#

Junjie

2025-05-08 a9a915e7042ab588dfeb0f8ac290fc8ce26a0f29

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

@@ -57,6 +57,7 @@

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

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

    //原始设备数据
@@ -77,6 +78,7 @@
            while (true) {
                try {
                    listenSocketMessage();
                    listenInit();//监听初始化事件
                } catch (Exception e) {
                    e.printStackTrace();
                }
@@ -135,7 +137,6 @@
        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();
@@ -194,7 +195,19 @@
            }

            JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
            if (!socketResults.isEmpty() && socketResults.size() >= 5) {

            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 (!socketResults.isEmpty() && socketResults.size() >= 20) {
                socketResults.remove(0);//清理头节点
            }
            socketResults.add(result);//添加数据
@@ -203,7 +216,7 @@
        }
    }

    public JSONObject getRequestBody(String type) {
    public JSONObject getRequestBody(String type, String taskId) {
        try {
            // 获取服务器响应
            JSONObject result = null;
@@ -226,7 +239,14 @@
                }

                if (!responseType.equals(type)) {
                    continue;//响应ID与请求ID不一致，不在调试模式下
                    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;
@@ -269,11 +289,22 @@

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
            JSONObject data = requestCommand(readStatusCommand);
            requestCommandAsync(readStatusCommand);//请求状态

            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);
                    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 {
@@ -330,9 +361,13 @@
                    shuttleProtocol.setPakMk(true);
                }

                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
                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
                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

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

                this.originDeviceData = data;
@@ -376,6 +411,9 @@
                String requestType = resultBody.getString("requestType");
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    removeIdx = i;//此数据已经处理，从结果集中剔除
                    socketResults.remove(removeIdx);

                    Integer code = resultBody.getInteger("code");
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -383,19 +421,13 @@
                    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;
                }
            }

            if (removeIdx != -1) {
                socketResults.remove(removeIdx);
            }
        } catch (Exception e) {
//            e.printStackTrace();
            e.printStackTrace();
        }
    }

@@ -458,13 +490,17 @@
            }

            for (NyShuttleHttpCommand requestCommand : commandList) {
                JSONObject result = requestCommand(requestCommand);
                if (result == null) {
                    return response;//请求失败
                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) {
@@ -704,6 +740,32 @@
    }

    @Override
    public boolean isFault() {
        if (this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getMode() == null
                || this.shuttleProtocol.getExtend() == null
        ) {
            return false;
        }

        if (this.shuttleProtocol.getMode() == 0) {
            return true;
        }

        if (!this.shuttleProtocol.getErrorCode().equals("0")) {
            return true;
        }

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        if (extend.getSuspendState() == 1) {
            return true;
        }

        return false;
    }

    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
@@ -809,6 +871,13 @@
    @Override
    public boolean enableDemo(boolean enable) {
        shuttleProtocol.setDemo(enable);
        return true;
    }

    @Override
    public boolean offerSystemMsg(String format, Object... arguments) {
        String msg = News.replace(format, arguments);
        shuttleProtocol.setSystemMsg(msg);
        return true;
    }

@@ -1049,43 +1118,71 @@

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

        //压缩数据包
        JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
        data.remove("nodes");
            //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();
            // 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;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
        } catch (Exception e) {
            return null;
            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
            }

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

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

        // 获取服务器响应
        // 尝试10次
        JSONObject result = null;
        for (int i = 0; i < 10; i++) {
            result = getRequestBody(requestType);
            if (result == null) {
                try {
                    Thread.sleep(100);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }else {
                break;
            }
        }
        return result;//返回Body结果集
       try {
           //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));
       }catch (Exception e) {
           e.printStackTrace();
       }
    }

    private JSONObject filterBodyData(JSONObject data) {