#

Junjie

2025-07-07 f3ec64035a323a6a31bf5e98401ea2dc342c8aa2

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

@@ -2,20 +2,20 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.common.SpringUtils;
import com.zy.common.utils.DateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.model.DeviceCommandMsgModel;
import com.zy.core.model.DeviceMsgModel;
import com.zy.core.properties.DeviceConfig;
import com.zy.core.utils.DeviceMsgUtils;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;

import java.io.BufferedReader;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.io.*;
import java.net.InetAddress;
import java.net.Socket;
import java.text.MessageFormat;
@@ -25,26 +25,30 @@
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {

    private ShuttleSlave slave;
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private Socket socket;
    private boolean stopThread = false;

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

    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();
        News.info("{}号四向车线程启动", deviceConfig.getDeviceNo());

        //监听消息
        Thread innerThread = new Thread(() -> {
            while (true) {
                if(stopThread) {
                    break;
                }

                try {
                    this.connect();
                    Thread.sleep(200);
                    listenSocketMessage();
                } catch (Exception e) {
                    e.printStackTrace();
@@ -56,9 +60,19 @@
        //执行指令
        Thread executeThread = new Thread(() -> {
            while (true) {
                if(stopThread) {
                    break;
                }

                try {
                    DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
                    Object deviceCommandMsg = deviceMsgUtils.getDeviceCommandMsg(SlaveType.Shuttle, slave.getId());
                    DeviceMsgUtils deviceMsgUtils = null;
                    try {
                        deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
                    }catch (Exception e){}
                    if (deviceMsgUtils == null) {
                        continue;
                    }
                    DeviceCommandMsgModel deviceCommandMsg = deviceMsgUtils.getDeviceCommandMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo());
                    if (deviceCommandMsg == null) {
                        continue;
                    }
@@ -73,15 +87,17 @@
        executeThread.start();
    }

    private void executeCommand(Object deviceCommandMsg) {
    private void executeCommand(DeviceCommandMsgModel deviceCommandMsg) {
        try {
            if (this.socket == null) {
                return;
            }

            Object command = deviceCommandMsg.getCommand();

            // 获取输出流
            OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
            writer.write(JSON.toJSONString(deviceCommandMsg) + "\r\n");
            writer.write(JSON.toJSONString(command) + "\r\n");
            writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
        }catch (Exception e) {
@@ -95,8 +111,12 @@
                return;
            }

            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            if(deviceMsgUtils == null) {
            DeviceMsgUtils deviceMsgUtils = null;
            try {
                deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            } catch (Exception e) {
            }
            if (deviceMsgUtils == null) {
                return;
            }

@@ -115,25 +135,103 @@
            }

            JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
            deviceMsgUtils.sendDeviceMsg(SlaveType.Shuttle, slave.getId(), result);
            log.info("收到Server Data: {}", JSON.toJSONString(result));

            String msgType = result.getString("msgType");
            if ("responseMsg".equals(msgType)) {
                JSONObject response = result.getJSONObject("response");
                JSONObject body = response.getJSONObject("body");
                if (body.containsKey("workingMode")) {
                    //read
                    JSONObject data = parseSocketResult(body);

                    DeviceMsgModel deviceMsgModel = new DeviceMsgModel();
                    deviceMsgModel.setDeviceId(deviceConfig.getDeviceNo());
                    deviceMsgModel.setDeviceMsgType("status");
                    deviceMsgModel.setDeviceMsg(data);
                    deviceMsgModel.setDeviceOriginMsg(sb.toString());
                    deviceMsgUtils.sendDeviceMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo(), deviceMsgModel);
                    return;
                }
            }

            DeviceMsgModel deviceMsgModel = new DeviceMsgModel();
            deviceMsgModel.setDeviceId(deviceConfig.getDeviceNo());
            deviceMsgModel.setDeviceMsgType("command");
            deviceMsgModel.setDeviceMsg(result);
            deviceMsgModel.setDeviceOriginMsg(sb.toString());
            deviceMsgUtils.sendDeviceMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo(), deviceMsgModel);
        } catch (Exception e) {
            e.printStackTrace();
//            e.printStackTrace();
        }
    }

    public JSONObject parseSocketResult(JSONObject data) {
        JSONObject device = new JSONObject();

        //小车设备状态
        device.put("deviceStatus", data.getInteger("free"));
        //小车模式
        device.put("mode", data.getInteger("workingMode"));
        //当前二维码
        device.put("currentCode", data.getString("point"));
        //电池电量
        device.put("batteryPower", data.getString("powerPercent"));
        //电池电压
        device.put("batteryVoltage", data.getInteger("voltage"));
        //故障
        device.put("errorCode", data.getJSONArray("errCode").getString(0));

        //是否顶升
        device.put("hasLift", data.getInteger("liftPosition") == 2 ? true : false);
        //是否有托盘
        device.put("hasPallet", data.getInteger("loadState") == 1 ? true : false);
        //行驶方向
        device.put("runDirection", data.getString("runDir") == null ? "none" : data.getString("runDir"));
        //是否为充电状态
        device.put("hasCharge", data.getInteger("chargState") == 1 ? true : false);
        //运行速度
        device.put("speed", data.getInteger("speed"));

        //*********读取扩展字段**********

        JSONObject extend = new JSONObject();
        device.put("extend", extend);

        //管制状态
        extend.put("suspendState", data.getInteger("suspendState"));
        //最高电芯电压(mV)
        extend.put("maxCellVoltage", data.getInteger("maxCellVoltage"));
        //最低电芯电压(mV)
        extend.put("minCellVoltage", data.getInteger("minCellVoltage"));
        //电池电压
        extend.put("voltage", data.getInteger("voltage"));
        //充放电循环次数
        extend.put("chargeCycleTimes", data.getInteger("chargeCycleTimes"));
        //剩余电量
        extend.put("surplusQuantity", data.getInteger("surplusQuantity"));
        //总电量
        extend.put("countQuantity", data.getInteger("countQuantity"));
        return device;
    }

    @Override
    public boolean connect() {
        try {
            InetAddress address = InetAddress.getByName(slave.getIp());
            if(this.socket != null) {
                return true;
            }

            InetAddress address = InetAddress.getByName(deviceConfig.getIp());
            if (address.isReachable(10000)) {
                Socket socket = new Socket(slave.getIp(), slave.getPort());
                Socket socket = new Socket(deviceConfig.getIp(), deviceConfig.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()));
                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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            }
        } catch (Exception 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()));
            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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
            return false;
        }

@@ -144,4 +242,15 @@
    public void close() {

    }

    @Override
    public DeviceConfig getDeviceConfig() {
        return this.deviceConfig;
    }

    @Override
    public void stopThread() {
        this.stopThread = true;
    }

}