| | |
| | | import com.core.exception.CoolException; |
| | | import com.fasterxml.jackson.databind.ObjectMapper; |
| | | import com.zy.asrs.entity.BasShuttle; |
| | | import com.zy.asrs.entity.DeviceConfig; |
| | | import com.zy.asrs.entity.DeviceDataLog; |
| | | import com.zy.asrs.entity.LocMast; |
| | | import com.zy.asrs.service.BasShuttleService; |
| | |
| | | import com.zy.core.enums.*; |
| | | import com.zy.core.model.CommandResponse; |
| | | import com.zy.core.model.DeviceMsgModel; |
| | | import com.zy.core.model.ShuttleSlave; |
| | | import com.zy.core.model.command.NyShuttleHttpCommand; |
| | | import com.zy.core.model.command.ShuttleCommand; |
| | | import com.zy.core.model.command.ShuttleRedisCommand; |
| | |
| | | @SuppressWarnings("all") |
| | | public class NyShuttleThread implements ShuttleThread { |
| | | |
| | | private ShuttleSlave slave; |
| | | private DeviceConfig deviceConfig; |
| | | private RedisUtil redisUtil; |
| | | private ShuttleProtocol shuttleProtocol; |
| | | |
| | |
| | | //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()); |
| | | News.info("{}号四向车线程启动", deviceConfig.getDeviceNo()); |
| | | |
| | | //设备读取 |
| | | Thread readThread = new Thread(() -> { |
| | |
| | | continue; |
| | | } |
| | | |
| | | Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId()); |
| | | 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(slave.getId(), taskNo); |
| | | boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo); |
| | | } |
| | | |
| | | // //小车空闲且有跑库程序 |
| | | // shuttleAction.moveLoc(slave.getId()); |
| | | // shuttleAction.moveLoc(deviceConfig.getDeviceNo()); |
| | | |
| | | //演示模式 |
| | | shuttleAction.demo(slave.getId()); |
| | | shuttleAction.demo(deviceConfig.getDeviceNo()); |
| | | |
| | | Thread.sleep(200); |
| | | } catch (Exception e) { |
| | |
| | | deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData)); |
| | | deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol)); |
| | | deviceDataLog.setType(String.valueOf(SlaveType.Shuttle)); |
| | | deviceDataLog.setDeviceNo(slave.getId()); |
| | | deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo()); |
| | | 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())); |
| | | OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), deviceConfig.getDeviceNo())); |
| | | } |
| | | } |
| | | } |
| | | |
| | | private void listenMessageFromRedis() { |
| | | try { |
| | | DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class); |
| | | DeviceMsgUtils deviceMsgUtils = null; |
| | | try { |
| | | deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class); |
| | | }catch (Exception e){ |
| | | |
| | | } |
| | | if (deviceMsgUtils == null) { |
| | | return; |
| | | } |
| | | DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, slave.getId()); |
| | | DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo()); |
| | | if(deviceMsg == null){ |
| | | return; |
| | | } |
| | |
| | | try { |
| | | if (null == shuttleProtocol) { |
| | | shuttleProtocol = new ShuttleProtocol(); |
| | | shuttleProtocol.setShuttleNo(slave.getId()); |
| | | shuttleProtocol.setShuttleNo(deviceConfig.getDeviceNo()); |
| | | shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); |
| | | |
| | | InnerSuhttleExtend extend = new InnerSuhttleExtend(); |
| | |
| | | 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) { |
| | | requestCommandAsync(readStatusCommand);//请求状态 |
| | | 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) { |
| | | requestCommand(readStatusCommand);//请求状态 |
| | | } |
| | | |
| | | if (this.socketReadResults.isEmpty()) { |
| | |
| | | |
| | | 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())); |
| | | 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())); |
| | | 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())); |
| | | } |
| | | } |
| | | |
| | |
| | | ShuttleCommand initCommand = getInitCommand(requestId, code); |
| | | //发出请求 |
| | | NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class); |
| | | JSONObject requestResult = requestCommand(httpCommand); |
| | | requestCommand(httpCommand); |
| | | |
| | | 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())); |
| | | 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())); |
| | | break; |
| | | } |
| | | } |
| | |
| | | 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 |
| | | JSONObject requestToken = requestCommand(httpCommand); |
| | | //查询请求结果 |
| | | JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId")); |
| | | 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(); |
| | |
| | | try { |
| | | //发出请求 |
| | | NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class); |
| | | JSONObject result = requestCommand(httpCommand); |
| | | JSONObject requestToken = requestCommand(httpCommand); |
| | | //查询请求结果 |
| | | JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId")); |
| | | if (result == null) { |
| | | return response;//请求失败 |
| | | } |
| | |
| | | try { |
| | | //发出请求 |
| | | NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class); |
| | | JSONObject result = requestCommand(httpCommand); |
| | | JSONObject requestToken = requestCommand(httpCommand); |
| | | //查询请求结果 |
| | | JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId")); |
| | | if (result == null) { |
| | | return response;//请求失败 |
| | | } |
| | |
| | | try { |
| | | //发出请求 |
| | | NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class); |
| | | JSONObject result = requestCommand(httpCommand); |
| | | JSONObject requestToken = requestCommand(httpCommand); |
| | | //查询请求结果 |
| | | JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId")); |
| | | if (result == null) { |
| | | return response;//请求失败 |
| | | } |
| | |
| | | if (shuttleService == null) { |
| | | return false; |
| | | } |
| | | 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; |
| | | } |
| | |
| | | @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); |
| | | NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo); |
| | | NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest(); |
| | | |
| | | ArrayList<HashMap<String, Object>> path = new ArrayList<>(); |
| | |
| | | } |
| | | |
| | | 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()); |
| | |
| | | |
| | | @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 |
| | |
| | | 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); |
| | |
| | | |
| | | @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 |
| | |
| | | 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); |
| | |
| | | |
| | | @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<>(); |
| | |
| | | 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); |
| | |
| | | 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 |
| | |
| | | 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); |
| | |
| | | return httpStandard; |
| | | } |
| | | |
| | | //发出请求-同步 |
| | | //发出请求 |
| | | private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException { |
| | | try { |
| | | DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class); |
| | |
| | | data.remove("nodes"); |
| | | |
| | | DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel(); |
| | | commandMsgModel.setDeviceId(slave.getId()); |
| | | commandMsgModel.setDeviceId(deviceConfig.getDeviceNo()); |
| | | commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle)); |
| | | commandMsgModel.setCommand(data); |
| | | String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), commandMsgModel); |
| | | String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), commandMsgModel); |
| | | |
| | | String requestType = null; |
| | | String taskId = null; |
| | |
| | | //taskId可能取空,不报错,正常情况 |
| | | } |
| | | |
| | | // 获取服务器响应 |
| | | // 尝试30次 |
| | | JSONObject result = null; |
| | | for (int i = 0; i < 30; 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 |
| | | JSONObject result = new JSONObject(); |
| | | result.put("requestType", requestType); |
| | | result.put("taskId", taskId); |
| | | return result; |
| | | }catch (Exception e) { |
| | | e.printStackTrace(); |
| | | } |
| | | 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; |
| | | private JSONObject queryCommandStatus(String requestType, String taskId) { |
| | | // 获取服务器响应 |
| | | // 尝试50次 |
| | | JSONObject result = null; |
| | | for (int i = 0; i < 50; i++) { |
| | | result = getRequestBody(requestType, taskId); |
| | | if (result == null) { |
| | | try { |
| | | Thread.sleep(500); |
| | | } catch (Exception e) { |
| | | e.printStackTrace(); |
| | | } |
| | | }else { |
| | | break; |
| | | } |
| | | |
| | | //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(); |
| | | } |
| | | return result; |
| | | } |
| | | |
| | | private JSONObject filterBodyData(JSONObject data) { |