代码重构
This commit is contained in:
ldj_willow
@@ -24,7 +24,6 @@ import org.nl.acs.opc.DeviceAppServiceImpl;
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import org.nl.acs.opc.DeviceType;
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import org.nl.acs.task.service.TaskService;
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import org.nl.exception.BadRequestException;
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import org.nl.start.auto.run.NDCSocketConnectionAutoRun;
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import org.nl.utils.SpringContextHolder;
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import org.slf4j.MDC;
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import org.springframework.stereotype.Service;
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@@ -1,202 +0,0 @@
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package org.nl.start.auto.run;
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import cn.hutool.core.util.ObjectUtil;
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import cn.hutool.core.util.StrUtil;
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import lombok.extern.slf4j.Slf4j;
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import org.nl.acs.agv.server.NDCAgvService;
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import org.nl.acs.agv.server.impl.NDCAgvServiceImpl;
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import org.nl.acs.config.AcsConfig;
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import org.nl.acs.config.server.AcsConfigService;
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import org.nl.acs.config.server.impl.AcsConfigServiceImpl;
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import org.nl.acs.device.service.DeviceService;
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import org.nl.acs.ext.wms.service.AcsToWmsService;
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import org.nl.acs.ext.wms.service.impl.AcsToWmsServiceImpl;
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import org.nl.acs.ext.xr_lk.service.AcsToXrlkService;
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import org.nl.acs.instruction.service.InstructionService;
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import org.nl.acs.instruction.service.dto.Instruction;
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import org.nl.acs.instruction.service.impl.InstructionServiceImpl;
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import org.nl.acs.opc.Device;
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import org.nl.acs.opc.DeviceAppService;
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import org.nl.utils.SpringContextHolder;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.io.DataInputStream;
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import java.io.DataOutputStream;
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import java.io.IOException;
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import java.net.Socket;
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import java.util.Date;
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@Slf4j
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@Component
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public class NDCSocketConnectionAutoRun extends AbstractAutoRunnable {
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Socket s;
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String ip = "127.0.0.1";
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int port = 1234;
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static DataOutputStream dos;
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static DataInputStream dis;
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private int recordTimeOut = 10000;
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private Date recordTime;
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String[] ERROR = new String[]{
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"货叉尖部传感器触发", "S300传感器触发", "载货状态改变", "急停按钮触发", "触边开关出发", "需要复位",
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"停在充电位", "取货失败", "放货失败", "轮子打滑", "没有动作码不能进入站点", "取货时有货", "丢失定位",
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"抬叉停止"};
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boolean bConnected = true;
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boolean isReConnect = false;
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@Autowired
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AcsConfigService acsConfigService;
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@Autowired
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AutoRunService autoRunService;
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public NDCSocketConnectionAutoRun() {
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this.recordTime = new Date((new Date()).getTime() - (long) this.recordTimeOut);
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}
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@Override
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public String getCode() {
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return NDCSocketConnectionAutoRun.class.getSimpleName();
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}
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@Override
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public String getName() {
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return "NDC在线连接";
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}
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@Override
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public void autoRun() {
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try {
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AcsConfigService acsConfigService = SpringContextHolder.getBean(AcsConfigServiceImpl.class);
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InstructionService instructionService = SpringContextHolder.getBean(InstructionServiceImpl.class);
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AcsToWmsService acsToWmsService = SpringContextHolder.getBean(AcsToWmsServiceImpl.class);
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NDCAgvService ndcAgvService = SpringContextHolder.getBean(NDCAgvServiceImpl.class);
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DeviceAppService deviceAppService = SpringContextHolder.getBean(DeviceAppService.class);
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DeviceService deviceService = SpringContextHolder.getBean(DeviceService.class);
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AcsToXrlkService acsToXrlkService = SpringContextHolder.getBean(AcsToXrlkService.class);
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ip = acsConfigService.findConfigFromCache().get(AcsConfig.AGVURL);
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port = Integer.parseInt(acsConfigService.findConfigFromCache().get(AcsConfig.AGVPORT));
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byte[] b = new byte[1028];
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s = new Socket(ip, port);
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dos = new DataOutputStream(s.getOutputStream());
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dis = new DataInputStream(s.getInputStream());
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while (bConnected) {
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int count = dis.read(b);
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if (count == -1) {
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break;
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}
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int[] arr = new int[count];
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StringBuffer bs = new StringBuffer();
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for (int i = 0; i < count; i++) {
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int temp = b[i];
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if (temp < 0)
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temp += 256;
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arr[i] = temp;
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StringBuffer bs1 = new StringBuffer("0");
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bs.append(temp < 16 ? bs1.append(Integer.toHexString(temp)) : Integer.toHexString(temp));
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}
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System.out.println("收到请求参数：" + bs);
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boolean flag = false;
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if (arr[8] * 256 + arr[9] == 0x73) {
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byte[] data = null;
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System.out.println("接收agv上报信息：" + bs);
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//执行阶段
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int phase = arr[16] * 256 + arr[17];
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// agv任务号
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int index = arr[12] * 256 + arr[13];
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//任务号
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int ikey = arr[26] * 256 + arr[27];
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//站点号
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int agvaddr = arr[18] * 256 + arr[19];
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//车号
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int carno = arr[20];
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Instruction inst = null;
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if (ikey != 0) {
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inst = instructionService.findByCodeFromCache(String.valueOf(ikey));
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}
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log.info("接收agv上报信息：" + bs);
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log.info("接收agv上报信息：" + "phase--" + phase + " index--" + index + " ikey--" + ikey + " agvaddr--" + agvaddr + " Car--" + carno);
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Device device = null;
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String device_code = null;
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String old_device_code = null;
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String emptyNum = null;
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if (agvaddr != 0) {
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old_device_code = deviceService.queryDeviceCodeByAddress(agvaddr);
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if (StrUtil.contains(old_device_code, "-")) {
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String[] point = old_device_code.split("-");
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device_code = point[0];
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} else if (StrUtil.contains(old_device_code, ".")) {
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String[] point = old_device_code.split("\\.");
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device_code = point[0];
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emptyNum = point[1];
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} else {
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device_code = old_device_code;
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}
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device = deviceAppService.findDeviceByCode(device_code);
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}
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if (!ObjectUtil.isEmpty(data)) {
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write(data);
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}
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} else {
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System.out.println("agv上报不是0073类型动作，不处理");
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}
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}
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} catch (Exception e) {
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} finally {
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}
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}
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@Override
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public void stop() {
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super.after();
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try {
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s.close();
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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public static void write(byte[] b) {
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try {
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log.info("下发agv数据:" + Bytes2HexString(b));
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System.out.println("下发agv数据:" + Bytes2HexString(b));
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dos.write(b);
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dos.flush();
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} catch (IOException e) {
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// TODO Auto-generated catch block
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e.printStackTrace();
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}
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}
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public static String Bytes2HexString(byte[] b) {
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String ret = "";
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for (int i = 0; i < b.length; i++) {
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String hex = Integer.toHexString(b[i] & 0xFF);
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if (hex.length() == 1) {
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hex = '0' + hex;
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}
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ret += hex.toUpperCase();
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}
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return ret;
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}
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}
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