From b6428016edf3de843020bc95fd1708d3bb1961e5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 07 七月 2025 16:41:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 258 ++++++++++++++++++++++++++-------------------------
1 files changed, 131 insertions(+), 127 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 12d4ac3..c375106 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;
@@ -22,13 +23,13 @@
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.model.DeviceCommandMsgModel;
+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;
@@ -48,7 +49,7 @@
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {
- private ShuttleSlave slave;
+ private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ShuttleProtocol shuttleProtocol;
@@ -60,14 +61,14 @@
//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(() -> {
@@ -75,7 +76,7 @@
try {
listenMessageFromRedis();
listenInit();//鐩戝惉鍒濆鍖栦簨浠�
- read();
+ readStatus();
Thread.sleep(100);
} catch (Exception e) {
log.error("ShuttleThread Fail", e);
@@ -99,7 +100,7 @@
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;
}
@@ -107,14 +108,14 @@
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());
+// shuttleAction.moveLoc(deviceConfig.getDeviceNo());
//婕旂ず妯″紡
- shuttleAction.demo(slave.getId());
+ shuttleAction.demo(deviceConfig.getDeviceNo());
Thread.sleep(200);
} catch (Exception e) {
@@ -154,46 +155,43 @@
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;
}
- JSONObject result = JSON.parseObject(deviceMsg.getDeviceMsg().toString());//寰楀埌鍝嶅簲缁撴灉闆�
- String msgType = result.getString("msgType");
- if ("responseMsg".equals(msgType)) {
- JSONObject response = result.getJSONObject("response");
- JSONObject body = response.getJSONObject("body");
- if (body.containsKey("workingMode")) {
- //read
- socketReadResults.add(body);
- return;
- }
- }
+ JSONObject data = JSON.parseObject(JSON.toJSONString(deviceMsg.getDeviceMsg()));
- if (!socketResults.isEmpty() && socketResults.size() >= 20) {
- socketResults.remove(0);//娓呯悊澶磋妭鐐�
+ if (deviceMsg.getDeviceMsgType().equals("status")) {
+ data.put("originDeviceData", deviceMsg.getDeviceOriginMsg());
+ socketReadResults.add(data);
+ } else {
+ socketResults.add(data);//娣诲姞鏁版嵁
}
- socketResults.add(result);//娣诲姞鏁版嵁
} catch (Exception e) {
-// e.printStackTrace();
+ e.printStackTrace();
}
}
@@ -244,20 +242,11 @@
}
}
- 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.setShuttleNo(deviceConfig.getDeviceNo());
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
InnerSuhttleExtend extend = new InnerSuhttleExtend();
@@ -275,9 +264,9 @@
return;
}
- NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
+ NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(deviceConfig.getDeviceNo());
//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());
+ TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, deviceConfig.getDeviceNo());
if (deviceCommandMsgListKey.size() < 5) {
requestCommandAsync(readStatusCommand);//璇锋眰鐘舵��
}
@@ -292,82 +281,73 @@
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("deviceStatus"));
+ //灏忚溅妯″紡
+ shuttleProtocol.setMode(data.getInteger("mode"));
+ //褰撳墠浜岀淮鐮�
+ shuttleProtocol.setCurrentCode(data.getString("currentCode"));
+ //鐢垫睜鐢甸噺
+ shuttleProtocol.setBatteryPower(data.getString("batteryPower"));
+ //鐢垫睜鐢靛帇
+ shuttleProtocol.setBatteryVoltage(data.getInteger("batteryVoltage"));
+ //鏁呴殰
+ shuttleProtocol.setErrorCode(data.getString("errorCode"));
+ //鏄惁椤跺崌
+ shuttleProtocol.setHasLift(data.getBoolean("hasLift"));
+ //鏄惁鏈夋墭鐩�
+ shuttleProtocol.setHasPallet(data.getBoolean("hasPallet"));
+ //琛岄┒鏂瑰悜
+ shuttleProtocol.setRunDirection(data.getString("runDirection"));
+ //鏄惁涓哄厖鐢电姸鎬�
+ shuttleProtocol.setHasCharge(data.getBoolean("hasCharge"));
+ //杩愯閫熷害
+ shuttleProtocol.setSpeed(data.getInteger("speed"));
- //----------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));
+ //*********璇诲彇鎵╁睍瀛楁**********
+ JSONObject extendData = data.getJSONObject("extend");
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
+ //绠″埗鐘舵��
+ extend.setSuspendState(extendData.getInteger("suspendState"));
+ //鏈�楂樼數鑺數鍘�(mV)
+ extend.setMaxCellVoltage(extendData.getInteger("maxCellVoltage"));
+ //鏈�浣庣數鑺數鍘�(mV)
+ extend.setMinCellVoltage(extendData.getInteger("minCellVoltage"));
+ //鐢垫睜鐢靛帇
+ extend.setVoltage(extendData.getInteger("voltage"));
+ //鍏呮斁鐢靛惊鐜鏁�
+ extend.setChargeCycleTimes(extendData.getInteger("chargeCycleTimes"));
+ //鍓╀綑鐢甸噺
+ extend.setSurplusQuantity(extendData.getInteger("surplusQuantity"));
+ //鎬荤數閲�
+ extend.setCountQuantity(extendData.getInteger("countQuantity"));
+ shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
- //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"));
+ //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
- //*********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()));
+ //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.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()), 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()));
}
}
@@ -404,8 +384,8 @@
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()));
+ 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()));
break;
}
}
@@ -663,7 +643,7 @@
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;
}
@@ -878,9 +858,25 @@
}
@Override
+ public JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol) {
+ JSONObject result = new JSONObject();
+ result.put("msgType", "responseMsg");
+ result.put("robotId", 5002);
+
+ JSONObject header = new JSONObject();
+ header.put("responseId", 5005631);
+ header.put("version", "RGV-APP-F427-N24036-1112");
+
+ JSONObject body = new JSONObject();
+ body.put("responseType", "state");
+
+ return null;
+ }
+
+ @Override
public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
ArrayList<HashMap<String, Object>> path = new ArrayList<>();
@@ -925,7 +921,7 @@
}
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());
@@ -935,7 +931,7 @@
@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�
@@ -947,7 +943,7 @@
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);
@@ -956,7 +952,7 @@
@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�
@@ -968,7 +964,7 @@
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);
@@ -977,7 +973,7 @@
@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<>();
@@ -988,7 +984,7 @@
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);
@@ -999,7 +995,7 @@
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
@@ -1040,7 +1036,7 @@
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);
@@ -1113,7 +1109,11 @@
JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
data.remove("nodes");
- String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), data);
+ DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
+ commandMsgModel.setDeviceId(deviceConfig.getDeviceNo());
+ commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
+ commandMsgModel.setCommand(data);
+ String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), commandMsgModel);
String requestType = null;
String taskId = null;
@@ -1159,7 +1159,11 @@
JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
data.remove("nodes");
- String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, slave.getId(), data);
+ DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
+ commandMsgModel.setDeviceId(deviceConfig.getDeviceNo());
+ commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
+ commandMsgModel.setCommand(data);
+ String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), commandMsgModel);
String requestType = null;
String taskId = null;
--
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