From 3fef108b925349b467f0639aede38e0a918a2a7f Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 13 七月 2025 22:00:33 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/fake/FakeNyShuttleThread.java | 410 +++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 330 insertions(+), 80 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/fake/FakeNyShuttleThread.java b/src/main/java/com/zy/core/thread/fake/FakeNyShuttleThread.java
index ab8594b..8362d60 100644
--- a/src/main/java/com/zy/core/thread/fake/FakeNyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/fake/FakeNyShuttleThread.java
@@ -2,8 +2,8 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.zy.common.Cools;
import com.zy.common.SpringUtils;
-import com.zy.common.exception.CoolException;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
@@ -20,26 +20,35 @@
import java.util.ArrayList;
import java.util.HashMap;
import java.util.List;
+import java.util.concurrent.ConcurrentHashMap;
@Slf4j
@SuppressWarnings("all")
public class FakeNyShuttleThread implements ThreadHandler {
-
private RedisUtil redisUtil;
- private JSONObject fakeStatusDemo = JSONObject.parseObject("{\"mode\":1,\"extend\":{\"countQuantity\":400,\"suspendState\":0,\"minCellVoltage\":3279,\"chargeCycleTimes\":0,\"maxCellVoltage\":3281,\"surplusQuantity\":204,\"voltage\":5248},\"hasLift\":false,\"hasPallet\":false,\"batteryVoltage\":5248,\"runDirection\":\"2\",\"currentCode\":\"{\\\"x\\\":12,\\\"y\\\":37,\\\"z\\\":3}\",\"errorCode\":\"0\",\"hasCharge\":false,\"batteryPower\":\"51\",\"speed\":0,\"deviceStatus\":1}");
- private HashMap<String, Socket> fakeServerMap = new HashMap();
- private HashMap<String, JSONObject> fakeStatusMap = new HashMap();
+ private JSONObject fakeStatusDemo = JSONObject.parseObject("{\"mode\":1,\"extend\":{\"countQuantity\":400,\"suspendState\":0,\"minCellVoltage\":3279,\"chargeCycleTimes\":0,\"maxCellVoltage\":3281,\"surplusQuantity\":204,\"voltage\":5248},\"hasLift\":false,\"hasPallet\":false,\"batteryVoltage\":5248,\"runDirection\":\"2\",\"currentCode\":\"{\\\"x\\\":19,\\\"y\\\":11,\\\"z\\\":2}\",\"errorCode\":\"0\",\"hasCharge\":false,\"batteryPower\":\"51\",\"speed\":0,\"deviceStatus\":1}");
+ private ServerSocket serverSocket;
+ private Integer gatewayPort;
+ private ConcurrentHashMap<String, Thread> fakeThreadMap = new ConcurrentHashMap();
+ private ConcurrentHashMap<String, Socket> fakeServerMap = new ConcurrentHashMap();
+ private ConcurrentHashMap<String, JSONObject> fakeStatusMap = new ConcurrentHashMap();
+ private ConcurrentHashMap<String, JSONObject> fakeCommandMap = new ConcurrentHashMap();
private boolean fake = false;
- public FakeNyShuttleThread(RedisUtil redisUtil) {
+ public FakeNyShuttleThread(RedisUtil redisUtil, Integer gatewayPort) {
this.redisUtil = redisUtil;
+ this.gatewayPort = gatewayPort;
}
@Override
public void run() {
News.info("Fake Server is Started");
+
+ acceptorThread();
+ fakeCommandThread();
+
while (true) {
try {
initFakeDeviceServer();
@@ -49,61 +58,270 @@
}
}
- private void initFakeDeviceServer() {
- FakeDeviceUtils fakeDeviceUtils = SpringUtils.getBean(FakeDeviceUtils.class);
- String fakeDeviceConfig = fakeDeviceUtils.getFakeDeviceConfig();
- if(null != fakeDeviceConfig){
- List<DeviceConfig> deviceConfigs = JSON.parseArray(fakeDeviceConfig, DeviceConfig.class);
- for (DeviceConfig device : deviceConfigs) {
- if (!device.getDeviceType().equals(String.valueOf(SlaveType.Shuttle))) {
- continue;
- }
-
- if (!device.getThreadImpl().equals("NyShuttleThread")) {
- continue;
- }
-
- if (fakeServerMap.containsKey(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo())) {
- continue;
- }
-
- Thread fakeThread = new Thread(() -> {
+ private void acceptorThread() {
+ Thread acceptorThread = new Thread(() -> {
+ log.info("{}:acceptorThread is start");
+ try {
+ while (true) {
try {
- ServerSocket serverSocket = new ServerSocket(device.getPort());
- Socket fakeSocket = serverSocket.accept();
- fakeServerMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeSocket);
- fakeStatusMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), JSON.parseObject(JSON.toJSONString(fakeStatusDemo)));
- while (true) {
- if(fakeSocket == null) {
- fakeServerMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
- break;
- }
-
- if(fakeSocket.isClosed()) {
- fakeSocket = null;
- continue;
- }
-
- handleClient(fakeSocket, device);
+ if (serverSocket == null) {
+ serverSocket = new ServerSocket(gatewayPort);
}
}catch (Exception e){
e.printStackTrace();
}
- });
- fakeThread.start();
- // init
- ThreadHandler thread = new NyShuttleThread(device, redisUtil);;
- new Thread(thread).start();
- SlaveConnection.put(SlaveType.Shuttle, device.getDeviceNo(), thread);
+ if(serverSocket == null){
+ continue;
+ }
+
+ Socket fakeSocket = serverSocket.accept();
+ InputStream inputStream = fakeSocket.getInputStream();
+ if(inputStream == null){
+ continue;
+ }
+ // 鑾峰彇杈撳叆娴�
+ BufferedReader reader = new BufferedReader(new InputStreamReader(inputStream));
+ // 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;
+ }
+ }
+
+// log.info("acceptorThread is end:{}", sb.toString());
+ JSONObject result = JSON.parseObject(sb.toString());
+ if(result == null){
+ continue;
+ }
+
+ Object msgType = result.get("msgType");
+ if (msgType != null) {
+ if ("fakeDeviceFirstConnect".equals(msgType)) {
+ DeviceConfig device = JSON.parseObject(JSON.toJSONString(result.get("deviceConfig")), DeviceConfig.class);
+ log.info("{}:device is start,devices:{}", device.getDeviceNo(),JSON.toJSONString(fakeServerMap));
+
+ String fakeStatus = JSON.toJSONString(fakeStatusDemo);
+ if (!Cools.isEmpty(device.getFakeInitStatus())) {
+ fakeStatus = device.getFakeInitStatus();
+ }
+
+ fakeServerMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeSocket);
+ fakeStatusMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), JSON.parseObject(fakeStatus));
+
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("deviceNo", device.getDeviceNo());
+ map.put("status", "success");
+ // 鑾峰彇杈撳嚭娴�
+ OutputStreamWriter writer = new OutputStreamWriter(fakeSocket.getOutputStream());
+ writer.write(JSON.toJSONString(map) + "\r\n");
+ writer.flush();
+ }
+ }
+
+ Thread.sleep(1000);
+ }
+ }catch (Exception e){
+ e.printStackTrace();
}
+ });
+ acceptorThread.start();
+ }
+
+ private void fakeCommandThread() {
+ Thread fakeCommandThread = new Thread(() -> {
+ while (true) {
+ try {
+ FakeDeviceUtils fakeDeviceUtils = null;
+ try {
+ fakeDeviceUtils = SpringUtils.getBean(FakeDeviceUtils.class);
+ }catch (Exception e){}
+ if(fakeDeviceUtils == null){
+ continue;
+ }
+ List<DeviceConfig> deviceConfigs = fakeDeviceUtils.getFakeDeviceConfig();
+ for (DeviceConfig device : deviceConfigs) {
+ excuteFakeCommand(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
+ }
+ }catch (Exception e){
+ e.printStackTrace();
+ }
+ }
+ });
+ fakeCommandThread.start();
+ }
+
+ private synchronized void initFakeDeviceServer() {
+ FakeDeviceUtils fakeDeviceUtils = null;
+ try {
+ fakeDeviceUtils = SpringUtils.getBean(FakeDeviceUtils.class);
+ }catch (Exception e){}
+ if(fakeDeviceUtils == null){
+ return;
+ }
+ List<DeviceConfig> deviceConfigs = fakeDeviceUtils.getFakeDeviceConfig();
+ for (DeviceConfig device : deviceConfigs) {
+ if (!device.getDeviceType().equals(String.valueOf(SlaveType.Shuttle))) {
+ continue;
+ }
+
+ if (!device.getThreadImpl().equals("NyShuttleThread")) {
+ continue;
+ }
+
+ if (fakeThreadMap.containsKey(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo())) {
+ continue;
+ }
+
+ log.info("{}:device is run,devices:{}", device.getDeviceNo(),JSON.toJSONString(fakeServerMap));
+
+ Thread fakeThread = new Thread(() -> {
+ log.info("{}:device is start handle client", device.getDeviceNo());
+ try {
+ while (true) {
+ if(fakeServerMap.containsKey(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo())){
+ handleClient(device);
+ }
+ }
+ }catch (Exception e){
+ e.printStackTrace();
+ }
+ });
+ fakeThread.start();
+ fakeThreadMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeThread);
+
+ // init
+ ThreadHandler thread = new NyShuttleThread(device, redisUtil);;
+ new Thread(thread).start();
+ SlaveConnection.put(SlaveType.Shuttle, device.getDeviceNo(), thread);
}
}
- private void handleClient(Socket socket, DeviceConfig device) throws IOException {
+ private void excuteFakeCommand(String key) {
+ if (!fakeCommandMap.containsKey(key)) {
+ return;
+ }
+ JSONObject command = fakeCommandMap.get(key);
+ fakeCommandMap.remove(key);
+ new Thread(() -> {
+ try {
+ JSONObject fakeStatus = fakeStatusMap.get(key);
+ String commandType = command.getString("commandType");
+ if (commandType == null) {
+ return;
+ }
+
+ if (commandType.equals("liftUp")) {
+ fakeStatus.put("deviceStatus", 0);//璁惧蹇欑
+ fakeStatusMap.put(key, fakeStatus);
+
+ //delay
+ Thread.sleep(2000);
+ fakeStatus.put("hasLift", true);
+ fakeStatus.put("deviceStatus", 1);//璁惧绌洪棽
+ fakeStatusMap.put(key, fakeStatus);
+ }else if (commandType.equals("liftDown")) {
+ fakeStatus.put("deviceStatus", 0);//璁惧蹇欑
+ fakeStatusMap.put(key, fakeStatus);
+
+ //delay
+ Thread.sleep(2000);
+ fakeStatus.put("hasLift", false);
+ fakeStatus.put("deviceStatus", 1);//璁惧绌洪棽
+ fakeStatusMap.put(key, fakeStatus);
+ }else if (commandType.equals("charge")) {
+ fakeStatus.put("deviceStatus", 0);//璁惧蹇欑
+ fakeStatusMap.put(key, fakeStatus);
+
+ //delay
+ Thread.sleep(2000);
+ fakeStatus.put("hasCharge", true);
+
+ Integer batteryPower = Integer.parseInt(fakeStatus.getString("batteryPower"));
+ while (true) {
+ Thread.sleep(10000);
+ batteryPower = batteryPower + 1;
+ fakeStatus.put("batteryPower", batteryPower);
+ fakeStatusMap.put(key, fakeStatus);
+ if(batteryPower >= 100) {
+ break;
+ }
+ }
+
+ fakeStatus.put("deviceStatus", 1);//璁惧绌洪棽
+ fakeStatusMap.put(key, fakeStatus);
+ }else if (commandType.equals("stopCharge")) {
+ fakeStatus.put("deviceStatus", 0);//璁惧蹇欑
+ fakeStatusMap.put(key, fakeStatus);
+
+ //delay
+ Thread.sleep(2000);
+ fakeStatus.put("hasCharge", false);
+ fakeStatus.put("deviceStatus", 1);//璁惧绌洪棽
+ fakeStatusMap.put(key, fakeStatus);
+ }else if (commandType.equals("updateFloor")) {
+ fakeStatus.put("deviceStatus", 0);//璁惧蹇欑
+ fakeStatusMap.put(key, fakeStatus);
+
+ //delay
+ Thread.sleep(2000);
+
+ JSONObject body = command.getJSONObject("commandBody");
+ String currentCode = fakeStatus.getString("currentCode");
+ JSONObject point = JSON.parseObject(currentCode);
+ point.put("z", body.getInteger("z"));
+ fakeStatus.put("currentCode", JSON.toJSONString(point));
+ fakeStatus.put("deviceStatus", 1);//璁惧绌洪棽
+ fakeStatusMap.put(key, fakeStatus);
+ }else if (commandType.equals("move")) {
+ fakeStatus.put("deviceStatus", 0);//璁惧蹇欑
+ fakeStatusMap.put(key, fakeStatus);
+ Thread.sleep(2000);
+
+ JSONObject body = command.getJSONObject("commandBody");
+ String pathList = body.getString("path");
+ List<JSONObject> list = JSON.parseArray(pathList, JSONObject.class);
+ for (JSONObject path : list) {
+ String currentCode = fakeStatus.getString("currentCode");
+ JSONObject point = JSON.parseObject(currentCode);
+ point.put("x", path.getInteger("xp"));
+ point.put("y", path.getInteger("yp"));
+ point.put("z", path.getInteger("z"));
+ fakeStatus.put("currentCode", JSON.toJSONString(point));
+ fakeStatus.put("deviceStatus", 0);//璁惧蹇欑
+ fakeStatusMap.put(key, fakeStatus);
+ Thread.sleep(2000);
+ }
+
+ fakeStatus.put("deviceStatus", 1);//璁惧绌洪棽
+ fakeStatusMap.put(key, fakeStatus);
+ }
+ }catch (Exception e){
+ e.printStackTrace();
+ }
+ }).start();
+ }
+
+ private void handleClient(DeviceConfig device) throws IOException {
try {
+ Socket socket = fakeServerMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
+ if (socket == null) {
+ removeFake(device);
+ return;
+ }
+ InputStream inputStream = socket.getInputStream();
+ if(inputStream == null){
+ removeFake(device);
+ return;
+ }
+
// 鑾峰彇杈撳叆娴�
- BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
+ BufferedReader reader = new BufferedReader(new InputStreamReader(inputStream));
// 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�
@@ -117,13 +335,23 @@
}
JSONObject result = JSON.parseObject(sb.toString());
- log.info("鏀跺埌Client Data: {}", JSON.toJSONString(result));
+// log.info("鏀跺埌Client Data: {}", JSON.toJSONString(result));
processCommand(result, device);
} catch (Exception e) {
-// e.printStackTrace();
- socket.close();
- fakeServerMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
+ e.printStackTrace();
}
+ }
+
+ private void removeFake(DeviceConfig device) {
+ Thread thread = fakeThreadMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
+ if (thread != null) {
+ thread.interrupt();
+ }
+
+ fakeThreadMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
+ fakeServerMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
+ fakeStatusMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
+ fakeCommandMap.remove(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
}
public void processCommand(JSONObject result, DeviceConfig device) throws IOException {
@@ -131,40 +359,38 @@
JSONObject fakeStatus = fakeStatusMap.get(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo());
JSONObject request = result.getJSONObject("request");
+ JSONObject header = request.getJSONObject("header");
JSONObject body = request.getJSONObject("body");
+
+ Integer requestId = header.getInteger("requestId");
String requestType = body.getString("requestType");
Integer taskId = body.getInteger("taskId");
+
+ JSONObject fakeCommand = new JSONObject();
+ fakeCommand.put("deviceNo", device.getDeviceNo());
+ fakeCommand.put("deviceType", device.getDeviceType());
+ fakeCommand.put("commandType", requestType);
+ fakeCommand.put("commandBody", body);
if (requestType.equals("liftUp")) {
- fakeStatus.put("hasLift", true);
+ fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
+ response = genereateFakeCommandResponse(requestId, taskId, requestType);
} else if (requestType.equals("liftDown")) {
- fakeStatus.put("hasLift", false);
+ fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
+ response = genereateFakeCommandResponse(requestId, taskId, requestType);
} else if (requestType.equals("charge")) {
- fakeStatus.put("hasCharge", true);
+ fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
+ response = genereateFakeCommandResponse(requestId, taskId, requestType);
} else if (requestType.equals("stopCharge")) {
- fakeStatus.put("hasCharge", false);
+ fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
+ response = genereateFakeCommandResponse(requestId, taskId, requestType);
} else if (requestType.equals("updateFloor")) {
- String currentCode = fakeStatus.getString("currentCode");
- JSONObject point = JSON.parseObject(currentCode);
- point.put("z", body.getInteger("z"));
- fakeStatus.put("currentCode", JSON.toJSONString(point));
+ fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
+ response = genereateFakeCommandResponse(requestId, taskId, requestType);
} else if (requestType.equals("move")) {
- String pathList = body.getString("path");
- List<JSONObject> list = JSON.parseArray(pathList, JSONObject.class);
- for (JSONObject path : list) {
- String currentCode = fakeStatus.getString("currentCode");
- JSONObject point = JSON.parseObject(currentCode);
- point.put("x", path.getInteger("xp"));
- point.put("y", path.getInteger("yp"));
- point.put("z", path.getInteger("z"));
- fakeStatus.put("currentCode", JSON.toJSONString(point));
- try {
- Thread.sleep(1);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
+ fakeCommandMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeCommand);
+ response = genereateFakeCommandResponse(requestId, taskId, requestType);
} else if (requestType.equals("readState")) {
- response = genereateFakeStatusResponse(taskId, fakeStatus);
+ response = genereateFakeStatusResponse(requestId, fakeStatus, device.getDeviceNo());
}
fakeStatusMap.put(String.valueOf(SlaveType.Shuttle) + device.getDeviceNo(), fakeStatus);
@@ -176,11 +402,11 @@
}
}
- public String genereateFakeStatusResponse(Integer taskId, JSONObject fakeStatus) {
+ public String genereateFakeStatusResponse(Integer taskId, JSONObject fakeStatus, Integer deviceNo) {
JSONObject result = new JSONObject();
JSONObject response = new JSONObject();
result.put("msgType", "responseMsg");
- result.put("robotId", 5001);
+ result.put("robotId", deviceNo);
result.put("response", response);
JSONObject header = new JSONObject();
@@ -197,7 +423,10 @@
body.put("point", fakeStatus.getString("currentCode"));
body.put("powerPercent", fakeStatus.getString("batteryPower"));
body.put("voltage", fakeStatus.getInteger("batteryVoltage"));
- body.put("errCode", new ArrayList<Integer>(){{add(fakeStatus.getInteger("errorCode"));add(0);}});
+ body.put("errCode", new ArrayList<Integer>() {{
+ add(fakeStatus.getInteger("errorCode"));
+ add(0);
+ }});
body.put("liftPosition", fakeStatus.getBoolean("hasLift") == true ? 2 : 1);
body.put("loadState", fakeStatus.getBoolean("hasPallet") == true ? 1 : 0);
body.put("runDir", fakeStatus.getString("runDirection"));
@@ -215,6 +444,27 @@
return JSON.toJSONString(result);
}
+ public String genereateFakeCommandResponse(Integer responseId, Integer taskId, String commandType) {
+ JSONObject result = new JSONObject();
+ JSONObject response = new JSONObject();
+ result.put("msgType", "responseMsg");
+ result.put("robotId", 5001);
+ result.put("response", response);
+
+ JSONObject header = new JSONObject();
+ JSONObject body = new JSONObject();
+ response.put("header", header);
+ response.put("body", body);
+
+ header.put("responseId", responseId);
+ header.put("version", "GV-APP-F427-N24036-1112");
+
+ body.put("responseType", commandType);
+ body.put("result", "success");
+ body.put("taskId", taskId);
+ return JSON.toJSONString(result);
+ }
+
@Override
public boolean connect() {
return true;
--
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