From 91573a133dad2c62463a941aafc671df17370047 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 03 七月 2025 15:35:56 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 1334 ++++++++-------------------------------------------------
1 files changed, 205 insertions(+), 1,129 deletions(-)
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 e63336a..dcadce6 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -2,46 +2,20 @@
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.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;
-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.*;
@@ -51,15 +25,12 @@
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 NyShuttleThread(ShuttleSlave slave, RedisUtil redisUtil) {
this.slave = slave;
@@ -69,108 +40,76 @@
@Override
public void run() {
News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", slave.getId());
+ this.connect();
- //璁惧璇诲彇
- Thread readThread = new Thread(() -> {
+ //鐩戝惉娑堟伅骞跺瓨鍌�
+ Thread innerThread = new Thread(() -> {
while (true) {
try {
- listenMessageFromRedis();
- listenInit();//鐩戝惉鍒濆鍖栦簨浠�
- 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);
+ listenSocketMessage();
} catch (Exception e) {
e.printStackTrace();
}
}
});
- executeThread.start();
+ innerThread.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();
+// //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();
}
- 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 listenMessageFromRedis() {
+ private void listenSocketMessage() {
try {
- DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
- if (deviceMsgUtils == null) {
+ if (this.socket == null) {
return;
}
- DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, slave.getId());
- if(deviceMsg == 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(deviceMsg.getDeviceMsg().toString());//寰楀埌鍝嶅簲缁撴灉闆�
+
+ 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)) {
@@ -192,840 +131,69 @@
}
}
- 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 {
- 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);
- }
-
- 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()));
- }
- }
-
- /**
- * 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;
- }
+// 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;
+// }
+// }
@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;
}
@@ -1034,183 +202,91 @@
}
- //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 {
- DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
- if (deviceMsgUtils == null) {
- return null;
- }
-
- //鍘嬬缉鏁版嵁鍖�
- JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
- data.remove("nodes");
-
- String key = deviceMsgUtils.sendCommand(SlaveType.Shuttle, slave.getId(), data);
-
- String requestType = null;
- String taskId = null;
- try {
- requestType = httpCommand.getRequest().getBody().get("requestType").toString();
- taskId = httpCommand.getRequest().getBody().get("taskId").toString();
- } catch (Exception e) {
+// //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;
- //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
- }
+// }
+//
+// JSONObject result = JSON.parseObject(response.toString());
+// Object body = result.get("body");
+// if (body == null) {
+// return null;
+// }
+// JSONObject jsonBody = JSON.parseObject(body.toString());
+// return jsonBody;
+// }
- // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
- // 灏濊瘯30娆�
- JSONObject result = null;
- for (int i = 0; i < 30; 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 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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