From cdca466c533197157f3255b77fbdb4aac89be064 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 30 八月 2023 08:26:10 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/common/utils/NyHttpUtils.java | 109 ++++++++++++++++++++++++++++++++++--------------------
1 files changed, 69 insertions(+), 40 deletions(-)
diff --git a/src/main/java/com/zy/common/utils/NyHttpUtils.java b/src/main/java/com/zy/common/utils/NyHttpUtils.java
index 8af6760..12d8c2c 100644
--- a/src/main/java/com/zy/common/utils/NyHttpUtils.java
+++ b/src/main/java/com/zy/common/utils/NyHttpUtils.java
@@ -6,6 +6,8 @@
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.protocol.NyShuttleProtocol;
+import java.io.*;
+import java.net.Socket;
import java.util.*;
/**
@@ -13,13 +15,12 @@
*/
public class NyHttpUtils {
- private static final String requestUrl = "localhost:9090/tzskwcs";
-
//鑾峰彇HTTP璇锋眰鏍囧噯缁撴瀯浣�
- public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo) {
+ public static NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer wrkNo) {
NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
httpStandard.setMsgType("requestMsg");//璇锋眰娑堟伅
httpStandard.setRobotId(shuttleNo);//杞﹁締缂栧彿
+ httpStandard.setWrkNo(wrkNo);//宸ヤ綔鍙�
//璁剧疆璇锋眰娑堟伅
NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
@@ -35,7 +36,7 @@
//鑾峰彇FAS 鎵嬪姩/鑷姩鍒囨崲
public static NyShuttleHttpCommand getFASSwitchCommand(Integer shuttleNo, boolean auto) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -48,12 +49,12 @@
//鑾峰彇绉诲姩璇锋眰
public static NyShuttleHttpCommand getMoveCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", "move");//绉诲姩鍛戒护
- body.put("taskId", wrkNo);//浠诲姟鍙�
+ body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
body.put("start", navigateNodeToNyPointNode(start));//璧风偣
body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
@@ -64,12 +65,12 @@
//鑾峰彇杩涘嚭鎻愬崌鏈鸿姹�
public static NyShuttleHttpCommand getInOutLiftCommand(Integer shuttleNo, Integer wrkNo, NavigateNode start, NavigateNode target, boolean in) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", in ? "intoLift" : "outLift");//杩涘嚭鎻愬崌鏈�
- body.put("taskId", wrkNo);//浠诲姟鍙�
+ body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
body.put("start", navigateNodeToNyPointNode(start));//璧风偣
body.put("target", navigateNodeToNyPointNode(target));//缁堢偣
request.setBody(body);
@@ -80,12 +81,12 @@
//鑾峰彇椤跺崌鍛戒护
public static NyShuttleHttpCommand getPalletLiftCommand(Integer shuttleNo, Integer wrkNo, boolean lift) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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", wrkNo);//浠诲姟鍙�
+ body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
request.setBody(body);
httpStandard.setRequest(request);
@@ -94,12 +95,12 @@
//鑾峰彇鍏呯數鍛戒护
public static NyShuttleHttpCommand getChargeCommand(Integer shuttleNo, Integer wrkNo, boolean charge) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
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", wrkNo);//浠诲姟鍙�
+ body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
request.setBody(body);
httpStandard.setRequest(request);
@@ -108,12 +109,12 @@
//鑾峰彇绠″埗鍛戒护
public static NyShuttleHttpCommand getSuspendCommand(Integer shuttleNo, Integer wrkNo, boolean suspend) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, wrkNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", suspend ? "stop" : "resume");//绠″埗鎴栧彇娑堢鍒�
- body.put("taskId", wrkNo);//浠诲姟鍙�
+ body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
request.setBody(body);
httpStandard.setRequest(request);
@@ -122,7 +123,7 @@
//鑾峰彇鏇存柊灞傚潗鏍嘮(妤煎眰)鍛戒护
public static NyShuttleHttpCommand getUpdateZCommand(Integer shuttleNo, Integer z) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -136,7 +137,7 @@
//鑾峰彇璇籉AS鐘舵�佷俊鎭懡浠�
public static NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -149,7 +150,7 @@
//鑾峰彇鏇存柊FAS鍩哄噯鍦板浘鍛戒护
public static NyShuttleHttpCommand getUpdateFASBaseMapCommand(Integer shuttleNo, Integer xBase, Integer yBase, Integer zBase, Integer xEnd, Integer yEnd, Integer zEnd, Integer xBaseCoord, Integer yBaseCoord, Integer xDefaultSpace, Integer yDefaultSpace) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -175,7 +176,7 @@
//鑾峰彇鏇存柊FAS鐗规畩X杞村湴鍥惧懡浠�
public static NyShuttleHttpCommand getUpdateMapSpecialXAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -189,7 +190,7 @@
//鑾峰彇鏇存柊FAS鐗规畩Y杞村湴鍥惧懡浠�
public static NyShuttleHttpCommand getUpdateMapSpecialYAxisCommand(Integer shuttleNo, List<Map<String, Object>> list) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -203,7 +204,7 @@
//鑾峰彇鏇存柊FAS鐗规畩搴撲綅鐐瑰湴鍥惧懡浠�
public static NyShuttleHttpCommand getUpdateMapSpecialPointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -217,7 +218,7 @@
//鑾峰彇鏇存柊FAS鎻愬崌鏈虹偣浣嶅湴鍥惧懡浠�
public static NyShuttleHttpCommand getUpdateMapDevicePointCommand(Integer shuttleNo, List<Map<String, Object>> list) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -231,7 +232,7 @@
//鑾峰彇鍗曚釜RFID褰曞啓鍛戒护
public static NyShuttleHttpCommand getWriteSingleRFIDCommand(Integer shuttleNo, Integer xPoint, Integer yPoint, Integer zPoint) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -247,7 +248,7 @@
//鑾峰彇鑷姩褰曞啓RFID鍛戒护
public static NyShuttleHttpCommand getAutoWriteRFIDCommand(Integer shuttleNo, Integer dir, Integer xBase, Integer yBase, Integer zBase, Integer pointEnd, List<Integer> specialPoint) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -270,32 +271,60 @@
return random.nextInt(9999999);
}
+ //鑾峰彇TaskId
+ public static Integer getTaskId() {
+ Random random = new Random();
+ return random.nextInt(999999);
+ }
+
//鍙戝嚭璇锋眰
- public static JSONObject requestCommand(NyShuttleHttpCommand httpCommand) {
+ public static JSONObject requestCommand(Socket socket, NyShuttleHttpCommand httpCommand) {
try {
- String response = new HttpHandler.Builder()
- .setUri(requestUrl)
- .setPath("/static/readStatus.json")
- .setJson(JSON.toJSONString(httpCommand))
- .build()
- .doGet();
- JSONObject jsonObject = JSON.parseObject(response);
- JSONObject response2 = jsonObject.getJSONObject("response");
- JSONObject body = response2.getJSONObject("body");
-
- if (body.get("responseType").equals("state")) {//璇诲彇鐘舵�侊紝涓嶉渶瑕佸垽鏂璼uccess
- return body;
+ if (socket == null) {
+ return null;
}
+ // 鑾峰彇杈撳叆娴佸拰杈撳嚭娴�
+ BufferedReader reader = new BufferedReader(new InputStreamReader(socket.getInputStream()));
+ OutputStreamWriter writer = new OutputStreamWriter(socket.getOutputStream());
+ writer.write(JSON.toJSONString(httpCommand) + "\r\n");
+ writer.flush();
+// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
- if (body.get("result").equals("success")) {
- return body;
- }
+ // 璇诲彇鏈嶅姟鍣ㄧ殑鍝嶅簲
+ StringBuffer sb = new StringBuffer();
+ String response = null;
+ char[] chars = new char[2048];//缂撳啿鍖�
+ do {
+ reader.read(chars);
+ String trim = new String(chars).trim();
+ sb.append(trim);
+ if (sb.lastIndexOf("\r\n") != -1) {
+ break;
+ }
+ } while (response != null);
+// System.out.println("Received response from server: " + sb);
+ return JSON.parseObject(sb.toString());
} catch (Exception e) {
-// e.printStackTrace();
+ e.printStackTrace();
}
return null;
}
+ public static JSONObject filterData(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
public static NyShuttleProtocol.NyShuttlePointClass navigateNodeToNyPointNode(NavigateNode node) {
int[] NyPosition = NavigatePositionConvert.WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
--
Gitblit v1.9.1