#

Junjie

4 小时以前 114b4110c46d1976c53ca1373e45c63471e2c9ba

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

@@ -8,6 +8,7 @@
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;
@@ -22,11 +23,13 @@
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.model.DeviceCommandMsgModel;
import com.zy.core.utils.DeviceMsgUtils;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.DeviceMsgModel;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
@@ -38,11 +41,7 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.io.BufferedReader;
import java.io.IOException;
import java.io.InputStreamReader;
import java.io.OutputStreamWriter;
import java.net.Socket;
import java.text.MessageFormat;
import java.util.*;

@@ -50,46 +49,35 @@
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {

    private ShuttleSlave slave;
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ShuttleProtocol shuttleProtocol;
    private Socket socket;

    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
    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());
        this.connect();

        //监听消息并存储
        Thread innerThread = new Thread(() -> {
            while (true) {
                try {
                    listenSocketMessage();
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        innerThread.start();
        News.info("{}号四向车线程启动", deviceConfig.getDeviceNo());

        //设备读取
        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    read();
                    Thread.sleep(50);
                    listenMessageFromRedis();
                    listenInit();//监听初始化事件
                    readStatus();
                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("ShuttleThread Fail", e);
                }
@@ -101,12 +89,18 @@
        Thread executeThread = new Thread(() -> {
            while (true) {
                try {
                    ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
                    ShuttleAction shuttleAction = null;
                    try {
                        shuttleAction = SpringUtils.getBean(ShuttleAction.class);
                    }catch (Exception e){
                        continue;
                    }

                    if (shuttleAction == null) {
                        continue;
                    }

                    Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + slave.getId());
                    Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
                    if (object == null) {
                        continue;
                    }
@@ -114,11 +108,14 @@
                    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(deviceConfig.getDeviceNo());

                    Thread.sleep(200);
                } catch (Exception e) {
@@ -132,7 +129,6 @@
        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();
@@ -152,73 +148,54 @@
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                if (deviceDataLogService == null) {
                    return;
                }
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                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()), deviceConfig.getDeviceNo()));
            }
        }

        //将四向穿梭车状态保存至数据库
        BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
        BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>()
                .eq("shuttle_no", slave.getId()));

        if (basShuttle == null) {
            basShuttle = new BasShuttle();
            //四向穿梭车号
            basShuttle.setShuttleNo(slave.getId());
            basShuttle.setStatus(1);
            shuttleService.insert(basShuttle);
        }
        //任务号
        basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
        //修改时间
        basShuttle.setUpdateTime(new Date());
        //设备状态
        basShuttle.setDeviceStatus(JSON.toJSONString(shuttleProtocol));
        if (shuttleService.updateById(basShuttle)) {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
        }
    }

    private void listenSocketMessage() {
    private void listenMessageFromRedis() {
        try {
            if (this.socket == null) {
            DeviceMsgUtils deviceMsgUtils = null;
            try {
                deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            }catch (Exception e){

            }
            if (deviceMsgUtils == null) {
                return;
            }
            DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo());
            if(deviceMsg == null){
                return;
            }

            // 获取输入流
            BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
            // 读取服务器的响应
            StringBuffer sb = new StringBuffer();
            char[] chars = new char[2048];//缓冲区
            while (true) {
                reader.read(chars);
                String trim = new String(chars);
                sb.append(trim);
                if (trim.lastIndexOf("\r\n") != -1) {
                    break;
                }
            }
            JSONObject data = JSON.parseObject(JSON.toJSONString(deviceMsg.getDeviceMsg()));

            JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
            if (!socketResults.isEmpty() && socketResults.size() >= 5) {
                socketResults.remove(0);//清理头节点
            if (deviceMsg.getDeviceMsgType().equals("status")) {
                data.put("originDeviceData", deviceMsg.getDeviceOriginMsg());
                socketReadResults.add(data);
            } else {
                socketResults.add(data);//添加数据
            }
            socketResults.add(result);//添加数据
        } catch (Exception e) {
//            e.printStackTrace();
            e.printStackTrace();
        }
    }

    public JSONObject getRequestBody(String type) {
    public JSONObject getRequestBody(String type, String taskId) {
        try {
            // 获取服务器响应
            JSONObject result = null;
@@ -241,7 +218,14 @@
                }

                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;
@@ -258,24 +242,11 @@
        }
    }

    private void read() {
        try {
            if (this.socket == null || this.socket.isClosed()) {
                //链接断开重新链接
                this.connect();
            }
            readStatus();
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
        }
    }

    private void readStatus() {
        try {
            if (null == shuttleProtocol) {
                shuttleProtocol = new ShuttleProtocol();
                shuttleProtocol.setShuttleNo(slave.getId());
                shuttleProtocol.setShuttleNo(deviceConfig.getDeviceNo());
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);

                InnerSuhttleExtend extend = new InnerSuhttleExtend();
@@ -283,80 +254,100 @@
            }

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
            JSONObject data = requestCommand(readStatusCommand);
            if (data == null) {
            DeviceMsgUtils deviceMsgUtils = null;
            try {
                deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            }catch (Exception e){

            }
            if(deviceMsgUtils == null){
                return;
            }

            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(deviceConfig.getDeviceNo());
            //指令超过五条，不再下发任务状态请求
            TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, deviceConfig.getDeviceNo());
            if (deviceCommandMsgListKey.size() < 5) {
                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
                    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 {

                //----------读取四向穿梭车状态-----------
                //小车设备状态
                shuttleProtocol.setDeviceStatus(data.getInteger("free"));
                //小车模式
                shuttleProtocol.setMode(data.getInteger("workingMode"));
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("point"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
                //电池电压
                shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
                //故障
                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
                //是否有托盘
                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
                //行驶方向
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
                //是否为充电状态
                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);

                //*********读取扩展字段**********
                InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
                //管制状态
                extend.setSuspendState(data.getInteger("suspendState"));
                //当前速度
                extend.setSpeed(data.getInteger("speed"));
                //剩余电量
                extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
                //总电量
                extend.setCountQuantity(data.getInteger("countQuantity"));
                shuttleProtocol.setExtend(extend);//扩展字段

                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                ///读取四向穿梭车状态-end

                //小车处于运行中，将标记置为true
                if (shuttleProtocol.getDeviceStatus() == 1) {
                    shuttleProtocol.setPakMk(true);
                }

                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
                    //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.originDeviceData = data;

                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                return;
            }

            JSONObject data = this.socketReadResults.get(0);
            this.socketReadResults.remove(0);
            //----------读取四向穿梭车状态-----------
            //小车设备状态
            shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
            //小车模式
            shuttleProtocol.setMode(data.getInteger("mode"));
            //当前二维码
            shuttleProtocol.setCurrentCode(data.getString("currentCode"));
            //电池电量
            shuttleProtocol.setBatteryPower(data.getString("batteryPower"));
            //电池电压
            shuttleProtocol.setBatteryVoltage(data.getInteger("batteryVoltage"));
            //故障
            shuttleProtocol.setErrorCode(data.getString("errorCode"));
            //是否顶升
            shuttleProtocol.setHasLift(data.getBoolean("hasLift"));
            //是否有托盘
            shuttleProtocol.setHasPallet(data.getBoolean("hasPallet"));
            //行驶方向
            shuttleProtocol.setRunDirection(data.getString("runDirection"));
            //是否为充电状态
            shuttleProtocol.setHasCharge(data.getBoolean("hasCharge"));
            //运行速度
            shuttleProtocol.setSpeed(data.getInteger("speed"));

            //*********读取扩展字段**********
            JSONObject extendData = data.getJSONObject("extend");
            InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
            //管制状态
            extend.setSuspendState(extendData.getInteger("suspendState"));
            //最高电芯电压(mV)
            extend.setMaxCellVoltage(extendData.getInteger("maxCellVoltage"));
            //最低电芯电压(mV)
            extend.setMinCellVoltage(extendData.getInteger("minCellVoltage"));
            //电池电压
            extend.setVoltage(extendData.getInteger("voltage"));
            //充放电循环次数
            extend.setChargeCycleTimes(extendData.getInteger("chargeCycleTimes"));
            //剩余电量
            extend.setSurplusQuantity(extendData.getInteger("surplusQuantity"));
            //总电量
            extend.setCountQuantity(extendData.getInteger("countQuantity"));
            shuttleProtocol.setExtend(extend);//扩展字段

            //最近一次在线时间
            shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
            //读取四向穿梭车状态-end

            //小车处于运行中，将标记置为true
            if (shuttleProtocol.getDeviceStatus() == 0) {
                shuttleProtocol.setPakMk(true);
            }

            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
                this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            }

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

            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()), 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()));
            try {
                this.socket.close();
                this.socket = null;
                Thread.sleep(1000);
                this.connect();
            } catch (IOException | InterruptedException exception) {
                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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
        }
    }

@@ -370,6 +361,9 @@
            int removeIdx = -1;
            for (int i = 0; i < socketResults.size(); i++) {
                JSONObject socketResult = socketResults.get(i);
                if (socketResult == null) {
                    continue;
                }
                if (!socketResult.get("msgType").equals("requestMsg")) {//不是请求内容
                    continue;
                }
@@ -380,6 +374,9 @@
                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);
@@ -387,16 +384,10 @@
                    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()));
                    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;
                }
            }

            if (removeIdx != -1) {
                socketResults.remove(removeIdx);
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -462,13 +453,17 @@
            }

            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) {
@@ -576,6 +571,7 @@
                && this.shuttleProtocol.getMode() == 1
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && this.shuttleProtocol.getTaskNo() == 0
                && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id)
@@ -647,7 +643,7 @@
                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;
                }
@@ -688,6 +684,19 @@
            }
        }

        //***************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;
        }
@@ -707,13 +716,39 @@
    }

    @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);
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
            Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo());
            Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
            if (object != null) {
                ShuttleRedisCommand redisCommand = null;
                try {
@@ -810,9 +845,38 @@
    }

    @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;
    }

    @Override
    public JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol) {
        JSONObject result = new JSONObject();
        result.put("msgType", "responseMsg");
        result.put("robotId", 5002);

        JSONObject header = new JSONObject();
        header.put("responseId", 5005631);
        header.put("version", "RGV-APP-F427-N24036-1112");

        JSONObject body = new JSONObject();
        body.put("responseType", "state");

        return null;
    }

    @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<>();
@@ -842,8 +906,8 @@
            data.put("xp", xp);
            data.put("yp", yp);
            data.put("z", z);
            data.put("x", mapNode.getYBase());
            data.put("y", mapNode.getXBase());
            data.put("x", mapNode.getXBase());
            data.put("y", mapNode.getYBase());
            path.add(data);
        }

@@ -851,13 +915,13 @@

        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("code", distCodeNum));
                .eq("qr_code_value", distCodeNum));
        if (locMast == null) {
            throw new CoolException("库位信息不存在");
        }

        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());
@@ -867,7 +931,7 @@

    @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
@@ -879,7 +943,7 @@
        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);
@@ -888,7 +952,7 @@

    @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
@@ -900,7 +964,7 @@
        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);
@@ -909,7 +973,7 @@

    @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<>();
@@ -920,7 +984,7 @@
        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);
@@ -931,7 +995,7 @@
    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
@@ -946,8 +1010,7 @@

        String mapStr = JSON.toJSONString(map);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("code", mapStr)
                .eq("status", 1));
                .eq("qr_code_value", mapStr));
        if (locMast == null) {
            throw new CoolException("地址码不存在");
        }
@@ -960,8 +1023,8 @@
        location.put("xp", row);
        location.put("yp", bay);
        location.put("z", lev);
        location.put("x", mapNode.getYBase());
        location.put("y", mapNode.getXBase());
        location.put("x", mapNode.getXBase());
        location.put("y", mapNode.getYBase());

        HashMap<String, Object> body = new HashMap<>();
        body.put("responseType", "init");//复位
@@ -973,7 +1036,7 @@
        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);
@@ -982,17 +1045,6 @@

    @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) {
            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;
        }

        return true;
    }

@@ -1045,45 +1097,86 @@
        return httpStandard;
    }

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

        //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));

        String requestType = null;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
        } catch (Exception e) {
            return null;
        }

        // 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;
            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            if (deviceMsgUtils == null) {
                return null;
            }

            //压缩数据包
            JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
            data.remove("nodes");

            DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
            commandMsgModel.setDeviceId(deviceConfig.getDeviceNo());
            commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
            commandMsgModel.setCommand(data);
            String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), 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
            }

            // 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
        }catch (Exception e) {
            e.printStackTrace();
        }
        return result;//返回Body结果集
        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;
            }

            //压缩数据包
            JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
            data.remove("nodes");

            DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
            commandMsgModel.setDeviceId(deviceConfig.getDeviceNo());
            commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
            commandMsgModel.setCommand(data);
            String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), 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();
        }
    }

    private JSONObject filterBodyData(JSONObject data) {
@@ -1117,9 +1210,22 @@
//        int x1 = Math.abs(y - 61) + 11;
//        //WCS系统X轴 => 牛眼Y轴转换公式
//        int y1 = x + 10;
        int x1 = x + 10;
        int y1 = y + 10;
        return new int[]{y1, x1, z};

//        int x1 = x + 10;
//        int y1 = y + 10;
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("row1", x)
                .eq("bay1", y)
                .eq("lev1", z)
                .eq("status", 1));
        if (locMast == null) {
            return null;
        }

        String qrCodeValue = locMast.getQrCodeValue();
        JSONObject data = JSON.parseObject(qrCodeValue);
        return new int[]{data.getInteger("y"), data.getInteger("x"), z};
    }

    @Data
@@ -1132,9 +1238,24 @@
        private Integer suspendState;

        /**
         * 当前速度，单位mm/s
         * 最高电芯电压(mV)
         */
        private Integer speed;
        private Integer maxCellVoltage;

        /**
         * 最低电芯电压(mV)，低于2900mv需要立即充电
         */
        private Integer minCellVoltage;

        /**
         * 电池电压（mV）
         */
        private Integer voltage;

        /**
         * 充放电循环次数
         */
        private Integer chargeCycleTimes;

        /**
         * 剩余电量/10(A)