From f653130e5df936041f7a5ae005e10c91415b64b1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 10 七月 2025 15:54:33 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java | 650 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 650 insertions(+), 0 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
new file mode 100644
index 0000000..939c7cb
--- /dev/null
+++ b/src/main/java/com/zy/core/thread/impl/ZyForkLiftThread.java
@@ -0,0 +1,650 @@
+package com.zy.core.thread.impl;
+
+import HslCommunication.Core.Types.OperateResult;
+import HslCommunication.Core.Types.OperateResultExOne;
+import HslCommunication.Profinet.Siemens.SiemensS7Net;
+import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasLift;
+import com.zy.asrs.entity.DeviceConfig;
+import com.zy.asrs.entity.DeviceDataLog;
+import com.zy.asrs.service.BasLiftService;
+import com.zy.asrs.service.DeviceDataLogService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.ExecuteSupport;
+import com.zy.common.utils.RedisUtil;
+import com.zy.core.News;
+import com.zy.core.action.ForkLiftAction;
+import com.zy.core.cache.OutputQueue;
+import com.zy.core.enums.*;
+import com.zy.core.model.*;
+import com.zy.core.model.command.ForkLiftCommand;
+import com.zy.core.model.protocol.ForkLiftProtocol;
+import com.zy.core.model.protocol.ForkLiftStaProtocol;
+import com.zy.core.thread.ForkLiftThread;
+import com.zy.core.utils.DeviceMsgUtils;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+
+import java.io.IOException;
+import java.text.MessageFormat;
+import java.util.*;
+
+@Slf4j
+@SuppressWarnings("all")
+public class ZyForkLiftThread implements ForkLiftThread {
+
+ private DeviceConfig device;
+ private ForkLiftProtocol forkLiftProtocol;
+ private RedisUtil redisUtil;
+ private List<ForkLiftStaProtocol> forkLiftStaProtocols = new ArrayList<>();
+ private List<DeviceMsgModel> readResultList = new ArrayList<>();
+ private List<DeviceMsgModel> resultList = new ArrayList<>();
+
+ public ZyForkLiftThread(DeviceConfig device, List<LiftStation> stationList, RedisUtil redisUtil) {
+ this.device = device;
+ this.redisUtil = redisUtil;
+ //鍒濆鍖栫珯鐐�
+ for (LiftStation station : stationList) {
+ ForkLiftStaProtocol forkLiftStaProtocol = new ForkLiftStaProtocol();
+ forkLiftStaProtocol.setStaNo(station.getStaNo());//绔欑偣鍙�
+ forkLiftStaProtocol.setLev(station.getLev());//绔欑偣妤煎眰
+ String locNo = Utils.getLocNo(station.getRow(), station.getBay(), station.getLev());
+ forkLiftStaProtocol.setLocNo(locNo);//绔欑偣搴撲綅鍙�
+ forkLiftStaProtocol.setLiftNo(station.getLiftNo());//鎻愬崌鏈哄彿
+ forkLiftStaProtocols.add(forkLiftStaProtocol);
+ }
+ }
+
+ @Override
+ public boolean connect() {
+ return true;
+ }
+
+ @Override
+ public void close() {
+
+ }
+
+ @Override
+ public void run() {
+ News.info("{}鍙疯揣鍙夋彁鍗囨満绾跨▼鍚姩", device.getDeviceNo());
+
+ this.connect();
+ //璁惧璇诲彇
+ Thread readThread = new Thread(() -> {
+ while (true) {
+ try {
+ listenMessageFromRedis();
+ read();
+ Thread.sleep(100);
+ } catch (Exception e) {
+ log.error("ForkliftThread Fail", e);
+ }
+ }
+ });
+ readThread.start();
+
+ while (true) {
+ try {
+ execute();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ }
+
+ private void execute() {
+ ForkLiftAction forkLiftAction = null;
+ try {
+ forkLiftAction = SpringUtils.getBean(ForkLiftAction.class);
+ }catch (Exception e){}
+ if (forkLiftAction == null) {
+ return;
+ }
+
+ Object object = redisUtil.get(RedisKeyType.FORK_LIFT_FLAG.key + device.getDeviceNo());
+ if (object == null) {
+ return;
+ }
+
+ Integer taskNo = Integer.valueOf(String.valueOf(object));
+ if (taskNo != 0) {
+ //瀛樺湪浠诲姟闇�瑕佹墽琛�
+ boolean result = forkLiftAction.executeWork(device.getDeviceNo(), taskNo);
+ }
+ }
+
+ private void read() {
+ try {
+ readStatus();
+
+ //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
+ if (forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PICK_UP)
+ || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.PUT_DOWN)
+ || forkLiftProtocol.getProtocolStatusType().equals(ForkLiftProtocolStatusType.WAITING)) {
+ forkLiftProtocol.setPakMk(true);
+ }
+ } catch (Exception e) {
+ OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆戣鍙栨彁鍗囨満鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
+ }
+ }
+
+ private void readStatus() {
+ try {
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+
+ DeviceMsgUtils deviceMsgUtils = null;
+ try {
+ deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ }catch (Exception e){
+
+ }
+ if(deviceMsgUtils == null){
+ return;
+ }
+
+ ForkLiftCommand readStatusCommand = getReadStatusCommand();
+ //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.ForkLift, device.getDeviceNo());
+ if (deviceCommandMsgListKey.size() < 2) {
+ requestCommand(readStatusCommand);//璇锋眰鐘舵��
+ }
+
+ if (this.readResultList.isEmpty()) {
+ return;
+ }
+
+ DeviceMsgModel deviceMsgModel = this.readResultList.get(0);
+ this.readResultList.remove(0);
+ JSONObject deviceMsg = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
+ if (!deviceMsg.getString("result").equals("success")) {
+ return;
+ }
+ JSONObject data = deviceMsg.getJSONObject("deviceStatus");
+
+ if (null == forkLiftProtocol) {
+ forkLiftProtocol = new ForkLiftProtocol();
+ forkLiftProtocol.setLiftNo(device.getDeviceNo());
+ forkLiftProtocol.setProtocolStatus(ForkLiftProtocolStatusType.NONE);
+
+ InnerForkLiftExtend innerForkLiftExtend = new InnerForkLiftExtend();
+ }
+
+ //----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
+ //妯″紡
+ forkLiftProtocol.setModel(data.getInteger("model"));
+ //PLC浠诲姟鍙�
+ forkLiftProtocol.setWrkNo(data.getInteger("wrkNo"));
+ //浠诲姟鐘舵��
+ forkLiftProtocol.setProtocolStatus(data.getInteger("protocolStatus"));
+ //浠诲姟妯″紡
+ forkLiftProtocol.setTaskMode(data.getInteger("taskMode"));
+ //鍙栬揣鏁版嵁
+ forkLiftProtocol.setPick(data.getInteger("pick"));
+ //鏀捐揣鏁版嵁
+ forkLiftProtocol.setPut(data.getInteger("put"));
+ //鍑哄叆搴撴ā寮�
+ forkLiftProtocol.setIOMode(data.getInteger("iOMode"));
+ //鏁呴殰鐮�
+ forkLiftProtocol.setErrorCode(data.getInteger("errorCode"));
+ //褰撳墠灞�
+ forkLiftProtocol.setLev(data.getInteger("lev"));
+
+ //************琛ュ厖鎵╁睍瀛楁*************
+ InnerForkLiftExtend forkLiftExtend = (InnerForkLiftExtend) forkLiftProtocol.getExtend();
+ forkLiftProtocol.setExtend(forkLiftExtend);
+
+ JSONArray trayList = data.getJSONArray("trayList");
+ for (int i = 0; i < trayList.size(); i++) {
+ int hasTray = (int) trayList.get(i);
+ ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
+ forkLiftStaProtocol.setHasTray(hasTray == 1);
+ }
+
+ JSONArray carList = data.getJSONArray("carList");
+ for (int i = 0; i < carList.size(); i++) {
+ int hasCar = (int) carList.get(i);
+ ForkLiftStaProtocol forkLiftStaProtocol = forkLiftStaProtocols.get(i);
+ forkLiftStaProtocol.setHasCar(hasCar == 1);
+ }
+
+ if (System.currentTimeMillis() - forkLiftProtocol.getDeviceDataLog() > 1000 * 5) {
+ //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);
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(JSON.toJSONString(data));
+ deviceDataLog.setWcsData(JSON.toJSONString(forkLiftProtocol));
+ deviceDataLog.setType("forkLift");
+ deviceDataLog.setDeviceNo(forkLiftProtocol.getLiftNo());
+ deviceDataLog.setCreateTime(new Date());
+ deviceDataLogService.insert(deviceDataLog);
+
+ //鏇存柊閲囬泦鏃堕棿
+ forkLiftProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>()
+ .eq("lift_no", device.getDeviceNo()));
+ if (basLift == null) {
+ basLift = new BasLift();
+ //鎻愬崌鏈哄彿
+ basLift.setLiftNo(forkLiftProtocol.getLiftNo());
+ basLift.setStatus(1);
+ basLiftService.insert(basLift);
+ }
+ //浠诲姟鍙�
+ basLift.setWrkNo(forkLiftProtocol.getTaskNo());
+ //淇敼鏃堕棿
+ basLift.setUpdateTime(new Date());
+ //璁惧鐘舵��
+ basLift.setDeviceStatus(JSON.toJSONString(forkLiftProtocol));
+ if (basLiftService.updateById(basLift)) {
+ OutputQueue.FORKLIFT.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()), forkLiftProtocol.getLiftNo()));
+ }
+
+ } catch (Exception e) {
+ e.printStackTrace();
+ OutputQueue.FORKLIFT.offer(MessageFormat.format("銆恵0}銆戣鍙栬揣鍙夋彁鍗囨満鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
+ }
+ }
+
+ @Override
+ public ForkLiftProtocol getStatus(boolean clone) {
+ if (this.forkLiftProtocol == null) {
+ return null;
+ }
+ return clone ? this.forkLiftProtocol.clone() : this.forkLiftProtocol;
+ }
+
+ @Override
+ public List<ForkLiftStaProtocol> getForkLiftStaProtocols() {
+ return this.forkLiftStaProtocols;
+ }
+
+ @Override
+ public ForkLiftProtocol getStatus() {
+ return getStatus(true);
+ }
+
+ @Override
+ public CommandResponse pickAndPut(ForkLiftCommand command) {
+ CommandResponse response = new CommandResponse(false);
+ try {
+ //鍙戝嚭璇锋眰
+ String resultKey = requestCommand(command);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
+ }
+ if(!result.getString("result").equals("success")) {
+ return response;//璇锋眰澶辫触
+ }
+
+ this.forkLiftProtocol.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();
+ response.setMessage(e.getMessage());
+ return response;
+ }
+ }
+
+ @Override
+ public CommandResponse shuttleSwitch(ForkLiftCommand command) {
+ CommandResponse response = new CommandResponse(false);
+ try {
+ //鍙戝嚭璇锋眰
+ String resultKey = requestCommand(command);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
+ }
+ if(!result.getString("result").equals("success")) {
+ return response;//璇锋眰澶辫触
+ }
+
+ this.forkLiftProtocol.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();
+ response.setMessage(e.getMessage());
+ return response;
+ }
+ }
+
+ @Override
+ public CommandResponse move(ForkLiftCommand command) {
+ CommandResponse response = new CommandResponse(false);
+ try {
+ //鍙戝嚭璇锋眰
+ String resultKey = requestCommand(command);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
+ }
+ if(!result.getString("result").equals("success")) {
+ return response;//璇锋眰澶辫触
+ }
+
+ this.forkLiftProtocol.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();
+ response.setMessage(e.getMessage());
+ return response;
+ }
+ }
+
+ @Override
+ public CommandResponse switchIOMode(ForkLiftCommand command) {
+ CommandResponse response = new CommandResponse(false);
+ try {
+ //鍙戝嚭璇锋眰
+ String resultKey = requestCommand(command);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
+ }
+ if(!result.getString("result").equals("success")) {
+ return response;//璇锋眰澶辫触
+ }
+
+ this.forkLiftProtocol.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();
+ response.setMessage(e.getMessage());
+ return response;
+ }
+ }
+
+ @Override
+ public CommandResponse reset() {
+ CommandResponse response = new CommandResponse(false);
+ try {
+ ForkLiftCommand resetCommand = getResetCommand(9999);
+
+ //鍙戝嚭璇锋眰
+ String resultKey = requestCommand(resetCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
+ }
+ if(!result.getString("result").equals("success")) {
+ return response;//璇锋眰澶辫触
+ }
+
+ this.forkLiftProtocol.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();
+ response.setMessage(e.getMessage());
+ return response;
+ }
+ }
+
+ @Override
+ public boolean isIdle() {
+ if (this.forkLiftProtocol.getTaskNo() == null
+ || this.forkLiftProtocol.getProtocolStatus() == null
+ || this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
+ && this.forkLiftProtocol.getWrkNo() == 0
+ && this.forkLiftProtocol.getTaskNo() == 0
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 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.forkLiftProtocol.getTaskNo() == null
+ || this.forkLiftProtocol.getProtocolStatus() == null
+ || this.forkLiftProtocol.getModel() == null
+ || this.forkLiftProtocol.getErrorCode() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.IDLE.id
+ && this.forkLiftProtocol.getWrkNo() == 0
+ && this.forkLiftProtocol.getModel() == 2
+ && this.forkLiftProtocol.getErrorCode() == 0
+ ;
+ return res;
+ }
+
+ @Override
+ public boolean setProtocolStatus(ForkLiftProtocolStatusType status) {
+ return false;
+ }
+
+ @Override
+ public boolean setSyncTaskNo(Integer taskNo) {
+ this.forkLiftProtocol.setSyncTaskNo(taskNo);
+ return true;
+ }
+
+ @Override
+ public int generateDeviceTaskNo(int taskNo, ForkLiftTaskModeType type) {
+ return taskNo;
+ }
+
+ @Override
+ public ForkLiftCommand getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
+ ForkLiftCommand command = new ForkLiftCommand();
+ command.setLiftNo(device.getDeviceNo());
+ command.setTaskNo(taskNo);
+ command.setMode(ForkLiftTaskModeType.PICK_PUT.id);
+ command.setPick(realPick);
+ command.setPut(realPut);
+ command.setConfirm(1);
+
+ return command;
+ }
+
+ @Override
+ public ForkLiftCommand getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
+ ForkLiftCommand command = new ForkLiftCommand();
+ command.setLiftNo(device.getDeviceNo());
+ command.setTaskNo(taskNo);
+ command.setMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id);
+ command.setPick(realPick);
+ command.setPut(realPut);
+ command.setConfirm(1);
+
+ return command;
+ }
+
+ @Override
+ public ForkLiftCommand getMoveCommand(Integer taskNo, Integer pick, Integer put) {
+ Integer realPick = pick % 1000;
+ Integer realPut = put % 1000;
+
+ ForkLiftCommand command = new ForkLiftCommand();
+ command.setLiftNo(device.getDeviceNo());
+ command.setTaskNo(taskNo);
+ command.setMode(ForkLiftTaskModeType.MOVE.id);
+ command.setPick(realPick);
+ command.setPut(realPut);
+ command.setConfirm(1);
+
+ return command;
+ }
+
+ @Override
+ public ForkLiftCommand getSwitchIOCommand(Integer taskNo, ForkLiftIoModeType mode) {
+ ForkLiftCommand command = new ForkLiftCommand();
+ command.setLiftNo(device.getDeviceNo());
+ if (mode.equals(ForkLiftIoModeType.IN)) {
+ command.setMode(ForkLiftTaskModeType.SWITCH_IN.id);
+ } else {
+ command.setMode(ForkLiftTaskModeType.SWITCH_OUt.id);
+ }
+ return command;
+ }
+
+ @Override
+ public ForkLiftCommand getResetCommand(Integer taskNo) {
+ ForkLiftCommand command = new ForkLiftCommand();
+ command.setLiftNo(device.getDeviceNo());
+ command.setMode(ForkLiftTaskModeType.RESET.id);
+ return command;
+ }
+
+ //鑾峰彇璇荤姸鎬佷俊鎭懡浠�
+ private ForkLiftCommand getReadStatusCommand() {
+ ForkLiftCommand command = new ForkLiftCommand();
+ command.setLiftNo(device.getDeviceNo());
+ command.setMode(ForkLiftTaskModeType.READ_STATUS.id);
+ return command;
+ }
+
+ //鍙戝嚭璇锋眰
+ private String requestCommand(ForkLiftCommand command) 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(command));
+
+ DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
+ commandMsgModel.setDeviceId(device.getDeviceNo());
+ commandMsgModel.setDeviceType(String.valueOf(SlaveType.ForkLift));
+ commandMsgModel.setCommand(data);
+ String key = deviceMsgUtils.sendDeviceCommand(SlaveType.ForkLift, device.getDeviceNo(), commandMsgModel);
+ return key;
+ }catch (Exception e) {
+ e.printStackTrace();
+ }
+ return null;
+ }
+
+ 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;
+ }
+ }
+ return result;
+ }
+
+ public JSONObject getRequestBody(String resultKey) {
+ try {
+ // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+ JSONObject result = null;
+ int idx = -1;
+ for (int i = 0; i < resultList.size(); i++) {
+ DeviceMsgModel deviceMsgModel = resultList.get(i);
+ if(deviceMsgModel.getResultKey().equals(resultKey)){
+ idx = i;
+ result = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
+ break;
+ }
+ }
+
+ if (result == null) {
+ return null;//鏃犲搷搴旂粨鏋�
+ }
+
+ resultList.remove(idx);
+ return result;
+ } catch (Exception e) {
+ return null;
+ }
+ }
+
+ private void listenMessageFromRedis() {
+ try {
+ DeviceMsgUtils deviceMsgUtils = null;
+ try {
+ deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ }catch (Exception e){
+
+ }
+ if (deviceMsgUtils == null) {
+ return;
+ }
+ DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.ForkLift, device.getDeviceNo());
+ if(deviceMsg == null){
+ return;
+ }
+
+ if (deviceMsg.getDeviceMsgType().equals("status")) {
+ readResultList.add(deviceMsg);
+ }else {
+ resultList.add(deviceMsg);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ /**
+ * 鎵╁睍瀛楁
+ */
+ @Data
+ private class InnerForkLiftExtend {
+
+ }
+}
--
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