移动命令
        body.put("taskId", taskId);//TaskID需要随机
        body.put("path", path);
        request.setBody(body);

        NavigateNode startNode = nodes.get(0);
        List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
        for (NavigateNode node : nodes) {
            HashMap<String, Object> data = new HashMap<>();
            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));

            int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            if (shuttleDirectionReverse) {
                xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
                yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            }

            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));

            List<MapNode> mapNodes = mapData.get(node.getX());
            MapNode mapNode = mapNodes.get(node.getY());

            data.put("xp", xp);
            data.put("yp", yp);
            data.put("z", z);
            data.put("x", mapNode.getXBase());
            data.put("y", mapNode.getYBase());
            path.add(data);
        }

        httpStandard.setRequest(request);

        Object object = redisUtil.get(RedisKeyType.LOC_MAP.key);
        HashMap<String, String> locMap = (HashMap<String, String>) object;
        String targetLocNo = locMap.get(distCodeNum);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(deviceConfig.getDeviceNo());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(targetLocNo);
        command.setTaskNo(taskId);
        return command;
    }

    @Override
    public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
@@ -937,7 +1125,7 @@
        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setShuttleNo(deviceConfig.getDeviceNo());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
        command.setTaskNo(taskId);
@@ -946,7 +1134,7 @@

    @Override
    public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
@@ -958,7 +1146,7 @@
        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setShuttleNo(deviceConfig.getDeviceNo());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
        command.setTaskNo(taskId);
@@ -967,7 +1155,7 @@

    @Override
    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
@@ -978,7 +1166,7 @@
        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setShuttleNo(deviceConfig.getDeviceNo());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
        command.setTaskNo(taskNo);
@@ -987,9 +1175,8 @@

    //获取小车复位响应命令
    public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
        NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        //code -> {Integer@13781} 1101101
@@ -1003,15 +1190,14 @@
        map.put("z", lev);

        String mapStr = JSON.toJSONString(map);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("qr_code_value", mapStr));
        if (locMast == null) {
            throw new CoolException("地址码不存在");
        }

        List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.NONE.id, null, null);
        List<MapNode> mapNodes = mapData.get(locMast.getRow1());
        MapNode mapNode = mapNodes.get(locMast.getBay1());
        Object object = redisUtil.get(RedisKeyType.LOC_MAP.key);
        HashMap<String, String> locMap = (HashMap<String, String>) object;
        String targetLocNo = locMap.get(mapStr);

        List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
        List<MapNode> mapNodes = mapData.get(Utils.getRow(targetLocNo));
        MapNode mapNode = mapNodes.get(Utils.getBay(targetLocNo));

        HashMap<String, Object> location = new HashMap<>();
        location.put("xp", row);
@@ -1030,7 +1216,7 @@
        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(slave.getId());
        command.setShuttleNo(deviceConfig.getDeviceNo());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.RESET.id);
        command.setTaskNo(taskNo);
@@ -1039,17 +1225,6 @@

    @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) {
            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;
        }

        return true;
    }

@@ -1103,63 +1278,46 @@
    }

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

        //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));

        String requestType = null;
        String taskId = null;
    private String requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
        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
        }
            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            if (deviceMsgUtils == null) {
                return null;
            }

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

            DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
            commandMsgModel.setDeviceId(deviceConfig.getDeviceNo());
            commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
            commandMsgModel.setCommand(data);
            String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), commandMsgModel);
            return key;
        }catch (Exception e) {
            e.printStackTrace();
        }
        return null;
    }

    private JSONObject queryCommandStatus(String resultKey) {
        // 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);
        long startTime = System.currentTimeMillis();
        while (true) {
            if((System.currentTimeMillis() - startTime) > 1000 * 10) {
                break;
            }

            result = getRequestBody(resultKey);
            if (result == null) {
                try {
                    Thread.sleep(100);
                } catch (Exception e) {
                    e.printStackTrace();
                }
                continue;
            }else {
                break;
            }
        }
        return result;//返回Body结果集
    }

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

        //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));
        return result;
    }

    private JSONObject filterBodyData(JSONObject data) {
@@ -1189,13 +1347,6 @@

    //WCS系统坐标转牛眼坐标
    private static int[] WCSXyzToNyXyz(int x, int y, int z) {
//        //WCS系统Y轴 => 牛眼X轴转换公式
//        int x1 = Math.abs(y - 61) + 11;
//        //WCS系统X轴 => 牛眼Y轴转换公式
//        int y1 = x + 10;

//        int x1 = x + 10;
//        int y1 = y + 10;
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("row1", x)
@@ -1208,7 +1359,12 @@

        String qrCodeValue = locMast.getQrCodeValue();
        JSONObject data = JSON.parseObject(qrCodeValue);
        return new int[]{data.getInteger("y"), data.getInteger("x"), z};
        return new int[]{data.getInteger("x"), data.getInteger("y"), z};
    }

    @Override
    public Object getOriginDeviceData() {
        return this.originDeviceData;
    }

    @Data