From 84758497ae449590f994c885421b2c32917d4548 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 03 七月 2025 15:10:19 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/domain/param/DeviceMsgPutParam.java | 12
src/main/java/com/zy/common/utils/RedisUtil.java | 25
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 113 ---
src/main/java/com/zy/core/model/DeviceMsgModel.java | 12
src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java | 1297 ++++++++++++++++++++++++++++++++++++++++++++++++
src/main/java/com/zy/asrs/controller/DeviceMsgController.java | 35 +
src/main/java/com/zy/core/enums/RedisKeyType.java | 8
src/main/java/com/zy/core/Utils/DeviceMsgUtils.java | 102 +++
src/main/resources/application.yml | 6
9 files changed, 1,492 insertions(+), 118 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/DeviceMsgController.java b/src/main/java/com/zy/asrs/controller/DeviceMsgController.java
new file mode 100644
index 0000000..443dd78
--- /dev/null
+++ b/src/main/java/com/zy/asrs/controller/DeviceMsgController.java
@@ -0,0 +1,35 @@
+package com.zy.asrs.controller;
+
+import com.core.common.R;
+import com.zy.asrs.domain.param.DeviceMsgPutParam;
+import com.zy.core.Utils.DeviceMsgUtils;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.DeviceMsgModel;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.web.bind.annotation.*;
+
+import java.util.List;
+
+@RestController
+@RequestMapping("/msg")
+public class DeviceMsgController {
+
+ @Autowired
+ private DeviceMsgUtils deviceMsgUtils;
+
+ @PostMapping("/put")
+ public R put(@RequestBody DeviceMsgPutParam param) {
+ DeviceMsgModel msgModel = new DeviceMsgModel();
+ msgModel.setDeviceId(param.getDeviceId());
+ msgModel.setDeviceMsg(param.getDeviceMsg());
+ deviceMsgUtils.pushDeviceMsg(SlaveType.Shuttle, param.getDeviceId(), msgModel);
+ return R.ok();
+ }
+
+ @GetMapping("/get")
+ public R get() {
+ List<DeviceMsgModel> deviceMsgList = deviceMsgUtils.getDeviceMsgList(SlaveType.Shuttle, 1);
+ return R.ok().add(deviceMsgList);
+ }
+
+}
diff --git a/src/main/java/com/zy/asrs/domain/param/DeviceMsgPutParam.java b/src/main/java/com/zy/asrs/domain/param/DeviceMsgPutParam.java
new file mode 100644
index 0000000..e235eef
--- /dev/null
+++ b/src/main/java/com/zy/asrs/domain/param/DeviceMsgPutParam.java
@@ -0,0 +1,12 @@
+package com.zy.asrs.domain.param;
+
+import lombok.Data;
+
+@Data
+public class DeviceMsgPutParam {
+
+ private Integer deviceId;
+
+ private String deviceMsg;
+
+}
diff --git a/src/main/java/com/zy/common/utils/RedisUtil.java b/src/main/java/com/zy/common/utils/RedisUtil.java
index 95ab170..ba150e5 100644
--- a/src/main/java/com/zy/common/utils/RedisUtil.java
+++ b/src/main/java/com/zy/common/utils/RedisUtil.java
@@ -1,6 +1,5 @@
package com.zy.common.utils;
-import com.baomidou.mybatisplus.toolkit.StringUtils;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.data.redis.core.RedisTemplate;
import org.springframework.data.redis.core.StringRedisTemplate;
@@ -29,27 +28,8 @@
@Autowired
private StringRedisTemplate stringRedisTemplate;
- private static final String LOCK_PREFIX = "lock:";
- private static final long DEFAULT_EXPIRE_TIME = 10; // 榛樿閿佽繃鏈熸椂闂达紝鍗曚綅涓哄垎閽�
-
public RedisUtil(RedisTemplate redisTemplate) {
this.redisTemplate = redisTemplate;
- }
-
- /**
- * Redis鍔犻攣鐨勬搷浣�
- */
- public Boolean tryLock(String key) {
- String redisKey = LOCK_PREFIX + key;
- return redisTemplate.opsForValue().setIfAbsent(redisKey, "locked", DEFAULT_EXPIRE_TIME, TimeUnit.MINUTES);
- }
-
- /**
- * Redis瑙ｉ攣鐨勬搷浣�
- */
- public void unlock(String lockKey) {
- String redisKey = LOCK_PREFIX + lockKey;
- redisTemplate.delete(redisKey);
}
/**
@@ -114,6 +94,11 @@
//============================ String =============================
+ public Set<String> searchKeys(String key) {
+ Set<String> keys = redisTemplate.keys(key + "*");
+ return keys;
+ }
+
/**
* 鏅�氱紦瀛樿幏鍙�
*
diff --git a/src/main/java/com/zy/core/Utils/DeviceMsgUtils.java b/src/main/java/com/zy/core/Utils/DeviceMsgUtils.java
new file mode 100644
index 0000000..def7c52
--- /dev/null
+++ b/src/main/java/com/zy/core/Utils/DeviceMsgUtils.java
@@ -0,0 +1,102 @@
+package com.zy.core.Utils;
+
+import com.core.exception.CoolException;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.enums.RedisKeyType;
+import com.zy.core.enums.SlaveType;
+import com.zy.core.model.DeviceMsgModel;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Set;
+import java.util.TreeSet;
+
+@Component
+public class DeviceMsgUtils {
+
+ @Value("${deviceMsgConfig.destroyAfterReading}")
+ private boolean destroyAfterReading;
+
+ @Autowired
+ private RedisUtil redisUtil;
+
+ public DeviceMsgModel getDeviceMsg(SlaveType deviceType, Integer deviceId) {
+ TreeSet<String> listKey = getDeviceMsgListKey(deviceType, deviceId);
+ if (listKey.isEmpty()) {
+ return null;
+ }
+
+ String firstKey = listKey.first();
+ DeviceMsgModel deviceMsgModel = (DeviceMsgModel) redisUtil.get(firstKey);
+ if (destroyAfterReading) {
+ redisUtil.del(firstKey);
+ }
+ return deviceMsgModel;
+ }
+
+ public List<DeviceMsgModel> getDeviceMsgList(SlaveType deviceType, Integer deviceId) {
+ TreeSet<String> listKey = getDeviceMsgListKey(deviceType, deviceId);
+ List<DeviceMsgModel> deviceMsgModels = new ArrayList<>();
+ for (String key : listKey) {
+ DeviceMsgModel deviceMsgModel = (DeviceMsgModel) redisUtil.get(key);
+ deviceMsgModels.add(deviceMsgModel);
+ }
+ return deviceMsgModels;
+ }
+
+ public void pushDeviceMsg(SlaveType deviceType, Integer deviceId, DeviceMsgModel msgModel) {
+ String deviceMsgKey = parseDeviceMsgKey(deviceType, deviceId);
+ String key = deviceMsgKey + System.currentTimeMillis();
+ redisUtil.set(key, msgModel, 60 * 60);
+ }
+
+ public String sendCommand(SlaveType deviceType, Integer deviceId, Object command) {
+ String key = parseDeviceCommandMsgKey(deviceType, deviceId) + System.currentTimeMillis();
+ redisUtil.set(key, command, 60 * 60 * 24);
+ return key;
+ }
+
+ public TreeSet<String> getDeviceMsgListKey(SlaveType deviceType, Integer deviceId) {
+ String listKey = parseDeviceMsgKey(deviceType, deviceId);
+ Set<String> keys = redisUtil.searchKeys(listKey);
+
+ TreeSet<String> treeSet = new TreeSet<>();
+ for (String key : keys) {
+ treeSet.add(key);
+ }
+
+ return treeSet;
+ }
+
+ public String parseDeviceMsgKey(SlaveType deviceType, Integer deviceId) {
+ if (deviceType == null) {
+ throw new CoolException("璁惧绫诲瀷涓虹┖");
+ }
+
+ if (deviceType.equals(SlaveType.Shuttle)) {
+ return RedisKeyType.DEVICE_SHUTTLE_MSG_KEY_.key + deviceId + "_";
+ } else if (deviceType.equals(SlaveType.ForkLift)) {
+ return RedisKeyType.DEVICE_FORK_LIFT_MSG_KEY_.key + deviceId + "_";
+ }else {
+ throw new CoolException("璁惧绫诲瀷鏈畾涔�");
+ }
+ }
+
+ public String parseDeviceCommandMsgKey(SlaveType deviceType, Integer deviceId) {
+ if (deviceType == null) {
+ throw new CoolException("璁惧绫诲瀷涓虹┖");
+ }
+
+ if (deviceType.equals(SlaveType.Shuttle)) {
+ return RedisKeyType.DEVICE_SHUTTLE_COMMAND_MSG_KEY.key + deviceId + "_";
+ } else if (deviceType.equals(SlaveType.ForkLift)) {
+ return RedisKeyType.DEVICE_FORK_LIFT_COMMAND_MSG_KEY.key + deviceId + "_";
+ }else {
+ throw new CoolException("璁惧绫诲瀷鏈畾涔�");
+ }
+ }
+
+}
diff --git a/src/main/java/com/zy/core/enums/RedisKeyType.java b/src/main/java/com/zy/core/enums/RedisKeyType.java
index ecbf7cb..4cd2014 100644
--- a/src/main/java/com/zy/core/enums/RedisKeyType.java
+++ b/src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -13,6 +13,14 @@
QUEUE_TASK("queue_task_"),
FORK_LIFT_PUT_COMPLETE("fork_lift_put_complete_"),
OUT_TASK_PREVIEW_DISPATCH_FORKLIFT("out_task_preview_dispatch_forklift_"),
+
+ //璁惧娑堟伅KEY
+ DEVICE_SHUTTLE_MSG_KEY_("deviceShuttleMsgKey_"),
+ DEVICE_FORK_LIFT_MSG_KEY_("deviceForkLiftMsgKey_"),
+
+ //璁惧鎸囦护娑堟伅KEY
+ DEVICE_SHUTTLE_COMMAND_MSG_KEY("deviceShuttleCommandMsgKey_"),
+ DEVICE_FORK_LIFT_COMMAND_MSG_KEY("deviceForkLiftCommandMsgKey_"),
;
public String key;
diff --git a/src/main/java/com/zy/core/model/DeviceMsgModel.java b/src/main/java/com/zy/core/model/DeviceMsgModel.java
new file mode 100644
index 0000000..4895346
--- /dev/null
+++ b/src/main/java/com/zy/core/model/DeviceMsgModel.java
@@ -0,0 +1,12 @@
+package com.zy.core.model;
+
+import lombok.Data;
+
+@Data
+public class DeviceMsgModel {
+
+ private Integer deviceId;
+
+ private Object deviceMsg;
+
+}
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index 33142bc..e63336a 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -22,10 +22,12 @@
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
+import com.zy.core.Utils.DeviceMsgUtils;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
+import com.zy.core.model.DeviceMsgModel;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleCommand;
@@ -38,12 +40,8 @@
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.*;
@@ -54,7 +52,6 @@
private ShuttleSlave slave;
private RedisUtil redisUtil;
private ShuttleProtocol shuttleProtocol;
- private Socket socket;
private static final boolean DEBUG = false;//璋冭瘯妯″紡
@@ -72,25 +69,13 @@
@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 {
+ listenMessageFromRedis();
+ listenInit();//鐩戝惉鍒濆鍖栦簨浠�
read();
Thread.sleep(50);
} catch (Exception e) {
@@ -175,27 +160,17 @@
}
}
- private void listenSocketMessage() {
+ private void listenMessageFromRedis() {
try {
- if (this.socket == null) {
+ DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ if (deviceMsgUtils == 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;
- }
+ DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, slave.getId());
+ if(deviceMsg == null){
+ return;
}
-
- JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
+ JSONObject result = JSON.parseObject(deviceMsg.getDeviceMsg().toString());//寰楀埌鍝嶅簲缁撴灉闆�
String msgType = result.getString("msgType");
if ("responseMsg".equals(msgType)) {
@@ -266,10 +241,6 @@
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();
@@ -287,10 +258,6 @@
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) {
@@ -378,14 +345,6 @@
} 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();
- }
}
}
@@ -1067,20 +1026,6 @@
@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;
}
@@ -1136,7 +1081,8 @@
//鍙戝嚭璇锋眰
private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
try {
- if (this.socket == null) {
+ DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ if (deviceMsgUtils == null) {
return null;
}
@@ -1144,11 +1090,7 @@
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 key = deviceMsgUtils.sendCommand(SlaveType.Shuttle, slave.getId(), data);
String requestType = null;
String taskId = null;
@@ -1161,9 +1103,9 @@
}
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
- // 灏濊瘯10娆�
+ // 灏濊瘯30娆�
JSONObject result = null;
- for (int i = 0; i < 10; i++) {
+ for (int i = 0; i < 30; i++) {
result = getRequestBody(requestType, taskId);
if (result == null) {
try {
@@ -1180,29 +1122,6 @@
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) {
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java
new file mode 100644
index 0000000..8d00c3a
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java
@@ -0,0 +1,1297 @@
+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 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;
+
+ }
+}
diff --git a/src/main/resources/application.yml b/src/main/resources/application.yml
index 4a6afa3..fdea1d2 100644
--- a/src/main/resources/application.yml
+++ b/src/main/resources/application.yml
@@ -19,7 +19,7 @@
redis:
host: 127.0.0.1
port: 6379
- database: 6
+ database: 0
# password: 123456
mybatis-plus:
@@ -42,6 +42,10 @@
pythonCalcPath: D:\\path\\cpu.py
pythonCalcSimilarity: D:\\path\\similarity.py
+deviceMsgConfig:
+ # 璇诲彇鏁版嵁鍚庤嚜鍔ㄥ垹闄�
+ destroyAfterReading: true
+
# 涓嬩綅鏈洪厤缃�
wcs-slave:
# 鍥涘悜绌挎杞�1
--
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