From 8c7b4949dfcf875cc537304d34a7f6960cbb0c10 Mon Sep 17 00:00:00 2001
From: qlsxk <qlsxk@qq.com>
Date: 星期四, 16 十月 2025 14:57:12 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java | 2597 +++++++++++++++++++++++++++++-----------------------------
1 files changed, 1,301 insertions(+), 1,296 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 8d00c3a..6f0cdee 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread2.java
@@ -1,1297 +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 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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