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Junjie

3 天以前 285a51e8bc0f9128ea238d3edfe6c654a30e1acb

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

@@ -96,7 +96,10 @@
    }

    private void execute() {
        ForkLiftAction forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
        ForkLiftAction forkLiftAction = null;
        try {
            forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
        }catch (Exception e){}
        if (forkLiftAction == null) {
            return;
        }

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

@@ -88,7 +88,13 @@
        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;
                    }
@@ -259,12 +265,21 @@
            }

            //----------读取四向穿梭车状态-----------
            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            DeviceMsgUtils deviceMsgUtils = null;
            try {
                deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
            }catch (Exception e){

            }
            if(deviceMsgUtils == null){
                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) {
                requestCommand(readStatusCommand);//请求状态
                requestCommandAsync(readStatusCommand);//请求状态
            }

            if (this.socketReadResults.isEmpty()) {
@@ -1086,7 +1101,7 @@
        return httpStandard;
    }

    //发出请求
    //发出请求-同步
    private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
        try {
            DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
@@ -1132,6 +1147,34 @@
        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");

            String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), data);

            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) {
        Object response = data.get("response");
        if (response == null) {