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@@ -1,190 +1,210 @@
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package com.fdkk.sxz;
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+import cn.hutool.core.lang.Console;
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+import cn.hutool.core.util.StrUtil;
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+import cn.hutool.socket.aio.AioClient;
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+import cn.hutool.socket.aio.AioSession;
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+import cn.hutool.socket.aio.SimpleIoAction;
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import com.alibaba.fastjson.JSON;
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-import com.alibaba.fastjson.JSONArray;
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-import com.alibaba.fastjson.JSONObject;
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-import java.util.ArrayList;
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-import java.util.List;
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-import java.util.Map;
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-import java.util.stream.Collectors;
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+import java.net.InetSocketAddress;
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+import java.nio.ByteBuffer;
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public class main {
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+ //public static void main(String[] args) {
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+ // String json = "{\n" +
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+ // " \"sweepLocations\": [\n" +
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+ // " {\n" +
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+ // " \"subgroup\": 0,\n" +
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+ // " \"pose\": {\n" +
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+ // " \"rotation\": {\n" +
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+ // " \"w\": 0.95928264,\n" +
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+ // " \"x\": -0.0017092235,\n" +
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+ // " \"y\": -0.0016763769,\n" +
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+ // " \"z\": -0.28243768\n" +
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+ // " },\n" +
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+ // " \"translation\": {\n" +
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+ // " \"x\": 3.6112025,\n" +
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+ // " \"y\": 0.12166519,\n" +
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+ // " \"z\": 0.07516695\n" +
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+ // " }\n" +
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+ // " },\n" +
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+ // " \"visibles3\": [\n" +
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+ // " 1,\n" +
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+ // " 2,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"visibles2\": [\n" +
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+ // " 1,\n" +
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+ // " 2,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"puck\": {\n" +
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+ // " \"x\": 3.6112025,\n" +
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+ // " \"y\": 0.12166519,\n" +
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+ // " \"z\": -1.39718955\n" +
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+ // " },\n" +
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+ // " \"uuid\": \"0\",\n" +
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+ // " \"visibles\": [\n" +
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+ // " 1,\n" +
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+ // " 2,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"group\": 1\n" +
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+ // " },\n" +
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+ // " {\n" +
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+ // " \"subgroup\": 0,\n" +
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+ // " \"pose\": {\n" +
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+ // " \"rotation\": {\n" +
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+ // " \"w\": 0.97998166,\n" +
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+ // " \"x\": -0.00051350286,\n" +
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+ // " \"y\": -0.00007887775,\n" +
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+ // " \"z\": -0.19908713\n" +
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+ // " },\n" +
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+ // " \"translation\": {\n" +
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+ // " \"x\": 1.6813623,\n" +
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+ // " \"y\": 0.20879818,\n" +
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+ // " \"z\": 0.07516695\n" +
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+ // " }\n" +
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+ // " },\n" +
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+ // " \"visibles3\": [\n" +
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+ // " 0,\n" +
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+ // " 2,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"visibles2\": [\n" +
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+ // " 0,\n" +
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+ // " 2,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"puck\": {\n" +
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+ // " \"x\": 1.6813623,\n" +
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+ // " \"y\": 0.20879818,\n" +
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+ // " \"z\": -1.39718955\n" +
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+ // " },\n" +
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+ // " \"uuid\": \"2\",\n" +
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+ // " \"visibles\": [\n" +
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+ // " 0,\n" +
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+ // " 2,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"group\": 1\n" +
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+ // " },\n" +
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+ // " {\n" +
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+ // " \"subgroup\": 0,\n" +
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+ // " \"pose\": {\n" +
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+ // " \"rotation\": {\n" +
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+ // " \"w\": 0.7688388,\n" +
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+ // " \"x\": -0.0022818057,\n" +
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+ // " \"y\": 0.0016657045,\n" +
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+ // " \"z\": -0.6394364\n" +
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+ // " },\n" +
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+ // " \"translation\": {\n" +
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+ // " \"x\": -1.0941758,\n" +
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+ // " \"y\": -0.15828772,\n" +
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+ // " \"z\": 0.07516695\n" +
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+ // " }\n" +
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+ // " },\n" +
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+ // " \"visibles3\": [\n" +
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+ // " 0,\n" +
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+ // " 1,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"visibles2\": [\n" +
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+ // " 0,\n" +
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+ // " 1,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"puck\": {\n" +
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+ // " \"x\": -1.0941758,\n" +
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+ // " \"y\": -0.15828772,\n" +
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+ // " \"z\": -1.39718955\n" +
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+ // " },\n" +
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+ // " \"uuid\": \"4\",\n" +
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+ // " \"visibles\": [\n" +
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+ // " 0,\n" +
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+ // " 1,\n" +
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+ // " 3\n" +
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+ // " ],\n" +
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+ // " \"group\": 1\n" +
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+ // " },\n" +
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+ // " {\n" +
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+ // " \"subgroup\": 1,\n" +
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+ // " \"pose\": {\n" +
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+ // " \"rotation\": {\n" +
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+ // " \"w\": 0.75378096,\n" +
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+ // " \"x\": -0.00085483055,\n" +
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+ // " \"y\": 0.0011985971,\n" +
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+ // " \"z\": -0.6571241\n" +
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+ // " },\n" +
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+ // " \"translation\": {\n" +
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+ // " \"x\": -4.213454,\n" +
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+ // " \"y\": -0.17369196,\n" +
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+ // " \"z\": 0.07516695\n" +
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+ // " }\n" +
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+ // " },\n" +
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+ // " \"visibles3\": [\n" +
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+ // " 0,\n" +
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+ // " 1,\n" +
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+ // " 2\n" +
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+ // " ],\n" +
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+ // " \"visibles2\": [\n" +
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+ // " 0,\n" +
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+ // " 1,\n" +
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+ // " 2\n" +
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+ // " ],\n" +
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+ // " \"puck\": {\n" +
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+ // " \"x\": -4.213454,\n" +
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+ // " \"y\": -0.17369196,\n" +
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+ // " \"z\": -1.39718955\n" +
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+ // " },\n" +
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+ // " \"uuid\": \"6\",\n" +
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+ // " \"visibles\": [\n" +
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+ // " 0,\n" +
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+ // " 1,\n" +
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+ // " 2\n" +
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+ // " ],\n" +
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+ // " \"group\": 1\n" +
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+ // " }\n" +
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+ // " ]\n" +
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+ // "}";
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+ // JSONObject visionJson = JSON.parseObject(json);
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+ // JSONArray sweepArray = visionJson.getJSONArray("sweepLocations");
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+ // List<JSONObject> roamingPoint = new ArrayList();
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+ // for (int i = 0; i < sweepArray.size(); i++) {
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+ // JSONObject objectJson = sweepArray.getJSONObject(i);
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+ // JSONObject newJson = new JSONObject();
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+ // newJson.put("uuid", objectJson.getString("uuid"));
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+ // JSONObject puck = objectJson.getJSONObject("puck");
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+ // puck.put("y", puck.getDoubleValue("y") * -1);
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+ // puck.remove("z");
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+ // newJson.put("puck", puck);
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+ // newJson.put("subgroup", objectJson.getInteger("subgroup"));
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+ // roamingPoint.add(newJson);
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+ // }
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+ // Map<String, List<JSONObject>> subgroup = roamingPoint.stream().collect(
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+ // Collectors.groupingBy(x -> x.getString("subgroup"))).entrySet().stream()
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+ // .collect(Collectors.toMap(e -> "floor" + e.getKey(), Map.Entry::getValue));
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+ //
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+ // System.out.println(JSON.toJSONString(subgroup));
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+ //}
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+
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+
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public static void main(String[] args) {
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- String json = "{\n" +
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- " \"sweepLocations\": [\n" +
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- " {\n" +
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- " \"subgroup\": 0,\n" +
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- " \"pose\": {\n" +
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- " \"rotation\": {\n" +
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- " \"w\": 0.95928264,\n" +
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- " \"x\": -0.0017092235,\n" +
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- " \"y\": -0.0016763769,\n" +
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- " \"z\": -0.28243768\n" +
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- " },\n" +
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- " \"translation\": {\n" +
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- " \"x\": 3.6112025,\n" +
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- " \"y\": 0.12166519,\n" +
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- " \"z\": 0.07516695\n" +
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- " }\n" +
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- " },\n" +
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- " \"visibles3\": [\n" +
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- " 1,\n" +
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- " 2,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"visibles2\": [\n" +
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- " 1,\n" +
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- " 2,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"puck\": {\n" +
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- " \"x\": 3.6112025,\n" +
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- " \"y\": 0.12166519,\n" +
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- " \"z\": -1.39718955\n" +
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- " },\n" +
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- " \"uuid\": \"0\",\n" +
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- " \"visibles\": [\n" +
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- " 1,\n" +
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- " 2,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"group\": 1\n" +
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- " },\n" +
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- " {\n" +
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- " \"subgroup\": 0,\n" +
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- " \"pose\": {\n" +
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- " \"rotation\": {\n" +
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- " \"w\": 0.97998166,\n" +
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- " \"x\": -0.00051350286,\n" +
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- " \"y\": -0.00007887775,\n" +
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- " \"z\": -0.19908713\n" +
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- " },\n" +
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- " \"translation\": {\n" +
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- " \"x\": 1.6813623,\n" +
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- " \"y\": 0.20879818,\n" +
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- " \"z\": 0.07516695\n" +
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- " }\n" +
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- " },\n" +
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- " \"visibles3\": [\n" +
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- " 0,\n" +
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- " 2,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"visibles2\": [\n" +
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- " 0,\n" +
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- " 2,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"puck\": {\n" +
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- " \"x\": 1.6813623,\n" +
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- " \"y\": 0.20879818,\n" +
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- " \"z\": -1.39718955\n" +
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- " },\n" +
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- " \"uuid\": \"2\",\n" +
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- " \"visibles\": [\n" +
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- " 0,\n" +
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- " 2,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"group\": 1\n" +
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- " },\n" +
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- " {\n" +
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- " \"subgroup\": 0,\n" +
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- " \"pose\": {\n" +
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- " \"rotation\": {\n" +
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- " \"w\": 0.7688388,\n" +
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- " \"x\": -0.0022818057,\n" +
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- " \"y\": 0.0016657045,\n" +
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- " \"z\": -0.6394364\n" +
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- " },\n" +
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- " \"translation\": {\n" +
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- " \"x\": -1.0941758,\n" +
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- " \"y\": -0.15828772,\n" +
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- " \"z\": 0.07516695\n" +
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- " }\n" +
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- " },\n" +
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- " \"visibles3\": [\n" +
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- " 0,\n" +
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- " 1,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"visibles2\": [\n" +
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- " 0,\n" +
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- " 1,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"puck\": {\n" +
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- " \"x\": -1.0941758,\n" +
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- " \"y\": -0.15828772,\n" +
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- " \"z\": -1.39718955\n" +
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- " },\n" +
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- " \"uuid\": \"4\",\n" +
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- " \"visibles\": [\n" +
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- " 0,\n" +
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- " 1,\n" +
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- " 3\n" +
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- " ],\n" +
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- " \"group\": 1\n" +
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- " },\n" +
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- " {\n" +
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- " \"subgroup\": 1,\n" +
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- " \"pose\": {\n" +
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- " \"rotation\": {\n" +
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- " \"w\": 0.75378096,\n" +
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- " \"x\": -0.00085483055,\n" +
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- " \"y\": 0.0011985971,\n" +
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- " \"z\": -0.6571241\n" +
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- " },\n" +
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- " \"translation\": {\n" +
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- " \"x\": -4.213454,\n" +
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- " \"y\": -0.17369196,\n" +
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- " \"z\": 0.07516695\n" +
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- " }\n" +
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- " },\n" +
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- " \"visibles3\": [\n" +
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- " 0,\n" +
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- " 1,\n" +
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- " 2\n" +
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- " ],\n" +
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- " \"visibles2\": [\n" +
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- " 0,\n" +
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- " 1,\n" +
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- " 2\n" +
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- " ],\n" +
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- " \"puck\": {\n" +
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- " \"x\": -4.213454,\n" +
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- " \"y\": -0.17369196,\n" +
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- " \"z\": -1.39718955\n" +
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- " },\n" +
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- " \"uuid\": \"6\",\n" +
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- " \"visibles\": [\n" +
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- " 0,\n" +
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- " 1,\n" +
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- " 2\n" +
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- " ],\n" +
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- " \"group\": 1\n" +
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- " }\n" +
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- " ]\n" +
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- "}";
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- JSONObject visionJson = JSON.parseObject(json);
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- JSONArray sweepArray = visionJson.getJSONArray("sweepLocations");
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- List<JSONObject> roamingPoint = new ArrayList();
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- for (int i = 0; i < sweepArray.size(); i++) {
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- JSONObject objectJson = sweepArray.getJSONObject(i);
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- JSONObject newJson = new JSONObject();
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- newJson.put("uuid", objectJson.getString("uuid"));
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- JSONObject puck = objectJson.getJSONObject("puck");
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- puck.put("y", puck.getDoubleValue("y") * -1);
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- puck.remove("z");
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- newJson.put("puck", puck);
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- newJson.put("subgroup", objectJson.getInteger("subgroup"));
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- roamingPoint.add(newJson);
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- }
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- Map<String, List<JSONObject>> subgroup = roamingPoint.stream().collect(
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- Collectors.groupingBy(x -> x.getString("subgroup"))).entrySet().stream()
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- .collect(Collectors.toMap(e -> "floor" + e.getKey(), Map.Entry::getValue));
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+ AioClient client = new AioClient(new InetSocketAddress("192.168.0.75", 8233), new SimpleIoAction() {
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- System.out.println(JSON.toJSONString(subgroup));
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+ @Override
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+ public void doAction(AioSession session, ByteBuffer data) {
|
|
|
+ if (data.hasRemaining()) {
|
|
|
+ Console.log(StrUtil.utf8Str(data));
|
|
|
+ session.read();
|
|
|
+ }
|
|
|
+ Console.log("OK");
|
|
|
+ }
|
|
|
+ });
|
|
|
+ String json = JSON.toJSONString("{\"uuid\":\"111222333\",\"max\":\"111222333.max\",\"flag\":\"false\"}");
|
|
|
+ client.write(ByteBuffer.wrap(json.getBytes()));
|
|
|
+ client.read();
|
|
|
+ client.close();
|
|
|
}
|
|
|
}
|
xiewenjie