#

Junjie

3 天以前 7270218a6c55de1a0e8431afe4119793ef518d50

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

@@ -22,7 +22,8 @@
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.Utils.DeviceMsgUtils;
import com.zy.core.model.DeviceCommandMsgModel;
import com.zy.core.utils.DeviceMsgUtils;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
@@ -75,7 +76,7 @@
                try {
                    listenMessageFromRedis();
                    listenInit();//监听初始化事件
                    read();
                    readStatus();
                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("ShuttleThread Fail", e);
@@ -88,7 +89,13 @@
        Thread executeThread = new Thread(() -> {
            while (true) {
                try {
                    ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
                    ShuttleAction shuttleAction = null;
                    try {
                        shuttleAction = SpringUtils.getBean(ShuttleAction.class);
                    }catch (Exception e){
                        continue;
                    }

                    if (shuttleAction == null) {
                        continue;
                    }
@@ -169,25 +176,17 @@
            if(deviceMsg == null){
                return;
            }
            JSONObject result = JSON.parseObject(deviceMsg.getDeviceMsg().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;
                }
            }
            JSONObject data = JSON.parseObject(JSON.toJSONString(deviceMsg.getDeviceMsg()));

            if (!socketResults.isEmpty() && socketResults.size() >= 20) {
                socketResults.remove(0);//清理头节点
            if (deviceMsg.getDeviceMsgType().equals("status")) {
                data.put("originDeviceData", deviceMsg.getDeviceOriginMsg());
                socketReadResults.add(data);
            } else {
                socketResults.add(data);//添加数据
            }
            socketResults.add(result);//添加数据
        } catch (Exception e) {
//            e.printStackTrace();
            e.printStackTrace();
        }
    }

@@ -238,15 +237,6 @@
        }
    }

    private void read() {
        try {
            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()));
        }
    }

    private void readStatus() {
        try {
            if (null == shuttleProtocol) {
@@ -259,12 +249,21 @@
            }

            //----------读取四向穿梭车状态-----------
            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            DeviceMsgUtils deviceMsgUtils = null;
            try {
                deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            }catch (Exception e){

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

            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
            //指令超过五条，不再下发任务状态请求
            TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, slave.getId());
            if (deviceCommandMsgListKey.size() < 5) {
                requestCommand(readStatusCommand);//请求状态
                requestCommandAsync(readStatusCommand);//请求状态
            }

            if (this.socketReadResults.isEmpty()) {
@@ -277,79 +276,70 @@

            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
                    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 {
            //----------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() == 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;

                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()), slave.getId()));
        } 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()));
@@ -863,6 +853,22 @@
    }

    @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 ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
@@ -1086,7 +1092,7 @@
        return httpStandard;
    }

    //发出请求
    //发出请求-同步
    private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
        try {
            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
@@ -1098,7 +1104,11 @@
            JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
            data.remove("nodes");

            String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), data);
            DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
            commandMsgModel.setDeviceId(slave.getId());
            commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
            commandMsgModel.setCommand(data);
            String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), commandMsgModel);

            String requestType = null;
            String taskId = null;
@@ -1132,6 +1142,38 @@
        return null;
    }

    //发出请求-移步
    private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
        try {
            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            if (deviceMsgUtils == null) {
                return;
            }

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

            DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
            commandMsgModel.setDeviceId(slave.getId());
            commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
            commandMsgModel.setCommand(data);
            String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), commandMsgModel);

            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
            }
        }catch (Exception e) {
            e.printStackTrace();
        }
    }

    private JSONObject filterBodyData(JSONObject data) {
        Object response = data.get("response");
        if (response == null) {