#

Junjie

2025-07-17 fcbf54ac3b86f5545cf120b37e4cfe956919f338

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

@@ -42,6 +42,7 @@
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.net.InetAddress;
import java.net.Socket;
import java.text.MessageFormat;
import java.util.*;
@@ -54,6 +55,7 @@
    private RedisUtil redisUtil;
    private ShuttleProtocol shuttleProtocol;
    private Socket socket;
    private long lastConnectTime = System.currentTimeMillis();

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

@@ -159,6 +161,12 @@
                if (deviceDataLogService == null) {
                    return;
                }

                //离线不做日志存储
                if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE)) {
                    return;
                }

                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
                deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
@@ -202,7 +210,10 @@
                JSONObject body = response.getJSONObject("body");
                if (body.containsKey("workingMode")) {
                    //read
                    socketReadResults.add(body);
                    JSONObject socketReadResult = new JSONObject();
                    socketReadResult.put("body", body);
                    socketReadResult.put("originDeviceData", sb);
                    socketReadResults.add(socketReadResult);
                    return;
                }
            }
@@ -292,15 +303,20 @@
            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);
            JSONObject socketReadResult = this.socketReadResults.get(0);
            this.socketReadResults.remove(0);
            JSONObject data = socketReadResult.getJSONObject("body");
            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 {
@@ -357,12 +373,16 @@
                    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);
                }

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

                this.originDeviceData = socketReadResult.get("originDeviceData");

                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
            }
@@ -403,6 +423,9 @@
                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);
@@ -410,16 +433,10 @@
                    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();
@@ -716,6 +733,19 @@
            }
        }

        //***************判断是否满充校准***************
        Config shuttleMaxPowerVerifyConfig = configService.selectOne(new EntityWrapper<Config>()
                .eq("code", "shuttleMaxPowerVerify")
                .eq("status", 1));
        if (shuttleMaxPowerVerifyConfig != null) {
            if (shuttleMaxPowerVerifyConfig.getValue().equals("true")) {
                if (this.shuttleProtocol.getBatteryVoltage() < 5630) {
                    return false;//电压不够继续充电
                }
            }
        }
        //***************判断是否满充校准***************

        if (this.shuttleProtocol.getHasCharge() == null) {
            return false;
        }
@@ -743,12 +773,21 @@
            return false;
        }

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

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

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
        boolean res = this.shuttleProtocol.getMode() == 0
                || !this.shuttleProtocol.getErrorCode().equals("0")
                || extend.getSuspendState() == 1
                ;
        return res;

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

        return false;
    }

    @Override
@@ -1040,12 +1079,20 @@
    @Override
    public boolean connect() {
        try {
            Socket socket = new Socket(slave.getIp(), slave.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()));
        } catch (IOException e) {
            if (System.currentTimeMillis() - lastConnectTime < 1000 * 10) {
                return false;
            }

            InetAddress address = InetAddress.getByName(slave.getIp());
            if (address.isReachable(10000)) {
                Socket socket = new Socket(slave.getIp(), slave.getPort());
                socket.setSoTimeout(10000);
                socket.setKeepAlive(true);
                this.socket = socket;
                this.lastConnectTime = System.currentTimeMillis();
                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()));
            }
        } 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()));
            return false;
        }
@@ -1104,46 +1151,51 @@

    //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;
        String taskId = null;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
            taskId = httpCommand.getRequest().getBody().get("taskId").toString();
        } catch (Exception e) {
            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;
                //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 result;//返回Body结果集
        return null;
    }

    private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
@@ -1151,15 +1203,22 @@
            return;
        }

        //压缩数据包
        JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
        data.remove("nodes");
       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();
           // 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();
//           System.out.println("socket write error");
           this.socket.close();
           this.socket = null;
       }
    }

    private JSONObject filterBodyData(JSONObject data) {