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

野心家

2023-10-09 7ba995f514c6d20a59cc69afa05110110e9b2de5

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

@@ -71,11 +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);
@@ -125,8 +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<>();
@@ -285,10 +301,15 @@
        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(httpCommand) + "\r\n");
        writer.write(JSON.toJSONString(data) + "\r\n");
        writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));