From c0d2dc7614b173e0ea4c78c6f899ab732542127a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期日, 13 七月 2025 19:54:28 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 405 +++++++++++++++++++++++++++------------------------------
1 files changed, 195 insertions(+), 210 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 9d139e2..e8a72d4 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -8,6 +8,7 @@
import com.core.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.DeviceDataLog;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleService;
@@ -29,7 +30,6 @@
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;
@@ -49,26 +49,26 @@
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {
- private ShuttleSlave slave;
+ private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ShuttleProtocol shuttleProtocol;
private static final boolean DEBUG = false;//璋冭瘯妯″紡
private List<JSONObject> socketReadResults = new ArrayList<>();
- private List<JSONObject> socketResults = new ArrayList<>();
+ private List<DeviceMsgModel> socketResults = new ArrayList<>();
//鍘熷璁惧鏁版嵁
private Object originDeviceData;
- public NyShuttleThread(ShuttleSlave slave, RedisUtil redisUtil) {
- this.slave = slave;
+ public NyShuttleThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.deviceConfig = deviceConfig;
this.redisUtil = redisUtil;
}
@Override
public void run() {
- News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", slave.getId());
+ News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", deviceConfig.getDeviceNo());
//璁惧璇诲彇
Thread readThread = new Thread(() -> {
@@ -78,6 +78,22 @@
listenInit();//鐩戝惉鍒濆鍖栦簨浠�
readStatus();
Thread.sleep(100);
+
+ ShuttleAction shuttleAction = null;
+ try {
+ shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ }catch (Exception e){
+ continue;
+ }
+
+ if (shuttleAction == null) {
+ continue;
+ }
+ //婕旂ず妯″紡
+ shuttleAction.demo(deviceConfig.getDeviceNo());
+
+// //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
+// shuttleAction.moveLoc(deviceConfig.getDeviceNo());
} catch (Exception e) {
log.error("ShuttleThread Fail", e);
}
@@ -100,7 +116,7 @@
continue;
}
- Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
if (object == null) {
continue;
}
@@ -108,16 +124,9 @@
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);
+ boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), 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);
+ Thread.sleep(100);
} catch (Exception e) {
e.printStackTrace();
}
@@ -125,17 +134,17 @@
});
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();
+// //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() {
@@ -155,24 +164,29 @@
deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
- deviceDataLog.setDeviceNo(slave.getId());
+ deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
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()));
+ 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()), deviceConfig.getDeviceNo()));
}
}
}
private void listenMessageFromRedis() {
try {
- DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ DeviceMsgUtils deviceMsgUtils = null;
+ try {
+ deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ }catch (Exception e){
+
+ }
if (deviceMsgUtils == null) {
return;
}
- DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, slave.getId());
+ DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo());
if(deviceMsg == null){
return;
}
@@ -183,54 +197,32 @@
data.put("originDeviceData", deviceMsg.getDeviceOriginMsg());
socketReadResults.add(data);
} else {
- socketResults.add(data);//娣诲姞鏁版嵁
+ socketResults.add(deviceMsg);//娣诲姞鏁版嵁
}
} catch (Exception e) {
e.printStackTrace();
}
}
- public JSONObject getRequestBody(String type, String taskId) {
+ public JSONObject getRequestBody(String resultKey) {
try {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
- if (type.equals("readState")) {
- type = "state";
- }
-
+ int idx = -1;
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;
+ DeviceMsgModel deviceMsgModel = socketResults.get(i);
+ if(deviceMsgModel.getResultKey().equals(resultKey)){
+ idx = i;
+ result = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
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�
}
+ socketResults.remove(idx);
return filterBodyData(result);//杩斿洖Body缁撴灉闆�
} catch (Exception e) {
return null;
@@ -241,7 +233,7 @@
try {
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(slave.getId());
+ shuttleProtocol.setShuttleNo(deviceConfig.getDeviceNo());
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
InnerSuhttleExtend extend = new InnerSuhttleExtend();
@@ -259,11 +251,11 @@
return;
}
- NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
- //鎸囦护瓒呰繃浜旀潯锛屼笉鍐嶄笅鍙戜换鍔＄姸鎬佽姹�
- TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, slave.getId());
- if (deviceCommandMsgListKey.size() < 5) {
- requestCommandAsync(readStatusCommand);//璇锋眰鐘舵��
+ NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(deviceConfig.getDeviceNo());
+ //鎸囦护瓒呰繃2鏉★紝涓嶅啀涓嬪彂浠诲姟鐘舵�佽姹�
+ TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, deviceConfig.getDeviceNo());
+ if (deviceCommandMsgListKey.size() < 2) {
+ requestCommand(readStatusCommand);//璇锋眰鐘舵��
}
if (this.socketReadResults.isEmpty()) {
@@ -339,10 +331,10 @@
this.originDeviceData = data.getString("originDeviceData");
- 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()));
+ 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()), deviceConfig.getDeviceNo()));
} 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()));
+ 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()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
}
}
@@ -354,35 +346,38 @@
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
int removeIdx = -1;
+ JSONObject socketResult = null;
for (int i = 0; i < socketResults.size(); i++) {
- JSONObject socketResult = socketResults.get(i);
- if (socketResult == null) {
+ DeviceMsgModel deviceMsgModel = socketResults.get(i);
+ if (!deviceMsgModel.getDeviceMsgType().equals("shuttleInit")) {
continue;
}
- if (!socketResult.get("msgType").equals("requestMsg")) {//涓嶆槸璇锋眰鍐呭
- continue;
- }
+ removeIdx = i;
+ socketResult = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
+ break;
+ }
- 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);
+ if (socketResult == null) {
+ return;
+ }
- 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);
+ 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")) {
+ socketResults.remove(removeIdx);
- 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;
- }
+ 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);
+ 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}]", deviceConfig.getDeviceNo(), code, deviceConfig.getIp(), deviceConfig.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}]", deviceConfig.getDeviceNo(), code, deviceConfig.getIp(), deviceConfig.getPort()));
}
} catch (Exception e) {
e.printStackTrace();
@@ -408,58 +403,81 @@
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 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
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
}
-
- 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;
- }
- }
+ 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();
@@ -474,7 +492,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject result = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -494,7 +514,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject result = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -522,7 +544,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject result = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -638,7 +662,7 @@
if (shuttleService == null) {
return false;
}
- BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", slave.getId()));
+ BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", deviceConfig.getDeviceNo()));
if (basShuttle == null) {
return false;
}
@@ -871,7 +895,7 @@
@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 httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
ArrayList<HashMap<String, Object>> path = new ArrayList<>();
@@ -916,7 +940,7 @@
}
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.MOVE.id);
command.setTargetLocNo(locMast.getLocNo());
@@ -926,7 +950,7 @@
@Override
public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
@@ -938,7 +962,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
command.setTaskNo(taskId);
@@ -947,7 +971,7 @@
@Override
public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
@@ -959,7 +983,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
command.setTaskNo(taskId);
@@ -968,7 +992,7 @@
@Override
public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -979,7 +1003,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
command.setTaskNo(taskNo);
@@ -990,7 +1014,7 @@
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 httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
//code -> {Integer@13781} 1101101
@@ -1031,7 +1055,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.RESET.id);
command.setTaskNo(taskNo);
@@ -1092,8 +1116,8 @@
return httpStandard;
}
- //鍙戝嚭璇锋眰-鍚屾
- private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
+ //鍙戝嚭璇锋眰
+ private String requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
try {
DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
if (deviceMsgUtils == null) {
@@ -1105,73 +1129,34 @@
data.remove("nodes");
DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
- commandMsgModel.setDeviceId(slave.getId());
+ commandMsgModel.setDeviceId(deviceConfig.getDeviceNo());
commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
commandMsgModel.setCommand(data);
- String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), commandMsgModel);
-
- 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�
+ String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), commandMsgModel);
+ return key;
}catch (Exception e) {
e.printStackTrace();
}
return null;
}
- //鍙戝嚭璇锋眰-绉绘
- private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
- try {
- DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
- if (deviceMsgUtils == null) {
- return;
+ private JSONObject queryCommandStatus(String resultKey) {
+ // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+ // 灏濊瘯50娆�
+ JSONObject result = null;
+ for (int i = 0; i < 50; i++) {
+ result = getRequestBody(resultKey);
+ if (result == null) {
+ try {
+ Thread.sleep(500);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }else {
+ break;
}
-
- //鍘嬬缉鏁版嵁鍖�
- JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
- data.remove("nodes");
-
- DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
- commandMsgModel.setDeviceId(slave.getId());
- commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
- commandMsgModel.setCommand(data);
- String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), commandMsgModel);
-
- 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�
- }
- }catch (Exception e) {
- e.printStackTrace();
}
+ return result;
}
private JSONObject filterBodyData(JSONObject data) {
--
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