From 3a56af8205d3bc571a115855b475237022c74caf Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 14 七月 2025 14:57:22 +0800
Subject: [PATCH] #

---
 src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java | 2602 +++++++++++++++++++++++++++++-----------------------------
 1 files changed, 1,301 insertions(+), 1,301 deletions(-)

diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java
index 6c97534..6f0cdee 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java
@@ -1,1302 +1,1302 @@
-package com.zy.core.thread.impl;
-
-import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
-import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.core.common.DateUtils;
-import com.core.common.SpringUtils;
-import com.core.exception.CoolException;
-import com.fasterxml.jackson.databind.ObjectMapper;
-import com.zy.asrs.entity.BasShuttle;
-import com.zy.asrs.entity.DeviceDataLog;
-import com.zy.asrs.entity.LocMast;
-import com.zy.asrs.service.BasShuttleService;
-import com.zy.asrs.service.DeviceDataLogService;
-import com.zy.asrs.service.LocMastService;
-import com.zy.asrs.utils.Utils;
-import com.zy.common.ExecuteSupport;
-import com.zy.common.model.MapNode;
-import com.zy.common.model.NavigateNode;
-import com.zy.common.model.enums.NavigationMapType;
-import com.zy.common.utils.NavigateMapData;
-import com.zy.common.utils.NavigatePositionConvert;
-import com.zy.common.utils.RedisUtil;
-import com.zy.core.News;
-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.command.NyShuttleHttpCommand;
-import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.command.ShuttleRedisCommand;
-import com.zy.core.model.param.ShuttleMoveLocParam;
-import com.zy.core.model.protocol.ShuttleProtocol;
-import com.zy.core.thread.ShuttleThread;
-import com.zy.system.entity.Config;
-import com.zy.system.service.ConfigService;
-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.InetAddress;
-import java.net.Socket;
-import java.text.MessageFormat;
-import java.util.*;
-
-@Slf4j
-@SuppressWarnings("all")
-public class NyShuttleThread2 implements ShuttleThread {
-
-    private ShuttleSlave slave;
-    private RedisUtil redisUtil;
-    private ShuttleProtocol shuttleProtocol;
-    private Socket socket;
-
-    private static final boolean DEBUG = false;//璋冭瘯妯″紡
-
-    private List<JSONObject> socketReadResults = new ArrayList<>();
-    private List<JSONObject> socketResults = new ArrayList<>();
-
-    //鍘熷璁惧鏁版嵁
-    private Object originDeviceData;
-
-    public NyShuttleThread2(ShuttleSlave slave, RedisUtil redisUtil) {
-        this.slave = slave;
-        this.redisUtil = redisUtil;
-    }
-
-    @Override
-    public void run() {
-        News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", slave.getId());
-        this.connect();
-
-        //鐩戝惉娑堟伅骞跺瓨鍌�
-        Thread innerThread = new Thread(() -> {
-            while (true) {
-                try {
-                    listenSocketMessage();
-                    listenInit();//鐩戝惉鍒濆鍖栦簨浠�
-                } catch (Exception e) {
-                    e.printStackTrace();
-                }
-            }
-        });
-        innerThread.start();
-
-        //璁惧璇诲彇
-        Thread readThread = new Thread(() -> {
-            while (true) {
-                try {
-                    read();
-                    Thread.sleep(50);
-                } catch (Exception e) {
-                    log.error("ShuttleThread Fail", e);
-                }
-            }
-        });
-        readThread.start();
-
-        //璁惧鎵ц
-        Thread executeThread = new Thread(() -> {
-            while (true) {
-                try {
-                    ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
-                    if (shuttleAction == null) {
-                        continue;
-                    }
-
-                    Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
-                    if (object == null) {
-                        continue;
-                    }
-
-                    Integer taskNo = Integer.valueOf(String.valueOf(object));
-                    if (taskNo != 0) {
-                        //瀛樺湪浠诲姟闇�瑕佹墽琛�
-                        boolean result = shuttleAction.executeWork(slave.getId(), taskNo);
-                    }
-
-//                    //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
-//                    shuttleAction.moveLoc(slave.getId());
-
-                    //婕旂ず妯″紡
-                    shuttleAction.demo(slave.getId());
-
-                    Thread.sleep(200);
-                } catch (Exception e) {
-                    e.printStackTrace();
-                }
-            }
-        });
-        executeThread.start();
-
-        //鍏朵粬浠诲姟
-        Thread otherThread = new Thread(() -> {
-            while (true) {
-                try {
-                    saveLog();//淇濆瓨鏁版嵁
-                } catch (Exception e) {
-                    e.printStackTrace();
-                }
-            }
-        });
-        otherThread.start();
-    }
-
-    private void saveLog() {
-        if (shuttleProtocol == null) {
-            return;
-        }
-
-        if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
-            if (this.originDeviceData != null) {
-                //閲囬泦鏃堕棿瓒呰繃5s锛屼繚瀛樹竴娆℃暟鎹褰�
-                //淇濆瓨鏁版嵁璁板綍
-                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.setCreateTime(new Date());
-                deviceDataLogService.insert(deviceDataLog);
-
-                //鏇存柊閲囬泦鏃堕棿
-                shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
-                OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
-            }
-        }
-    }
-
-    private void listenSocketMessage() {
-        try {
-            if (this.socket == null) {
-                return;
-            }
-
-            // 鑾峰彇杈撳叆娴�
-            BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
-            // 璇诲彇鏈嶅姟鍣ㄧ殑鍝嶅簲
-            StringBuffer sb = new StringBuffer();
-            char[] chars = new char[2048];//缂撳啿鍖�
-            while (true) {
-                reader.read(chars);
-                String trim = new String(chars);
-                sb.append(trim);
-                if (trim.lastIndexOf("\r\n") != -1) {
-                    break;
-                }
-            }
-
-            JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
-
-            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;
-                }
-            }
-
-            if (!socketResults.isEmpty() && socketResults.size() >= 20) {
-                socketResults.remove(0);//娓呯悊澶磋妭鐐�
-            }
-            socketResults.add(result);//娣诲姞鏁版嵁
-        } catch (Exception e) {
-//            e.printStackTrace();
-        }
-    }
-
-    public JSONObject getRequestBody(String type, String taskId) {
-        try {
-            // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
-            JSONObject result = null;
-            if (type.equals("readState")) {
-                type = "state";
-            }
-
-            for (int i = 0; i < socketResults.size(); i++) {
-                JSONObject socketResult = socketResults.get(i);
-                if (!socketResult.get("msgType").equals("responseMsg")) {//涓嶆槸鍝嶅簲鍐呭
-                    continue;
-                }
-
-                JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
-                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
-                String responseType = resultBody.get("responseType").toString();
-                if (DEBUG) {
-                    result = socketResult;
-                    break;
-                }
-
-                if (!responseType.equals(type)) {
-                    continue;//鍝嶅簲绫诲瀷涓庤姹傜被鍨嬩笉涓�鑷达紝涓嶅湪璋冭瘯妯″紡涓�
-                }
-
-                if (taskId != null) {
-                    String responseTaskId = resultBody.get("taskId").toString();
-                    if (!responseTaskId.equals(taskId)) {
-                        continue;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
-                    }
-                }
-
-                result = socketResult;
-                break;
-            }
-
-            if (result == null) {
-                return null;//鏃犲搷搴旂粨鏋�
-            }
-
-            return filterBodyData(result);//杩斿洖Body缁撴灉闆�
-        } catch (Exception e) {
-            return null;
-        }
-    }
-
-    private void read() {
-        try {
-            if (this.socket == null || this.socket.isClosed()) {
-                //閾炬帴鏂紑閲嶆柊閾炬帴
-                this.connect();
-            }
-            readStatus();
-        } catch (Exception e) {
-            e.printStackTrace();
-            OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戣鍙栧洓鍚戠┛姊溅鐘舵�佷俊鎭け璐� ===>> [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.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
-
-                InnerSuhttleExtend extend = new InnerSuhttleExtend();
-                shuttleProtocol.setExtend(extend);
-            }
-
-            //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
-            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
-            requestCommandAsync(readStatusCommand);//璇锋眰鐘舵��
-
-            if (this.socketReadResults.isEmpty()) {
-                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
-                    //鏈�鍚庝竴娆′笂绾挎椂闂磋秴杩�60s锛岃瀹氱绾�
-                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
-                }
-                return;
-            }
-
-            JSONObject data = this.socketReadResults.get(0);
-            this.socketReadResults.remove(0);
-            if (data == null) {
-                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
-                    //鏈�鍚庝竴娆′笂绾挎椂闂磋秴杩�60s锛岃瀹氱绾�
-                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
-                }
-                OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
-            }else {
-
-                //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
-                //灏忚溅璁惧鐘舵��
-                shuttleProtocol.setDeviceStatus(data.getInteger("free"));
-                //灏忚溅妯″紡
-                shuttleProtocol.setMode(data.getInteger("workingMode"));
-                //褰撳墠浜岀淮鐮�
-                shuttleProtocol.setCurrentCode(data.getString("point"));
-                //鐢垫睜鐢甸噺
-                shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
-                //鐢垫睜鐢靛帇
-                shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
-                //鏁呴殰
-                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));
-
-                //鏄惁椤跺崌
-                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
-                //鏄惁鏈夋墭鐩�
-                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
-                //琛岄┒鏂瑰悜
-                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
-                //鏄惁涓哄厖鐢电姸鎬�
-                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
-                //杩愯閫熷害
-                shuttleProtocol.setSpeed(data.getInteger("speed"));
-
-                //*********璇诲彇鎵╁睍瀛楁**********
-                InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
-                //绠″埗鐘舵��
-                extend.setSuspendState(data.getInteger("suspendState"));
-                //鏈�楂樼數鑺數鍘�(mV)
-                extend.setMaxCellVoltage(data.getInteger("maxCellVoltage"));
-                //鏈�浣庣數鑺數鍘�(mV)
-                extend.setMinCellVoltage(data.getInteger("minCellVoltage"));
-                //鐢垫睜鐢靛帇
-                extend.setVoltage(data.getInteger("voltage"));
-                //鍏呮斁鐢靛惊鐜鏁�
-                extend.setChargeCycleTimes(data.getInteger("chargeCycleTimes"));
-                //鍓╀綑鐢甸噺
-                extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
-                //鎬荤數閲�
-                extend.setCountQuantity(data.getInteger("countQuantity"));
-                shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
-
-                //鏈�杩戜竴娆″湪绾挎椂闂�
-                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
-                ///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
-
-                //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
-                if (shuttleProtocol.getDeviceStatus() == 0) {
-                    shuttleProtocol.setPakMk(true);
-                }
-
-                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 1) {
-                    //灏忚溅绌洪棽鐘舵�併�佸皬杞︿换鍔＄姸鎬佷负鏈煡锛岃瀹氭浘绂荤嚎杩囷紝闇�瑕佸浣嶆垚绌洪棽
-                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
-                }
-
-                if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE) && shuttleProtocol.getDeviceStatus().intValue() == 1) {
-                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
-                }
-
-                this.originDeviceData = data;
-
-                OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-            OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [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();
-            }
-        }
-    }
-
-    /**
-     * 鐩戝惉灏忚溅澶嶄綅鍒濆鍖栦俊鍙�
-     */
-    public void listenInit() {
-        try {
-            // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
-            JSONObject result = null;
-            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")) {//涓嶆槸璇锋眰鍐呭
-                    continue;
-                }
-
-                JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
-                JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
-                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
-                String requestType = resultBody.getString("requestType");
-                Integer requestId = resultHeader.getInteger("requestId");
-                if (requestType.equals("init")) {
-                    removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
-                    socketResults.remove(removeIdx);
-
-                    Integer code = resultBody.getInteger("code");
-                    //灏忚溅澶嶄綅璇锋眰
-                    ShuttleCommand initCommand = getInitCommand(requestId, code);
-                    //鍙戝嚭璇锋眰
-                    NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
-                    JSONObject requestResult = requestCommand(httpCommand);
-
-                    log.info(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
-                    OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
-                    break;
-                }
-            }
-        } catch (Exception e) {
-            e.printStackTrace();
-        }
-    }
-
-    @Override
-    public ShuttleProtocol getStatus() {
-        return getStatus(true);
-    }
-
-    @Override
-    public ShuttleProtocol getStatus(boolean clone) {
-        if (this.shuttleProtocol == null) {
-            return null;
-        }
-        return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
-    }
-
-    @Override
-    public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
-        CommandResponse response = new CommandResponse(true);
-        return response;
-    }
-
-    @Override
-    public CommandResponse move(ShuttleCommand command) {
-        CommandResponse response = new CommandResponse(false);
-        try {
-            //鍙戝嚭璇锋眰
-            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
-            Map<String, Object> body = httpCommand.getRequest().getBody();
-            Object pathObj = body.get("path");
-            int taskId = Integer.parseInt(body.get("taskId").toString());
-            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
-            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
-            while (!path.isEmpty()) {
-                ArrayList<Map<String, Object>> list = new ArrayList<>();
-                if (path.size() > 10) {
-                    List<JSONObject> subList = path.subList(0, 10);
-                    list.addAll(subList);
-
-                    List<JSONObject> tmp = new ArrayList<>();
-                    for (int i = 10; i < path.size(); i++) {
-                        tmp.add(path.get(i));
-                    }
-                    path = tmp;
-                }else  {
-                    list.addAll(path);
-                    path.clear();
-                }
-
-                NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
-                JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
-
-                NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
-                bodyCopy.put("path", list);
-                bodyCopy.put("taskId", taskId++);
-                request.setBody(bodyCopy);
-                httpCommandCopy.setRequest(request);
-
-                commandList.add(httpCommandCopy);//add copy
-            }
-
-            for (NyShuttleHttpCommand requestCommand : commandList) {
-                while (true) {
-                    JSONObject result = requestCommand(requestCommand);
-                    if (result == null) {
-//                        return response;//璇锋眰澶辫触
-                        continue;//璇锋眰澶辫触灏濊瘯閲嶆柊璇锋眰
-                    }
-                    this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
-                    response.setMessage(JSON.toJSONString(result));
-                    response.setResult(true);
-                    break;
-                }
-            }
-            return response;
-        } catch (Exception e) {
-            e.printStackTrace();
-            response.setMessage(e.getMessage());
-            return response;
-        }
-    }
-
-    @Override
-    public CommandResponse lift(ShuttleCommand command) {
-        CommandResponse response = new CommandResponse(false);
-        try {
-            //鍙戝嚭璇锋眰
-            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
-            JSONObject result = requestCommand(httpCommand);
-            if (result == null) {
-                return response;//璇锋眰澶辫触
-            }
-            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
-            response.setMessage(JSON.toJSONString(result));
-            response.setResult(true);
-            return response;
-        } catch (Exception e) {
-            e.printStackTrace();
-            return response;
-        }
-    }
-
-    @Override
-    public CommandResponse charge(ShuttleCommand command) {
-        CommandResponse response = new CommandResponse(false);
-        try {
-            //鍙戝嚭璇锋眰
-            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
-            JSONObject result = requestCommand(httpCommand);
-            if (result == null) {
-                return response;//璇锋眰澶辫触
-            }
-            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
-            response.setMessage(JSON.toJSONString(result));
-            response.setResult(true);
-            return response;
-        } catch (Exception e) {
-            e.printStackTrace();
-            return response;
-        }
-    }
-
-    @Override
-    public CommandResponse reset(ShuttleCommand command) {
-        setSyncTaskNo(0);
-        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
-        enableMoveLoc(null, false);
-        return new CommandResponse(true, JSON.toJSONString(command));
-    }
-
-    @Override
-    public CommandResponse updateLocation(ShuttleCommand command) {
-        CommandResponse response = new CommandResponse(false);
-        try {
-            //鍙戝嚭璇锋眰
-            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
-            JSONObject result = requestCommand(httpCommand);
-            if (result == null) {
-                return response;//璇锋眰澶辫触
-            }
-            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
-            response.setMessage(JSON.toJSONString(result));
-            response.setResult(true);
-            return response;
-        } catch (Exception e) {
-            e.printStackTrace();
-            return response;
-        }
-    }
-
-    @Override
-    public boolean isIdle() {
-        return this.isIdle(null);
-    }
-
-    @Override
-    public boolean isIdle(ExecuteSupport support) {
-        if (null != support) {
-            Boolean judgement = support.judgement();
-            if (judgement != null && !judgement) {
-                return true;
-            }
-        }
-
-        if (this.shuttleProtocol.getDeviceStatus() == null
-                || this.shuttleProtocol.getPakMk() == null
-                || this.shuttleProtocol.getErrorCode() == null
-                || this.shuttleProtocol.getProtocolStatus() == null
-                || this.shuttleProtocol.getMode() == null
-                || this.shuttleProtocol.getExtend() == null
-        ) {
-            return false;
-        }
-
-        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
-
-        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
-                && 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)
-                && extend.getSuspendState() == 0;
-        return res;
-    }
-
-    @Override
-    public boolean isDeviceIdle() {
-        return isDeviceIdle(null);
-    }
-
-    @Override
-    public boolean isDeviceIdle(ExecuteSupport support) {
-        if (null != support) {
-            Boolean judgement = support.judgement();
-            if (judgement != null && !judgement) {
-                return true;
-            }
-        }
-
-        if (this.shuttleProtocol.getDeviceStatus() == null
-                || this.shuttleProtocol.getPakMk() == null
-                || this.shuttleProtocol.getErrorCode() == null
-                || this.shuttleProtocol.getMode() == null
-                || this.shuttleProtocol.getExtend() == null
-        ) {
-            return false;
-        }
-
-        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
-
-        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
-                && this.shuttleProtocol.getMode() == 1
-                && this.shuttleProtocol.getPakMk()
-                && this.shuttleProtocol.getErrorCode().equals("0")
-                && extend.getSuspendState() == 0
-                ;
-        return res;
-    }
-
-    @Override
-    public boolean isRequireCharge() {
-        if (this.shuttleProtocol.getDeviceStatus() == null
-                || this.shuttleProtocol.getPakMk() == null
-                || this.shuttleProtocol.getErrorCode() == null
-                || this.shuttleProtocol.getProtocolStatus() == null
-                || this.shuttleProtocol.getMode() == null
-                || this.shuttleProtocol.getExtend() == null
-        ) {
-            return false;
-        }
-
-        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
-
-        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
-                && this.shuttleProtocol.getMode() == 1
-                && this.shuttleProtocol.getPakMk()
-                && this.shuttleProtocol.getErrorCode().equals("0")
-                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
-                && extend.getSuspendState() == 0
-                ;
-        if (!res) {
-            return res;
-        } else {
-            // 鐢甸噺灏忎簬闃堝�奸渶瑕佽繘琛屽厖鐢�
-            try {
-                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
-                if (shuttleService == null) {
-                    return false;
-                }
-                BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", slave.getId()));
-                if (basShuttle == null) {
-                    return false;
-                }
-                Integer chargeLine = basShuttle.getChargeLine();
-                if (chargeLine == null) {
-                    return false;
-                }
-                return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
-            } catch (Exception e) {
-                return false;
-            }
-        }
-    }
-
-    @Override
-    public boolean isCharging() {
-        if (this.shuttleProtocol.getDeviceStatus() == null || this.shuttleProtocol.getHasCharge() == null) {
-            return false;
-        }
-
-        if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
-            //杩愯涓� && 鍏呯數涓�
-            return true;
-        }
-        return false;
-    }
-
-    @Override
-    public boolean isChargingCompleted() {
-        Integer maxPower = 100;
-        ConfigService configService = SpringUtils.getBean(ConfigService.class);
-        if (configService != null) {
-            Config chargeMaxValue = configService.selectOne(new EntityWrapper<Config>()
-                    .eq("code", "chargeMaxValue")
-                    .eq("status", 1));
-            if (chargeMaxValue != null) {
-                maxPower = Integer.parseInt(chargeMaxValue.getValue());
-            }
-        }
-
-        //***************鍒ゆ柇鏄惁婊″厖鏍″噯***************
-        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;//鐢靛帇涓嶅缁х画鍏呯數
-                }
-            }
-        }
-        //***************鍒ゆ柇鏄惁婊″厖鏍″噯***************
-
-        if (this.shuttleProtocol.getHasCharge() == null) {
-            return false;
-        }
-
-        if (this.shuttleProtocol.getBatteryPower() == null) {
-            return false;
-        }
-
-        if (!this.shuttleProtocol.getHasCharge()) {
-            return false;
-        }
-
-        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
-            return true;
-        }
-        return false;
-    }
-
-    @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) {
-            //瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
-            Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
-            if (object != null) {
-                ShuttleRedisCommand redisCommand = null;
-                try {
-                    redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
-                } catch (IOException e) {
-                    return path;
-                }
-                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//绌挎杞﹂璁¤矾寰�
-                if (nodes == null) {
-                    return path;
-                }
-                if (!nodes.isEmpty()) {
-                    path.addAll(nodes);
-                }
-                NavigateNode navigateNode = path.get(0);
-                int lev = navigateNode.getZ();
-
-                //灏嗚矾寰勯攣涓庡皬杞﹁矾寰勮繘琛屽尮閰�
-                ArrayList<NavigateNode> tmp = new ArrayList<>();
-                //妫�娴嬭矾寰勬槸鍚﹁閿佸畾
-                int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, null);
-                for (NavigateNode node : path) {
-                    if(map[node.getX()][node.getY()] == -999) {
-                        tmp.add(node);
-                    }
-                }
-
-                path = tmp;
-            }
-        }
-        return path;
-    }
-
-    @Override
-    public int generateDeviceTaskNo(int taskNo, ShuttleTaskNoType type) {
-        return taskNo;
-    }
-
-    @Override
-    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
-        this.shuttleProtocol.setProtocolStatus(status);
-        return true;
-    }
-
-    @Override
-    public synchronized boolean setTaskNo(Integer taskNo) {
-        this.shuttleProtocol.setTaskNo(taskNo);
-        return true;
-    }
-
-    @Override
-    public synchronized boolean setSyncTaskNo(Integer taskNo) {
-        this.shuttleProtocol.setSyncTaskNo(taskNo);
-        return true;
-    }
-
-    @Override
-    public synchronized boolean setPakMk(boolean pakMk) {
-        this.shuttleProtocol.setPakMk(pakMk);
-        return true;
-    }
-
-    @Override
-    public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
-        if (enable) {
-            shuttleProtocol.setMoveLoc(true);//寮�鍚窇搴�
-            shuttleProtocol.setMoveType(param.getMoveType());
-            shuttleProtocol.setXStart(param.getStartX());
-            shuttleProtocol.setXTarget(param.getTargetX());
-            shuttleProtocol.setXCurrent(param.getStartX());
-            shuttleProtocol.setYStart(param.getStartY());
-            shuttleProtocol.setYTarget(param.getTargetY());
-            shuttleProtocol.setYCurrent(param.getStartY());
-        }else {
-            shuttleProtocol.setMoveLoc(false);
-            shuttleProtocol.setMoveType(0);
-            shuttleProtocol.setXStart(0);
-            shuttleProtocol.setXTarget(0);
-            shuttleProtocol.setXCurrent(0);
-            shuttleProtocol.setYStart(0);
-            shuttleProtocol.setYTarget(0);
-            shuttleProtocol.setYCurrent(0);
-        }
-        return true;
-    }
-
-    @Override
-    public boolean requestWaiting() {
-        if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
-            this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
-            return true;
-        }
-        return false;
-    }
-
-    @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) {
-        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.NyRequest request = httpStandard.getRequest();
-
-        ArrayList<HashMap<String, Object>> path = new ArrayList<>();
-
-        Integer taskId = getTaskId();
-        HashMap<String, Object> body = new HashMap<>();
-        body.put("requestType", "move");//绉诲姩鍛戒护
-        body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
-//        body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//璧风偣
-//        body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//缁堢偣
-        body.put("path", path);
-        request.setBody(body);
-
-        NavigateNode startNode = nodes.get(0);
-        for (NavigateNode node : nodes) {
-            HashMap<String, Object> data = new HashMap<>();
-            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
-            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
-            int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
-            int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
-            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
-
-            List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.NONE.id, null, null);
-            List<MapNode> mapNodes = mapData.get(node.getX());
-            MapNode mapNode = mapNodes.get(node.getY());
-
-            data.put("xp", xp);
-            data.put("yp", yp);
-            data.put("z", z);
-            data.put("x", mapNode.getXBase());
-            data.put("y", mapNode.getYBase());
-            path.add(data);
-        }
-
-        httpStandard.setRequest(request);
-
-        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
-        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
-                .eq("qr_code_value", distCodeNum));
-        if (locMast == null) {
-            throw new CoolException("搴撲綅淇℃伅涓嶅瓨鍦�");
-        }
-
-        ShuttleCommand command = new ShuttleCommand();
-        command.setShuttleNo(slave.getId());
-        command.setBody(JSON.toJSONString(httpStandard));
-        command.setMode(ShuttleCommandModeType.MOVE.id);
-        command.setTargetLocNo(locMast.getLocNo());
-        command.setTaskNo(taskId);
-        return command;
-    }
-
-    @Override
-    public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
-        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
-        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
-
-        Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
-        HashMap<String, Object> body = new HashMap<>();
-        body.put("requestType", lift ? "liftUp" : "liftDown");//椤跺崌鎴栦笅闄嶅懡浠�
-        body.put("taskId", taskId);
-        request.setBody(body);
-
-        httpStandard.setRequest(request);
-
-        ShuttleCommand command = new ShuttleCommand();
-        command.setShuttleNo(slave.getId());
-        command.setBody(JSON.toJSONString(httpStandard));
-        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
-        command.setTaskNo(taskId);
-        return command;
-    }
-
-    @Override
-    public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
-        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
-        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
-
-        Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
-        HashMap<String, Object> body = new HashMap<>();
-        body.put("requestType", charge ? "charge" : "stopCharge");//鍏呯數鎴栧仠姝㈠厖鐢�
-        body.put("taskId", taskId);
-        request.setBody(body);
-
-        httpStandard.setRequest(request);
-
-        ShuttleCommand command = new ShuttleCommand();
-        command.setShuttleNo(slave.getId());
-        command.setBody(JSON.toJSONString(httpStandard));
-        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
-        command.setTaskNo(taskId);
-        return command;
-    }
-
-    @Override
-    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
-        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
-        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
-
-        HashMap<String, Object> body = new HashMap<>();
-        body.put("requestType", "updateFloor");//鏇存柊灞俍
-        body.put("z", Utils.getLev(locNo));//鍧愭爣Z
-        request.setBody(body);
-
-        httpStandard.setRequest(request);
-
-        ShuttleCommand command = new ShuttleCommand();
-        command.setShuttleNo(slave.getId());
-        command.setBody(JSON.toJSONString(httpStandard));
-        command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
-        command.setTaskNo(taskNo);
-        return command;
-    }
-
-    //鑾峰彇灏忚溅澶嶄綅鍝嶅簲鍛戒护
-    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.NyRequest request = httpStandard.getRequest();
-
-        //code -> {Integer@13781} 1101101
-        int lev = code % 100;
-        int bay = code / 100 % 1000;
-        int row = code / 100000;
-
-        HashMap<String, Object> map = new HashMap<>();
-        map.put("x", row);
-        map.put("y", bay);
-        map.put("z", lev);
-
-        String mapStr = JSON.toJSONString(map);
-        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
-                .eq("qr_code_value", mapStr));
-        if (locMast == null) {
-            throw new CoolException("鍦板潃鐮佷笉瀛樺湪");
-        }
-
-        List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.NONE.id, null, null);
-        List<MapNode> mapNodes = mapData.get(locMast.getRow1());
-        MapNode mapNode = mapNodes.get(locMast.getBay1());
-
-        HashMap<String, Object> location = new HashMap<>();
-        location.put("xp", row);
-        location.put("yp", bay);
-        location.put("z", lev);
-        location.put("x", mapNode.getXBase());
-        location.put("y", mapNode.getYBase());
-
-        HashMap<String, Object> body = new HashMap<>();
-        body.put("responseType", "init");//澶嶄綅
-        body.put("location", location);//鍒濆鍖栧潗鏍�
-        body.put("devicePoints", new ArrayList<>());//鎻愬崌鏈虹偣浣�
-        body.put("specialPoints", new ArrayList<>());//鐗规畩鏉＄爜鍧愭爣
-        request.setBody(body);
-
-        httpStandard.setRequest(request);
-
-        ShuttleCommand command = new ShuttleCommand();
-        command.setShuttleNo(slave.getId());
-        command.setBody(JSON.toJSONString(httpStandard));
-        command.setMode(ShuttleCommandModeType.RESET.id);
-        command.setTaskNo(taskNo);
-        return command;
-    }
-
-    @Override
-    public boolean connect() {
-        try {
-            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;
-                log.info(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
-            }
-        } catch (Exception e) {
-            OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
-            return false;
-        }
-
-        return true;
-    }
-
-    @Override
-    public void close() {
-
-    }
-
-    //鑾峰彇HTTP璇锋眰鏍囧噯缁撴瀯浣�
-    private NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer taskNo) {
-        NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
-        httpStandard.setMsgType("requestMsg");//璇锋眰娑堟伅
-        httpStandard.setRobotId(shuttleNo);//杞﹁締缂栧彿
-        httpStandard.setTaskNo(taskNo);//宸ヤ綔鍙�
-
-        //璁剧疆璇锋眰娑堟伅
-        NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
-        NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
-        header.setVersion("1.0");//鐗堟湰鍙�
-        header.setRequestId(getRequestId());//娑堟伅缂栧彿
-
-        //璁剧疆璇锋眰澶�
-        request.setHeader(header);
-        httpStandard.setRequest(request);
-        return httpStandard;
-    }
-
-    //鑾峰彇璇锋眰缂栧彿
-    private Integer getRequestId() {
-        Random random = new Random();
-        return random.nextInt(9999999);
-    }
-
-    //鑾峰彇TaskId
-    private static Integer getTaskId() {
-        Random random = new Random();
-        return random.nextInt(999999);
-    }
-
-    //鑾峰彇璇籉AS鐘舵�佷俊鎭懡浠�
-    private NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
-        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
-        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
-
-        HashMap<String, Object> body = new HashMap<>();
-        body.put("requestType", "readState");//璇籉AS鐘舵�佷俊鎭�
-        request.setBody(body);
-
-        httpStandard.setRequest(request);
-        return httpStandard;
-    }
-
-    //鍙戝嚭璇锋眰
-    private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
-        try {
-            if (this.socket == null) {
-                return null;
-            }
-
-            //鍘嬬缉鏁版嵁鍖�
-            JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
-            data.remove("nodes");
-
-            // 鑾峰彇杈撳嚭娴�
-            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) {
+//package com.zy.core.thread.impl;
+//
+//import com.alibaba.fastjson.JSON;
+//import com.alibaba.fastjson.JSONObject;
+//import com.baomidou.mybatisplus.mapper.EntityWrapper;
+//import com.core.common.DateUtils;
+//import com.core.common.SpringUtils;
+//import com.core.exception.CoolException;
+//import com.fasterxml.jackson.databind.ObjectMapper;
+//import com.zy.asrs.entity.BasShuttle;
+//import com.zy.asrs.entity.DeviceDataLog;
+//import com.zy.asrs.entity.LocMast;
+//import com.zy.asrs.service.BasShuttleService;
+//import com.zy.asrs.service.DeviceDataLogService;
+//import com.zy.asrs.service.LocMastService;
+//import com.zy.asrs.utils.Utils;
+//import com.zy.common.ExecuteSupport;
+//import com.zy.common.model.MapNode;
+//import com.zy.common.model.NavigateNode;
+//import com.zy.common.model.enums.NavigationMapType;
+//import com.zy.common.utils.NavigateMapData;
+//import com.zy.common.utils.NavigatePositionConvert;
+//import com.zy.common.utils.RedisUtil;
+//import com.zy.core.News;
+//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.command.NyShuttleHttpCommand;
+//import com.zy.core.model.command.ShuttleCommand;
+//import com.zy.core.model.command.ShuttleRedisCommand;
+//import com.zy.core.model.param.ShuttleMoveLocParam;
+//import com.zy.core.model.protocol.ShuttleProtocol;
+//import com.zy.core.thread.ShuttleThread;
+//import com.zy.system.entity.Config;
+//import com.zy.system.service.ConfigService;
+//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.InetAddress;
+//import java.net.Socket;
+//import java.text.MessageFormat;
+//import java.util.*;
+//
+//@Slf4j
+//@SuppressWarnings("all")
+//public class NyShuttleThread2 implements ShuttleThread {
+//
+//    private ShuttleSlave slave;
+//    private RedisUtil redisUtil;
+//    private ShuttleProtocol shuttleProtocol;
+//    private Socket socket;
+//
+//    private static final boolean DEBUG = false;//璋冭瘯妯″紡
+//
+//    private List<JSONObject> socketReadResults = new ArrayList<>();
+//    private List<JSONObject> socketResults = new ArrayList<>();
+//
+//    //鍘熷璁惧鏁版嵁
+//    private Object originDeviceData;
+//
+//    public NyShuttleThread2(ShuttleSlave slave, RedisUtil redisUtil) {
+//        this.slave = slave;
+//        this.redisUtil = redisUtil;
+//    }
+//
+//    @Override
+//    public void run() {
+//        News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", slave.getId());
+//        this.connect();
+//
+//        //鐩戝惉娑堟伅骞跺瓨鍌�
+//        Thread innerThread = new Thread(() -> {
+//            while (true) {
+//                try {
+//                    listenSocketMessage();
+//                    listenInit();//鐩戝惉鍒濆鍖栦簨浠�
+//                } catch (Exception e) {
+//                    e.printStackTrace();
+//                }
+//            }
+//        });
+//        innerThread.start();
+//
+//        //璁惧璇诲彇
+//        Thread readThread = new Thread(() -> {
+//            while (true) {
+//                try {
+//                    read();
+//                    Thread.sleep(50);
+//                } catch (Exception e) {
+//                    log.error("ShuttleThread Fail", e);
+//                }
+//            }
+//        });
+//        readThread.start();
+//
+//        //璁惧鎵ц
+//        Thread executeThread = new Thread(() -> {
+//            while (true) {
+//                try {
+//                    ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+//                    if (shuttleAction == null) {
+//                        continue;
+//                    }
+//
+//                    Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
+//                    if (object == null) {
+//                        continue;
+//                    }
+//
+//                    Integer taskNo = Integer.valueOf(String.valueOf(object));
+//                    if (taskNo != 0) {
+//                        //瀛樺湪浠诲姟闇�瑕佹墽琛�
+//                        boolean result = shuttleAction.executeWork(slave.getId(), taskNo);
+//                    }
+//
+////                    //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
+////                    shuttleAction.moveLoc(slave.getId());
+//
+//                    //婕旂ず妯″紡
+//                    shuttleAction.demo(slave.getId());
+//
+//                    Thread.sleep(200);
+//                } catch (Exception e) {
+//                    e.printStackTrace();
+//                }
+//            }
+//        });
+//        executeThread.start();
+//
+//        //鍏朵粬浠诲姟
+//        Thread otherThread = new Thread(() -> {
+//            while (true) {
+//                try {
+//                    saveLog();//淇濆瓨鏁版嵁
+//                } catch (Exception e) {
+//                    e.printStackTrace();
+//                }
+//            }
+//        });
+//        otherThread.start();
+//    }
+//
+//    private void saveLog() {
+//        if (shuttleProtocol == null) {
+//            return;
+//        }
+//
+//        if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
+//            if (this.originDeviceData != null) {
+//                //閲囬泦鏃堕棿瓒呰繃5s锛屼繚瀛樹竴娆℃暟鎹褰�
+//                //淇濆瓨鏁版嵁璁板綍
+//                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.setCreateTime(new Date());
+//                deviceDataLogService.insert(deviceDataLog);
+//
+//                //鏇存柊閲囬泦鏃堕棿
+//                shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
+//                OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+//            }
+//        }
+//    }
+//
+//    private void listenSocketMessage() {
+//        try {
+//            if (this.socket == null) {
+//                return;
+//            }
+//
+//            // 鑾峰彇杈撳叆娴�
+//            BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
+//            // 璇诲彇鏈嶅姟鍣ㄧ殑鍝嶅簲
+//            StringBuffer sb = new StringBuffer();
+//            char[] chars = new char[2048];//缂撳啿鍖�
+//            while (true) {
+//                reader.read(chars);
+//                String trim = new String(chars);
+//                sb.append(trim);
+//                if (trim.lastIndexOf("\r\n") != -1) {
+//                    break;
+//                }
+//            }
+//
+//            JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
+//
+//            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;
+//                }
+//            }
+//
+//            if (!socketResults.isEmpty() && socketResults.size() >= 20) {
+//                socketResults.remove(0);//娓呯悊澶磋妭鐐�
+//            }
+//            socketResults.add(result);//娣诲姞鏁版嵁
+//        } catch (Exception e) {
+////            e.printStackTrace();
+//        }
+//    }
+//
+//    public JSONObject getRequestBody(String type, String taskId) {
+//        try {
+//            // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+//            JSONObject result = null;
+//            if (type.equals("readState")) {
+//                type = "state";
+//            }
+//
+//            for (int i = 0; i < socketResults.size(); i++) {
+//                JSONObject socketResult = socketResults.get(i);
+//                if (!socketResult.get("msgType").equals("responseMsg")) {//涓嶆槸鍝嶅簲鍐呭
+//                    continue;
+//                }
+//
+//                JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
+//                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
+//                String responseType = resultBody.get("responseType").toString();
+//                if (DEBUG) {
+//                    result = socketResult;
+//                    break;
+//                }
+//
+//                if (!responseType.equals(type)) {
+//                    continue;//鍝嶅簲绫诲瀷涓庤姹傜被鍨嬩笉涓�鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+//                }
+//
+//                if (taskId != null) {
+//                    String responseTaskId = resultBody.get("taskId").toString();
+//                    if (!responseTaskId.equals(taskId)) {
+//                        continue;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+//                    }
+//                }
+//
+//                result = socketResult;
+//                break;
+//            }
+//
+//            if (result == null) {
+//                return null;//鏃犲搷搴旂粨鏋�
+//            }
+//
+//            return filterBodyData(result);//杩斿洖Body缁撴灉闆�
+//        } catch (Exception e) {
 //            return null;
-                //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
-            }
-
-            // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
-            // 灏濊瘯10娆�
-            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;//杩斿洖Body缁撴灉闆�
-        }catch (Exception e) {
-            e.printStackTrace();
-        }
-        return null;
-    }
-
-    private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
-        if (this.socket == null) {
-            return;
-        }
-
-       try {
-           //鍘嬬缉鏁版嵁鍖�
-           JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
-           data.remove("nodes");
-
-           // 鑾峰彇杈撳嚭娴�
-           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) {
-        Object response = data.get("response");
-        if (response == null) {
-            return null;
-        }
-
-        JSONObject result = JSON.parseObject(response.toString());
-        Object body = result.get("body");
-        if (body == null) {
-            return null;
-        }
-        JSONObject jsonBody = JSON.parseObject(body.toString());
-        return jsonBody;
-    }
-
-    //鍦板浘鑺傜偣杞崲鐗涚溂鑺傜偣
-    private static Map<String, Object> navigateNodeToNyPointNode(NavigateNode node) {
-        int[] NyPosition = WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
-        HashMap<String, Object> point = new HashMap<>();
-        point.put("x", NyPosition[0]);
-        point.put("y", NyPosition[1]);
-        point.put("z", NyPosition[2]);
-        return point;
-    }
-
-    //WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
-    private static int[] WCSXyzToNyXyz(int x, int y, int z) {
-//        //WCS绯荤粺Y杞� => 鐗涚溂X杞磋浆鎹㈠叕寮�
-//        int x1 = Math.abs(y - 61) + 11;
-//        //WCS绯荤粺X杞� => 鐗涚溂Y杞磋浆鎹㈠叕寮�
-//        int y1 = x + 10;
-
-//        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
-    private class InnerSuhttleExtend {
-
-        /**
-         * 绠″埗鐘舵�佷笉鍦ㄧ鍒朵笅/琚鍒朵腑
-         * 0/1
-         */
-        private Integer suspendState;
-
-        /**
-         * 鏈�楂樼數鑺數鍘�(mV)
-         */
-        private Integer maxCellVoltage;
-
-        /**
-         * 鏈�浣庣數鑺數鍘�(mV)锛屼綆浜�2900mv闇�瑕佺珛鍗冲厖鐢�
-         */
-        private Integer minCellVoltage;
-
-        /**
-         * 鐢垫睜鐢靛帇锛坢V锛�
-         */
-        private Integer voltage;
-
-        /**
-         * 鍏呮斁鐢靛惊鐜鏁�
-         */
-        private Integer chargeCycleTimes;
-
-        /**
-         * 鍓╀綑鐢甸噺/10(A)
-         */
-        private Integer surplusQuantity;
-
-        /**
-         * 鎬荤數閲�/10(A)
-         */
-        private Integer countQuantity;
-
-    }
-}
+//        }
+//    }
+//
+//    private void read() {
+//        try {
+//            if (this.socket == null || this.socket.isClosed()) {
+//                //閾炬帴鏂紑閲嶆柊閾炬帴
+//                this.connect();
+//            }
+//            readStatus();
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戣鍙栧洓鍚戠┛姊溅鐘舵�佷俊鎭け璐� ===>> [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.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+//
+//                InnerSuhttleExtend extend = new InnerSuhttleExtend();
+//                shuttleProtocol.setExtend(extend);
+//            }
+//
+//            //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
+//            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
+//            requestCommandAsync(readStatusCommand);//璇锋眰鐘舵��
+//
+//            if (this.socketReadResults.isEmpty()) {
+//                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
+//                    //鏈�鍚庝竴娆′笂绾挎椂闂磋秴杩�60s锛岃瀹氱绾�
+//                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+//                }
+//                return;
+//            }
+//
+//            JSONObject data = this.socketReadResults.get(0);
+//            this.socketReadResults.remove(0);
+//            if (data == null) {
+//                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
+//                    //鏈�鍚庝竴娆′笂绾挎椂闂磋秴杩�60s锛岃瀹氱绾�
+//                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+//                }
+//                OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+//            }else {
+//
+//                //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
+//                //灏忚溅璁惧鐘舵��
+//                shuttleProtocol.setDeviceStatus(data.getInteger("free"));
+//                //灏忚溅妯″紡
+//                shuttleProtocol.setMode(data.getInteger("workingMode"));
+//                //褰撳墠浜岀淮鐮�
+//                shuttleProtocol.setCurrentCode(data.getString("point"));
+//                //鐢垫睜鐢甸噺
+//                shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
+//                //鐢垫睜鐢靛帇
+//                shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
+//                //鏁呴殰
+//                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));
+//
+//                //鏄惁椤跺崌
+//                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
+//                //鏄惁鏈夋墭鐩�
+//                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
+//                //琛岄┒鏂瑰悜
+//                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
+//                //鏄惁涓哄厖鐢电姸鎬�
+//                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
+//                //杩愯閫熷害
+//                shuttleProtocol.setSpeed(data.getInteger("speed"));
+//
+//                //*********璇诲彇鎵╁睍瀛楁**********
+//                InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
+//                //绠″埗鐘舵��
+//                extend.setSuspendState(data.getInteger("suspendState"));
+//                //鏈�楂樼數鑺數鍘�(mV)
+//                extend.setMaxCellVoltage(data.getInteger("maxCellVoltage"));
+//                //鏈�浣庣數鑺數鍘�(mV)
+//                extend.setMinCellVoltage(data.getInteger("minCellVoltage"));
+//                //鐢垫睜鐢靛帇
+//                extend.setVoltage(data.getInteger("voltage"));
+//                //鍏呮斁鐢靛惊鐜鏁�
+//                extend.setChargeCycleTimes(data.getInteger("chargeCycleTimes"));
+//                //鍓╀綑鐢甸噺
+//                extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
+//                //鎬荤數閲�
+//                extend.setCountQuantity(data.getInteger("countQuantity"));
+//                shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
+//
+//                //鏈�杩戜竴娆″湪绾挎椂闂�
+//                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
+//                ///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
+//
+//                //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
+//                if (shuttleProtocol.getDeviceStatus() == 0) {
+//                    shuttleProtocol.setPakMk(true);
+//                }
+//
+//                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 1) {
+//                    //灏忚溅绌洪棽鐘舵�併�佸皬杞︿换鍔＄姸鎬佷负鏈煡锛岃瀹氭浘绂荤嚎杩囷紝闇�瑕佸浣嶆垚绌洪棽
+//                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+//                }
+//
+//                if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE) && shuttleProtocol.getDeviceStatus().intValue() == 1) {
+//                    this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+//                }
+//
+//                this.originDeviceData = data;
+//
+//                OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+//            }
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [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();
+//            }
+//        }
+//    }
+//
+//    /**
+//     * 鐩戝惉灏忚溅澶嶄綅鍒濆鍖栦俊鍙�
+//     */
+//    public void listenInit() {
+//        try {
+//            // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+//            JSONObject result = null;
+//            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")) {//涓嶆槸璇锋眰鍐呭
+//                    continue;
+//                }
+//
+//                JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
+//                JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
+//                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
+//                String requestType = resultBody.getString("requestType");
+//                Integer requestId = resultHeader.getInteger("requestId");
+//                if (requestType.equals("init")) {
+//                    removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
+//                    socketResults.remove(removeIdx);
+//
+//                    Integer code = resultBody.getInteger("code");
+//                    //灏忚溅澶嶄綅璇锋眰
+//                    ShuttleCommand initCommand = getInitCommand(requestId, code);
+//                    //鍙戝嚭璇锋眰
+//                    NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
+//                    JSONObject requestResult = requestCommand(httpCommand);
+//
+//                    log.info(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
+//                    OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
+//                    break;
+//                }
+//            }
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//        }
+//    }
+//
+//    @Override
+//    public ShuttleProtocol getStatus() {
+//        return getStatus(true);
+//    }
+//
+//    @Override
+//    public ShuttleProtocol getStatus(boolean clone) {
+//        if (this.shuttleProtocol == null) {
+//            return null;
+//        }
+//        return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
+//    }
+//
+//    @Override
+//    public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
+//        CommandResponse response = new CommandResponse(true);
+//        return response;
+//    }
+//
+//    @Override
+//    public CommandResponse move(ShuttleCommand command) {
+//        CommandResponse response = new CommandResponse(false);
+//        try {
+//            //鍙戝嚭璇锋眰
+//            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
+//            Map<String, Object> body = httpCommand.getRequest().getBody();
+//            Object pathObj = body.get("path");
+//            int taskId = Integer.parseInt(body.get("taskId").toString());
+//            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
+//            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
+//            while (!path.isEmpty()) {
+//                ArrayList<Map<String, Object>> list = new ArrayList<>();
+//                if (path.size() > 10) {
+//                    List<JSONObject> subList = path.subList(0, 10);
+//                    list.addAll(subList);
+//
+//                    List<JSONObject> tmp = new ArrayList<>();
+//                    for (int i = 10; i < path.size(); i++) {
+//                        tmp.add(path.get(i));
+//                    }
+//                    path = tmp;
+//                }else  {
+//                    list.addAll(path);
+//                    path.clear();
+//                }
+//
+//                NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
+//                JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
+//
+//                NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
+//                bodyCopy.put("path", list);
+//                bodyCopy.put("taskId", taskId++);
+//                request.setBody(bodyCopy);
+//                httpCommandCopy.setRequest(request);
+//
+//                commandList.add(httpCommandCopy);//add copy
+//            }
+//
+//            for (NyShuttleHttpCommand requestCommand : commandList) {
+//                while (true) {
+//                    JSONObject result = requestCommand(requestCommand);
+//                    if (result == null) {
+////                        return response;//璇锋眰澶辫触
+//                        continue;//璇锋眰澶辫触灏濊瘯閲嶆柊璇锋眰
+//                    }
+//                    this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+//                    response.setMessage(JSON.toJSONString(result));
+//                    response.setResult(true);
+//                    break;
+//                }
+//            }
+//            return response;
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            response.setMessage(e.getMessage());
+//            return response;
+//        }
+//    }
+//
+//    @Override
+//    public CommandResponse lift(ShuttleCommand command) {
+//        CommandResponse response = new CommandResponse(false);
+//        try {
+//            //鍙戝嚭璇锋眰
+//            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
+//            JSONObject result = requestCommand(httpCommand);
+//            if (result == null) {
+//                return response;//璇锋眰澶辫触
+//            }
+//            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+//            response.setMessage(JSON.toJSONString(result));
+//            response.setResult(true);
+//            return response;
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            return response;
+//        }
+//    }
+//
+//    @Override
+//    public CommandResponse charge(ShuttleCommand command) {
+//        CommandResponse response = new CommandResponse(false);
+//        try {
+//            //鍙戝嚭璇锋眰
+//            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
+//            JSONObject result = requestCommand(httpCommand);
+//            if (result == null) {
+//                return response;//璇锋眰澶辫触
+//            }
+//            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+//            response.setMessage(JSON.toJSONString(result));
+//            response.setResult(true);
+//            return response;
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            return response;
+//        }
+//    }
+//
+//    @Override
+//    public CommandResponse reset(ShuttleCommand command) {
+//        setSyncTaskNo(0);
+//        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+//        enableMoveLoc(null, false);
+//        return new CommandResponse(true, JSON.toJSONString(command));
+//    }
+//
+//    @Override
+//    public CommandResponse updateLocation(ShuttleCommand command) {
+//        CommandResponse response = new CommandResponse(false);
+//        try {
+//            //鍙戝嚭璇锋眰
+//            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
+//            JSONObject result = requestCommand(httpCommand);
+//            if (result == null) {
+//                return response;//璇锋眰澶辫触
+//            }
+//            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+//            response.setMessage(JSON.toJSONString(result));
+//            response.setResult(true);
+//            return response;
+//        } catch (Exception e) {
+//            e.printStackTrace();
+//            return response;
+//        }
+//    }
+//
+//    @Override
+//    public boolean isIdle() {
+//        return this.isIdle(null);
+//    }
+//
+//    @Override
+//    public boolean isIdle(ExecuteSupport support) {
+//        if (null != support) {
+//            Boolean judgement = support.judgement();
+//            if (judgement != null && !judgement) {
+//                return true;
+//            }
+//        }
+//
+//        if (this.shuttleProtocol.getDeviceStatus() == null
+//                || this.shuttleProtocol.getPakMk() == null
+//                || this.shuttleProtocol.getErrorCode() == null
+//                || this.shuttleProtocol.getProtocolStatus() == null
+//                || this.shuttleProtocol.getMode() == null
+//                || this.shuttleProtocol.getExtend() == null
+//        ) {
+//            return false;
+//        }
+//
+//        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
+//
+//        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
+//                && 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)
+//                && extend.getSuspendState() == 0;
+//        return res;
+//    }
+//
+//    @Override
+//    public boolean isDeviceIdle() {
+//        return isDeviceIdle(null);
+//    }
+//
+//    @Override
+//    public boolean isDeviceIdle(ExecuteSupport support) {
+//        if (null != support) {
+//            Boolean judgement = support.judgement();
+//            if (judgement != null && !judgement) {
+//                return true;
+//            }
+//        }
+//
+//        if (this.shuttleProtocol.getDeviceStatus() == null
+//                || this.shuttleProtocol.getPakMk() == null
+//                || this.shuttleProtocol.getErrorCode() == null
+//                || this.shuttleProtocol.getMode() == null
+//                || this.shuttleProtocol.getExtend() == null
+//        ) {
+//            return false;
+//        }
+//
+//        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
+//
+//        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
+//                && this.shuttleProtocol.getMode() == 1
+//                && this.shuttleProtocol.getPakMk()
+//                && this.shuttleProtocol.getErrorCode().equals("0")
+//                && extend.getSuspendState() == 0
+//                ;
+//        return res;
+//    }
+//
+//    @Override
+//    public boolean isRequireCharge() {
+//        if (this.shuttleProtocol.getDeviceStatus() == null
+//                || this.shuttleProtocol.getPakMk() == null
+//                || this.shuttleProtocol.getErrorCode() == null
+//                || this.shuttleProtocol.getProtocolStatus() == null
+//                || this.shuttleProtocol.getMode() == null
+//                || this.shuttleProtocol.getExtend() == null
+//        ) {
+//            return false;
+//        }
+//
+//        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
+//
+//        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
+//                && this.shuttleProtocol.getMode() == 1
+//                && this.shuttleProtocol.getPakMk()
+//                && this.shuttleProtocol.getErrorCode().equals("0")
+//                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
+//                && extend.getSuspendState() == 0
+//                ;
+//        if (!res) {
+//            return res;
+//        } else {
+//            // 鐢甸噺灏忎簬闃堝�奸渶瑕佽繘琛屽厖鐢�
+//            try {
+//                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+//                if (shuttleService == null) {
+//                    return false;
+//                }
+//                BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", slave.getId()));
+//                if (basShuttle == null) {
+//                    return false;
+//                }
+//                Integer chargeLine = basShuttle.getChargeLine();
+//                if (chargeLine == null) {
+//                    return false;
+//                }
+//                return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
+//            } catch (Exception e) {
+//                return false;
+//            }
+//        }
+//    }
+//
+//    @Override
+//    public boolean isCharging() {
+//        if (this.shuttleProtocol.getDeviceStatus() == null || this.shuttleProtocol.getHasCharge() == null) {
+//            return false;
+//        }
+//
+//        if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
+//            //杩愯涓� && 鍏呯數涓�
+//            return true;
+//        }
+//        return false;
+//    }
+//
+//    @Override
+//    public boolean isChargingCompleted() {
+//        Integer maxPower = 100;
+//        ConfigService configService = SpringUtils.getBean(ConfigService.class);
+//        if (configService != null) {
+//            Config chargeMaxValue = configService.selectOne(new EntityWrapper<Config>()
+//                    .eq("code", "chargeMaxValue")
+//                    .eq("status", 1));
+//            if (chargeMaxValue != null) {
+//                maxPower = Integer.parseInt(chargeMaxValue.getValue());
+//            }
+//        }
+//
+//        //***************鍒ゆ柇鏄惁婊″厖鏍″噯***************
+//        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;//鐢靛帇涓嶅缁х画鍏呯數
+//                }
+//            }
+//        }
+//        //***************鍒ゆ柇鏄惁婊″厖鏍″噯***************
+//
+//        if (this.shuttleProtocol.getHasCharge() == null) {
+//            return false;
+//        }
+//
+//        if (this.shuttleProtocol.getBatteryPower() == null) {
+//            return false;
+//        }
+//
+//        if (!this.shuttleProtocol.getHasCharge()) {
+//            return false;
+//        }
+//
+//        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
+//            return true;
+//        }
+//        return false;
+//    }
+//
+//    @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) {
+//            //瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
+//            Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
+//            if (object != null) {
+//                ShuttleRedisCommand redisCommand = null;
+//                try {
+//                    redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
+//                } catch (IOException e) {
+//                    return path;
+//                }
+//                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//绌挎杞﹂璁¤矾寰�
+//                if (nodes == null) {
+//                    return path;
+//                }
+//                if (!nodes.isEmpty()) {
+//                    path.addAll(nodes);
+//                }
+//                NavigateNode navigateNode = path.get(0);
+//                int lev = navigateNode.getZ();
+//
+//                //灏嗚矾寰勯攣涓庡皬杞﹁矾寰勮繘琛屽尮閰�
+//                ArrayList<NavigateNode> tmp = new ArrayList<>();
+//                //妫�娴嬭矾寰勬槸鍚﹁閿佸畾
+//                int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, null);
+//                for (NavigateNode node : path) {
+//                    if(map[node.getX()][node.getY()] == -999) {
+//                        tmp.add(node);
+//                    }
+//                }
+//
+//                path = tmp;
+//            }
+//        }
+//        return path;
+//    }
+//
+//    @Override
+//    public int generateDeviceTaskNo(int taskNo, ShuttleTaskNoType type) {
+//        return taskNo;
+//    }
+//
+//    @Override
+//    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
+//        this.shuttleProtocol.setProtocolStatus(status);
+//        return true;
+//    }
+//
+//    @Override
+//    public synchronized boolean setTaskNo(Integer taskNo) {
+//        this.shuttleProtocol.setTaskNo(taskNo);
+//        return true;
+//    }
+//
+//    @Override
+//    public synchronized boolean setSyncTaskNo(Integer taskNo) {
+//        this.shuttleProtocol.setSyncTaskNo(taskNo);
+//        return true;
+//    }
+//
+//    @Override
+//    public synchronized boolean setPakMk(boolean pakMk) {
+//        this.shuttleProtocol.setPakMk(pakMk);
+//        return true;
+//    }
+//
+//    @Override
+//    public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
+//        if (enable) {
+//            shuttleProtocol.setMoveLoc(true);//寮�鍚窇搴�
+//            shuttleProtocol.setMoveType(param.getMoveType());
+//            shuttleProtocol.setXStart(param.getStartX());
+//            shuttleProtocol.setXTarget(param.getTargetX());
+//            shuttleProtocol.setXCurrent(param.getStartX());
+//            shuttleProtocol.setYStart(param.getStartY());
+//            shuttleProtocol.setYTarget(param.getTargetY());
+//            shuttleProtocol.setYCurrent(param.getStartY());
+//        }else {
+//            shuttleProtocol.setMoveLoc(false);
+//            shuttleProtocol.setMoveType(0);
+//            shuttleProtocol.setXStart(0);
+//            shuttleProtocol.setXTarget(0);
+//            shuttleProtocol.setXCurrent(0);
+//            shuttleProtocol.setYStart(0);
+//            shuttleProtocol.setYTarget(0);
+//            shuttleProtocol.setYCurrent(0);
+//        }
+//        return true;
+//    }
+//
+//    @Override
+//    public boolean requestWaiting() {
+//        if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
+//            this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+//            return true;
+//        }
+//        return false;
+//    }
+//
+//    @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) {
+//        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.NyRequest request = httpStandard.getRequest();
+//
+//        ArrayList<HashMap<String, Object>> path = new ArrayList<>();
+//
+//        Integer taskId = getTaskId();
+//        HashMap<String, Object> body = new HashMap<>();
+//        body.put("requestType", "move");//绉诲姩鍛戒护
+//        body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
+////        body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//璧风偣
+////        body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//缁堢偣
+//        body.put("path", path);
+//        request.setBody(body);
+//
+//        NavigateNode startNode = nodes.get(0);
+//        for (NavigateNode node : nodes) {
+//            HashMap<String, Object> data = new HashMap<>();
+//            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
+//            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
+//            int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+//            int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+//            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
+//
+//            List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.NONE.id, null, null);
+//            List<MapNode> mapNodes = mapData.get(node.getX());
+//            MapNode mapNode = mapNodes.get(node.getY());
+//
+//            data.put("xp", xp);
+//            data.put("yp", yp);
+//            data.put("z", z);
+//            data.put("x", mapNode.getXBase());
+//            data.put("y", mapNode.getYBase());
+//            path.add(data);
+//        }
+//
+//        httpStandard.setRequest(request);
+//
+//        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+//        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+//                .eq("qr_code_value", distCodeNum));
+//        if (locMast == null) {
+//            throw new CoolException("搴撲綅淇℃伅涓嶅瓨鍦�");
+//        }
+//
+//        ShuttleCommand command = new ShuttleCommand();
+//        command.setShuttleNo(slave.getId());
+//        command.setBody(JSON.toJSONString(httpStandard));
+//        command.setMode(ShuttleCommandModeType.MOVE.id);
+//        command.setTargetLocNo(locMast.getLocNo());
+//        command.setTaskNo(taskId);
+//        return command;
+//    }
+//
+//    @Override
+//    public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
+//        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+//        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+//
+//        Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
+//        HashMap<String, Object> body = new HashMap<>();
+//        body.put("requestType", lift ? "liftUp" : "liftDown");//椤跺崌鎴栦笅闄嶅懡浠�
+//        body.put("taskId", taskId);
+//        request.setBody(body);
+//
+//        httpStandard.setRequest(request);
+//
+//        ShuttleCommand command = new ShuttleCommand();
+//        command.setShuttleNo(slave.getId());
+//        command.setBody(JSON.toJSONString(httpStandard));
+//        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+//        command.setTaskNo(taskId);
+//        return command;
+//    }
+//
+//    @Override
+//    public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
+//        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+//        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+//
+//        Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
+//        HashMap<String, Object> body = new HashMap<>();
+//        body.put("requestType", charge ? "charge" : "stopCharge");//鍏呯數鎴栧仠姝㈠厖鐢�
+//        body.put("taskId", taskId);
+//        request.setBody(body);
+//
+//        httpStandard.setRequest(request);
+//
+//        ShuttleCommand command = new ShuttleCommand();
+//        command.setShuttleNo(slave.getId());
+//        command.setBody(JSON.toJSONString(httpStandard));
+//        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
+//        command.setTaskNo(taskId);
+//        return command;
+//    }
+//
+//    @Override
+//    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
+//        NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+//        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+//
+//        HashMap<String, Object> body = new HashMap<>();
+//        body.put("requestType", "updateFloor");//鏇存柊灞俍
+//        body.put("z", Utils.getLev(locNo));//鍧愭爣Z
+//        request.setBody(body);
+//
+//        httpStandard.setRequest(request);
+//
+//        ShuttleCommand command = new ShuttleCommand();
+//        command.setShuttleNo(slave.getId());
+//        command.setBody(JSON.toJSONString(httpStandard));
+//        command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
+//        command.setTaskNo(taskNo);
+//        return command;
+//    }
+//
+//    //鑾峰彇灏忚溅澶嶄綅鍝嶅簲鍛戒护
+//    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.NyRequest request = httpStandard.getRequest();
+//
+//        //code -> {Integer@13781} 1101101
+//        int lev = code % 100;
+//        int bay = code / 100 % 1000;
+//        int row = code / 100000;
+//
+//        HashMap<String, Object> map = new HashMap<>();
+//        map.put("x", row);
+//        map.put("y", bay);
+//        map.put("z", lev);
+//
+//        String mapStr = JSON.toJSONString(map);
+//        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+//                .eq("qr_code_value", mapStr));
+//        if (locMast == null) {
+//            throw new CoolException("鍦板潃鐮佷笉瀛樺湪");
+//        }
+//
+//        List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.NONE.id, null, null);
+//        List<MapNode> mapNodes = mapData.get(locMast.getRow1());
+//        MapNode mapNode = mapNodes.get(locMast.getBay1());
+//
+//        HashMap<String, Object> location = new HashMap<>();
+//        location.put("xp", row);
+//        location.put("yp", bay);
+//        location.put("z", lev);
+//        location.put("x", mapNode.getXBase());
+//        location.put("y", mapNode.getYBase());
+//
+//        HashMap<String, Object> body = new HashMap<>();
+//        body.put("responseType", "init");//澶嶄綅
+//        body.put("location", location);//鍒濆鍖栧潗鏍�
+//        body.put("devicePoints", new ArrayList<>());//鎻愬崌鏈虹偣浣�
+//        body.put("specialPoints", new ArrayList<>());//鐗规畩鏉＄爜鍧愭爣
+//        request.setBody(body);
+//
+//        httpStandard.setRequest(request);
+//
+//        ShuttleCommand command = new ShuttleCommand();
+//        command.setShuttleNo(slave.getId());
+//        command.setBody(JSON.toJSONString(httpStandard));
+//        command.setMode(ShuttleCommandModeType.RESET.id);
+//        command.setTaskNo(taskNo);
+//        return command;
+//    }
+//
+//    @Override
+//    public boolean connect() {
+//        try {
+//            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;
+//                log.info(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+//            }
+//        } catch (Exception e) {
+//            OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
+//            return false;
+//        }
+//
+//        return true;
+//    }
+//
+//    @Override
+//    public void close() {
+//
+//    }
+//
+//    //鑾峰彇HTTP璇锋眰鏍囧噯缁撴瀯浣�
+//    private NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer taskNo) {
+//        NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
+//        httpStandard.setMsgType("requestMsg");//璇锋眰娑堟伅
+//        httpStandard.setRobotId(shuttleNo);//杞﹁締缂栧彿
+//        httpStandard.setTaskNo(taskNo);//宸ヤ綔鍙�
+//
+//        //璁剧疆璇锋眰娑堟伅
+//        NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
+//        NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
+//        header.setVersion("1.0");//鐗堟湰鍙�
+//        header.setRequestId(getRequestId());//娑堟伅缂栧彿
+//
+//        //璁剧疆璇锋眰澶�
+//        request.setHeader(header);
+//        httpStandard.setRequest(request);
+//        return httpStandard;
+//    }
+//
+//    //鑾峰彇璇锋眰缂栧彿
+//    private Integer getRequestId() {
+//        Random random = new Random();
+//        return random.nextInt(9999999);
+//    }
+//
+//    //鑾峰彇TaskId
+//    private static Integer getTaskId() {
+//        Random random = new Random();
+//        return random.nextInt(999999);
+//    }
+//
+//    //鑾峰彇璇籉AS鐘舵�佷俊鎭懡浠�
+//    private NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
+//        NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
+//        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+//
+//        HashMap<String, Object> body = new HashMap<>();
+//        body.put("requestType", "readState");//璇籉AS鐘舵�佷俊鎭�
+//        request.setBody(body);
+//
+//        httpStandard.setRequest(request);
+//        return httpStandard;
+//    }
+//
+//    //鍙戝嚭璇锋眰
+//    private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
+//        try {
+//            if (this.socket == null) {
+//                return null;
+//            }
+//
+//            //鍘嬬缉鏁版嵁鍖�
+//            JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
+//            data.remove("nodes");
+//
+//            // 鑾峰彇杈撳嚭娴�
+//            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) {
+////            return null;
+//                //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
+//            }
+//
+//            // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+//            // 灏濊瘯10娆�
+//            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;//杩斿洖Body缁撴灉闆�
+//        }catch (Exception e) {
+//            e.printStackTrace();
+//        }
+//        return null;
+//    }
+//
+//    private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
+//        if (this.socket == null) {
+//            return;
+//        }
+//
+//       try {
+//           //鍘嬬缉鏁版嵁鍖�
+//           JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
+//           data.remove("nodes");
+//
+//           // 鑾峰彇杈撳嚭娴�
+//           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) {
+//        Object response = data.get("response");
+//        if (response == null) {
+//            return null;
+//        }
+//
+//        JSONObject result = JSON.parseObject(response.toString());
+//        Object body = result.get("body");
+//        if (body == null) {
+//            return null;
+//        }
+//        JSONObject jsonBody = JSON.parseObject(body.toString());
+//        return jsonBody;
+//    }
+//
+//    //鍦板浘鑺傜偣杞崲鐗涚溂鑺傜偣
+//    private static Map<String, Object> navigateNodeToNyPointNode(NavigateNode node) {
+//        int[] NyPosition = WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
+//        HashMap<String, Object> point = new HashMap<>();
+//        point.put("x", NyPosition[0]);
+//        point.put("y", NyPosition[1]);
+//        point.put("z", NyPosition[2]);
+//        return point;
+//    }
+//
+//    //WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
+//    private static int[] WCSXyzToNyXyz(int x, int y, int z) {
+////        //WCS绯荤粺Y杞� => 鐗涚溂X杞磋浆鎹㈠叕寮�
+////        int x1 = Math.abs(y - 61) + 11;
+////        //WCS绯荤粺X杞� => 鐗涚溂Y杞磋浆鎹㈠叕寮�
+////        int y1 = x + 10;
+//
+////        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
+//    private class InnerSuhttleExtend {
+//
+//        /**
+//         * 绠″埗鐘舵�佷笉鍦ㄧ鍒朵笅/琚鍒朵腑
+//         * 0/1
+//         */
+//        private Integer suspendState;
+//
+//        /**
+//         * 鏈�楂樼數鑺數鍘�(mV)
+//         */
+//        private Integer maxCellVoltage;
+//
+//        /**
+//         * 鏈�浣庣數鑺數鍘�(mV)锛屼綆浜�2900mv闇�瑕佺珛鍗冲厖鐢�
+//         */
+//        private Integer minCellVoltage;
+//
+//        /**
+//         * 鐢垫睜鐢靛帇锛坢V锛�
+//         */
+//        private Integer voltage;
+//
+//        /**
+//         * 鍏呮斁鐢靛惊鐜鏁�
+//         */
+//        private Integer chargeCycleTimes;
+//
+//        /**
+//         * 鍓╀綑鐢甸噺/10(A)
+//         */
+//        private Integer surplusQuantity;
+//
+//        /**
+//         * 鎬荤數閲�/10(A)
+//         */
+//        private Integer countQuantity;
+//
+//    }
+//}

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