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Junjie

2 天以前 7270218a6c55de1a0e8431afe4119793ef518d50

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 src/main/java/com/zy/asrs/controller/DeviceMsgController.java

@@ -2,7 +2,7 @@

import com.core.common.R;
import com.zy.asrs.domain.param.DeviceMsgPutParam;
import com.zy.core.Utils.DeviceMsgUtils;
import com.zy.core.utils.DeviceMsgUtils;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DeviceMsgModel;
import org.springframework.beans.factory.annotation.Autowired;

 src/main/java/com/zy/core/model/DeviceCommandMsgModel.java

New file
@@ -0,0 +1,14 @@
package com.zy.core.model;

import lombok.Data;

@Data
public class DeviceCommandMsgModel {

    private Integer deviceId;

    private String deviceType;

    private Object command;

}

 src/main/java/com/zy/core/model/DeviceMsgModel.java

@@ -7,6 +7,10 @@

    private Integer deviceId;

    private String deviceMsgType;

    private Object deviceMsg;

    private String deviceOriginMsg;

}

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -1,6 +1,7 @@
package com.zy.core.thread;


import com.alibaba.fastjson.JSONObject;
import com.zy.common.ExecuteSupport;
import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
@@ -67,6 +68,8 @@

    boolean offerSystemMsg(String format, Object... arguments);

    JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol);

    //***************获取命令*****************

    ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//获取移动命令

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

@@ -22,7 +22,8 @@
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.Utils.DeviceMsgUtils;
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.*;
@@ -75,7 +76,7 @@
                try {
                    listenMessageFromRedis();
                    listenInit();//监听初始化事件
                    read();
                    readStatus();
                    Thread.sleep(100);
                } catch (Exception e) {
                    log.error("ShuttleThread Fail", e);
@@ -175,25 +176,17 @@
            if(deviceMsg == null){
                return;
            }
            JSONObject result = JSON.parseObject(deviceMsg.getDeviceMsg().toString());//得到响应结果集

            String msgType = result.getString("msgType");
            if ("responseMsg".equals(msgType)) {
                JSONObject response = result.getJSONObject("response");
                JSONObject body = response.getJSONObject("body");
                if (body.containsKey("workingMode")) {
                    //read
                    socketReadResults.add(body);
                    return;
                }
            }
            JSONObject data = JSON.parseObject(JSON.toJSONString(deviceMsg.getDeviceMsg()));

            if (!socketResults.isEmpty() && socketResults.size() >= 20) {
                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();
        }
    }

@@ -244,15 +237,6 @@
        }
    }

    private void read() {
        try {
            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) {
@@ -292,60 +276,52 @@

            JSONObject data = this.socketReadResults.get(0);
            this.socketReadResults.remove(0);
            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
                    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"));
            shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
                //小车模式
                shuttleProtocol.setMode(data.getInteger("workingMode"));
            shuttleProtocol.setMode(data.getInteger("mode"));
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("point"));
            shuttleProtocol.setCurrentCode(data.getString("currentCode"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
            shuttleProtocol.setBatteryPower(data.getString("batteryPower"));
                //电池电压
                shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
            shuttleProtocol.setBatteryVoltage(data.getInteger("batteryVoltage"));
                //故障
                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));

            shuttleProtocol.setErrorCode(data.getString("errorCode"));
                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
            shuttleProtocol.setHasLift(data.getBoolean("hasLift"));
                //是否有托盘
                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
            shuttleProtocol.setHasPallet(data.getBoolean("hasPallet"));
                //行驶方向
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
            shuttleProtocol.setRunDirection(data.getString("runDirection"));
                //是否为充电状态
                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
            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(data.getInteger("suspendState"));
            extend.setSuspendState(extendData.getInteger("suspendState"));
                //最高电芯电压(mV)
                extend.setMaxCellVoltage(data.getInteger("maxCellVoltage"));
            extend.setMaxCellVoltage(extendData.getInteger("maxCellVoltage"));
                //最低电芯电压(mV)
                extend.setMinCellVoltage(data.getInteger("minCellVoltage"));
            extend.setMinCellVoltage(extendData.getInteger("minCellVoltage"));
                //电池电压
                extend.setVoltage(data.getInteger("voltage"));
            extend.setVoltage(extendData.getInteger("voltage"));
                //充放电循环次数
                extend.setChargeCycleTimes(data.getInteger("chargeCycleTimes"));
            extend.setChargeCycleTimes(extendData.getInteger("chargeCycleTimes"));
                //剩余电量
                extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
            extend.setSurplusQuantity(extendData.getInteger("surplusQuantity"));
                //总电量
                extend.setCountQuantity(data.getInteger("countQuantity"));
            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
            //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) {
@@ -361,10 +337,9 @@
                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

                this.originDeviceData = data;
            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()), slave.getId()));
            }
        } 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()));
@@ -878,6 +853,22 @@
    }

    @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);
@@ -1113,7 +1104,11 @@
            JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
            data.remove("nodes");

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

            String requestType = null;
            String taskId = null;
@@ -1159,7 +1154,11 @@
            JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
            data.remove("nodes");

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

            String requestType = null;
            String taskId = null;

 src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java

@@ -896,6 +896,11 @@
    }

    @Override
    public JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol) {
        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);

 src/main/java/com/zy/core/utils/DeviceMsgUtils.java

File was renamed from src/main/java/com/zy/core/Utils/DeviceMsgUtils.java
@@ -1,9 +1,10 @@
package com.zy.core.Utils;
package com.zy.core.utils;

import com.core.exception.CoolException;
import com.zy.common.utils.RedisUtil;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.DeviceCommandMsgModel;
import com.zy.core.model.DeviceMsgModel;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -23,19 +24,18 @@
    @Autowired
    private RedisUtil redisUtil;


    public Object getDeviceCommandMsg(SlaveType deviceType, Integer deviceId) {
    public DeviceCommandMsgModel getDeviceCommandMsg(SlaveType deviceType, Integer deviceId) {
        TreeSet<String> listKey = getDeviceCommandMsgListKey(deviceType, deviceId);
        if (listKey.isEmpty()) {
            return null;
        }

        String firstKey = listKey.first();
        Object data = redisUtil.get(firstKey);
        DeviceCommandMsgModel commandMsgModel = (DeviceCommandMsgModel) redisUtil.get(firstKey);
        if (destroyAfterReading) {
            redisUtil.del(firstKey);
        }
        return data;
        return commandMsgModel;
    }

    public DeviceMsgModel getDeviceMsg(SlaveType deviceType, Integer deviceId) {
@@ -68,17 +68,13 @@
        redisUtil.set(key, msgModel, 60 * 60);
    }

    public String sendDeviceMsg(SlaveType deviceType, Integer deviceId, Object command) {
    public String sendDeviceMsg(SlaveType deviceType, Integer deviceId, DeviceMsgModel deviceMsgModel) {
        String key = parseDeviceMsgKey(deviceType, deviceId) + System.currentTimeMillis();

        DeviceMsgModel deviceMsgModel = new DeviceMsgModel();
        deviceMsgModel.setDeviceId(deviceId);
        deviceMsgModel.setDeviceMsg(command);
        redisUtil.set(key, deviceMsgModel, 60 * 60 * 24);
        return key;
    }

    public String sendDeviceCommand(SlaveType deviceType, Integer deviceId, Object command) {
    public String sendDeviceCommand(SlaveType deviceType, Integer deviceId, DeviceCommandMsgModel command) {
        String key = parseDeviceCommandMsgKey(deviceType, deviceId) + System.currentTimeMillis();
        redisUtil.set(key, command, 60 * 60 * 24);
        return key;