psh
11 months ago
3 changed files with 237 additions and 64 deletions
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package org.nl.acs.device_driver.basedriver.agv.utils; |
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import cn.hutool.core.util.ObjectUtil; |
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import lombok.extern.slf4j.Slf4j; |
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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 static org.nl.acs.agv.server.impl.NDCAgvServiceImpl.Bytes2HexString; |
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@Slf4j |
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public class SocketUtil { |
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public static Socket s; |
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public static DataOutputStream dos; |
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public static DataInputStream dis; |
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public static boolean checkConnect(int agvaddr, byte action) { |
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try { |
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System.out.println("电梯socket链接开始"); |
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byte[] b = new byte[1024]; |
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byte[] call = new byte[1024]; |
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byte[] move = new byte[1024]; |
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s = new Socket("172.17.195.242", 102); |
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// s = new Socket("127.0.0.1", 20002);
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dos = new DataOutputStream(s.getOutputStream()); |
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dis = new DataInputStream(s.getInputStream()); |
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System.out.println("电梯socket链接开始"); |
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log.info("电梯socket链接成功"); |
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if(agvaddr==2421){ |
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call = new byte[]{(byte) 0X1A, (byte) 0X1B, |
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(byte) 0X02, (byte) 0X01, |
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(byte) 0X02, (byte) 0X04, |
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(byte) 0X01, (byte) 0X01, |
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(byte) 0X00, (byte) 0XFF, |
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(byte) 0XFB, |
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}; |
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} |
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if(agvaddr==2422){ |
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call = new byte[]{(byte) 0X1A, (byte) 0X1B, |
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(byte) 0X02, (byte) 0X01, |
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(byte) 0X02, (byte) 0X04, |
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(byte) 0X01, (byte) 0X02, |
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(byte) 0X00, (byte) 0XFF, |
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(byte) 0XF8, |
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}; |
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} |
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if(action==0X0A) { |
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move = new byte[]{(byte) 0X1A, (byte) 0X1B, |
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(byte) 0X02, (byte) 0X01, |
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(byte) 0X04, (byte) 0X04, |
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(byte) 0X01, (byte) 0X01, |
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(byte) 0X0A, (byte) 0XFF, |
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(byte) 0XF7, |
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}; |
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} |
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if(action==0X00) { |
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move = new byte[]{(byte) 0X1A, (byte) 0X1B, |
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(byte) 0X02, (byte) 0X01, |
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(byte) 0X04, (byte) 0X04, |
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(byte) 0X01, (byte) 0X01, |
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(byte) 0X00, (byte) 0XFF, |
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(byte) 0XFD, |
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}; |
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} |
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write(b); |
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int[] arr = packageResult(); |
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if (arr[14] * 256 + arr[15] == 0x00) { |
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if ((arr[18] * 256 + arr[19] == 0x01 && agvaddr==2421)|| |
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(arr[18] * 256 + arr[19] == 0x02 && agvaddr==2422)) { |
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log.info("电梯已就位，下发开门指令"); |
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write(move); |
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packageResult(); |
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if (arr[22] * 256 + arr[23] == 0x11 && action == 0X10) { |
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log.info("电梯已开门就位，反馈NDC允许进入"); |
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return true; |
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} else if (arr[22] * 256 + arr[23] == 0x21 && action == 0X00) { |
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log.info("电梯已关门就位，反馈NDC"); |
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return true; |
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} |
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} else { |
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log.info("电梯未就位，呼叫电梯就位"); |
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write(call); |
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packageResult(); |
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} |
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} else { |
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log.info("电梯状态不为正常，直接返回"); |
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return false; |
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} |
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} catch (Exception e) { |
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System.out.println("电梯socket链接异常"); |
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log.info("电梯socket链接异常"); |
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log.error("电梯socket链接出现异常:{}", e); |
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if (ObjectUtil.isNotEmpty(s)) { |
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try { |
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s.close(); |
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} catch (IOException ex) { |
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throw new RuntimeException(ex); |
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} |
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} |
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System.out.println(e.getMessage()); |
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e.printStackTrace(); |
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} |
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return false; |
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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("下发电梯socket数据:" + Bytes2HexString(b)); |
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System.out.println("下发电梯socket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 int[] packageResult() throws IOException { |
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byte[] b = new byte[1024]; |
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int count = dis.read(b); |
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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("接收电梯socket上报信息：" + bs); |
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return arr; |
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} |
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} |
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