牛眼四向穿梭车HTTP请求工具类

Junjie

2023-07-26 41ac27fbf8c61af9b9a3bdfa53a8dc9069fa317a

牛眼四向穿梭车HTTP请求工具类

 src/main/java/com/zy/common/utils/NyHttpUtils.java

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package com.zy.common.utils;

import com.zy.common.model.NavigateNode;
import com.zy.core.model.command.NyShuttleHttpCommand;

import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Random;

/**
 * 牛眼四向穿梭车HTTP请求工具类
 */
public class NyHttpUtils {

    //获取HTTP请求标准结构体
    public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo) {
        NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
        httpStandard.setMsgType("requestMsg");//请求消息
        httpStandard.setRobotId(shuttleNo);//车辆编号

        //设置请求消息
        NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
        NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
        header.setVersion("1.0");//版本号
        header.setRequestId(getRequestId());//消息编号

        //设置请求头
        request.setHeader(header);
        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取FAS 手动/自动切换
    public static NyShuttleHttpCommand getFASSwitchCommand(Integer shuttleNo, boolean auto) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", auto ? "switchAuto" : "switchManual");
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取移动请求
    public static NyShuttleHttpCommand getMoveCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", wrkNo);//任务号
        body.put("start", start);//起点
        body.put("target", target);//终点
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取进出提升机请求
    public static NyShuttleHttpCommand getInOutLiftCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target, boolean in) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", in ? "intoLift" : "outLift");//进出提升机
        body.put("taskId", wrkNo);//任务号
        body.put("start", start);//起点
        body.put("target", target);//终点
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取顶升命令
    public static NyShuttleHttpCommand getPalletLiftCommand(Integer shuttleNo, Integer wrkNo, boolean lift) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
        body.put("taskId", wrkNo);//任务号
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取充电命令
    public static NyShuttleHttpCommand getChargeCommand(Integer shuttleNo, Integer wrkNo, boolean charge) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
        body.put("taskId", wrkNo);//任务号
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取管制命令
    public static NyShuttleHttpCommand getSuspendCommand(Integer shuttleNo, Integer wrkNo, boolean suspend) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", suspend ? "stop" : "resume");//管制或取消管制
        body.put("taskId", wrkNo);//任务号
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新层坐标Z(楼层)命令
    public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateFloor");//更新层Z
        body.put("z", z);//坐标Z
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取读FAS状态信息命令
    public static NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "readState");//读FAS状态信息
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS基准地图命令
    public static NyShuttleHttpCommand getUpdateFASBaseMapCommand(Integer shuttleNo, Integer xBase, Integer yBase, Integer zBase, Integer xEnd, Integer yEnd, Integer zEnd, Integer xBaseCoord, Integer yBaseCoord, Integer xDefaultSpace, Integer yDefaultSpace) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapStandard");//更新FAS基准地图

        HashMap<String, Object> standard = new HashMap<>();
        standard.put("xBase", xBase);//库位X向基点
        standard.put("yBase", yBase);//库位Y向基点
        standard.put("zBase", zBase);//库位Z向基点
        standard.put("xEnd", xEnd);//库位X向终点
        standard.put("yEnd", yEnd);//库位Y向终点
        standard.put("zEnd", zEnd);//库位Z向终点
        standard.put("xBaseCoord", xBaseCoord);//库位X向基点坐标 单位mm
        standard.put("yBaseCoord", yBaseCoord);//库位Y向基点坐标 单位mm
        standard.put("xDefaultSpace", xDefaultSpace);//库位X向标准间距 单位mm
        standard.put("yDefaultSpace", yDefaultSpace);//库位Y向标准间距 单位mm
        body.put("standard", standard);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS特殊X轴地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialXAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapSpecialXAxis");//更新FAS特殊X轴地图
        body.put("specialXAxis", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS特殊Y轴地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialYAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapSpecialYAxis");//更新FAS特殊Y轴地图
        body.put("specialYAxis", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS特殊库位点地图命令
    public static NyShuttleHttpCommand getUpdateMapSpecialPointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapSpecialPoint");//更新FAS特殊库位点地图
        body.put("specialPoint", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取更新FAS提升机点位地图命令
    public static NyShuttleHttpCommand getUpdateMapDevicePointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateMapDevicePoint");//更新FAS提升机点位地图
        body.put("devicePoint", list);
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取单个RFID录写命令
    public static NyShuttleHttpCommand getWriteSingleRFIDCommand(Integer shuttleNo, Integer xPoint, Integer yPoint, Integer zPoint) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "WriteSingleRFID");//单个RFID录写
        body.put("xPoint", xPoint);//X 点位
        body.put("yPoint", yPoint);//Y 点位
        body.put("zPoint", zPoint);//Z 点位
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取自动录写RFID命令
    public static NyShuttleHttpCommand getAutoWriteRFIDCommand(Integer shuttleNo, Integer dir, Integer xBase, Integer yBase, Integer zBase, Integer pointEnd, List<Integer> specialPoint) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "AutoWriteRFID");//自动录写RFID
        body.put("requestCode", dir);//方向xDir/yDir
        body.put("xBase", xBase);//X 起始点位
        body.put("yBase", yBase);//Y 起始点位
        body.put("zBase", zBase);//Z 起始点位
        body.put("pointEnd", pointEnd);//终点坐标 根据requestCode来决定终点坐标的方向
        body.put("specialPoint", specialPoint);//特殊点位过程中不需要录制的RFID点位
        request.setBody(body);

        httpStandard.setRequest(request);
        return httpStandard;
    }

    //获取请求编号
    public static Integer getRequestId() {
        Random random = new Random();
        return random.nextInt();
    }

}

 src/main/java/com/zy/core/model/command/NyShuttleHttpCommand.java

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package com.zy.core.model.command;

import lombok.Data;
import java.util.Map;

@Data
public class NyShuttleHttpCommand {

    //消息类型
    private String msgType;

    //车辆编号
    private Integer robotId;

    //请求消息
    private NyRequest request;

    @Data
    public static class NyRequest {

        //消息头
        private NyHeader header;

        //消息体
        private Map<String, Object> body;

        //HTTP请求头
        @Data
        public static class NyHeader {
            //请求编号，唯一编号
            private Integer requestId;

            //版本号
            private String version;
        }

    }


}