package com.zy.asrs.wcs.rcs.thread.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.fasterxml.jackson.core.JsonProcessingException;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.zy.asrs.common.utils.HttpHandler;
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import com.zy.asrs.framework.common.DateUtils;
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import com.zy.asrs.framework.common.SpringUtils;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.common.ExecuteSupport;
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import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
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import com.zy.asrs.wcs.core.entity.BasLift;
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import com.zy.asrs.wcs.core.entity.BasShuttle;
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import com.zy.asrs.wcs.core.entity.Loc;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
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import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
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import com.zy.asrs.wcs.core.model.enums.*;
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import com.zy.asrs.wcs.core.service.BasLiftService;
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import com.zy.asrs.wcs.core.service.BasShuttleService;
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import com.zy.asrs.wcs.core.service.LocService;
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import com.zy.asrs.wcs.core.utils.LiftDispatcher;
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import com.zy.asrs.wcs.core.utils.NavigateUtils;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.OutputQueue;
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import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
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import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
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import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import com.zy.asrs.wcs.core.utils.RedisUtil;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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import lombok.Data;
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import lombok.extern.slf4j.Slf4j;
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import java.text.MessageFormat;
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import java.text.SimpleDateFormat;
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import java.util.*;
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import java.util.concurrent.TimeUnit;
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@Slf4j
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@SuppressWarnings("all")
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public class SurayShuttleThread implements ShuttleThread {
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private static String API_URL = "http://127.0.0.1:8082";
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private Device device;
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private RedisUtil redisUtil;
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private ShuttleProtocol shuttleProtocol;
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public SurayShuttleThread(Device device,RedisUtil redisUtil) {
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this.device = device;
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this.redisUtil = redisUtil;
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API_URL = "http://" + device.getIp() + ":" + device.getPort();
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}
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@Override
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public void run() {
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News.info("{}号四向车线程启动", device.getDeviceNo());
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this.connect();
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while (true) {
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try {
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read();
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Thread.sleep(500);
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} catch (Exception e) {
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log.error("ShuttleThread Fail", e);
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}
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}
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}
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private void read() {
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try {
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readStatus();
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// //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
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// if (shuttleProtocol.getTaskNo() != 0) {
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// Object obj = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
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// if (null != obj) {
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// ShuttleRedisCommand redisCommand = JSON.parseObject(obj.toString(), ShuttleRedisCommand.class);
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// executeWork(redisCommand);
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// }
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// }
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//
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// //小车空闲且有跑库程序
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// if (shuttleProtocol.isIdle() && shuttleProtocol.getMoveLoc()) {
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// moveLoc();
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// }
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} catch (Exception e) {
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log.error("ShuttleThread Fail!", e);
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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}
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private void readStatus() {
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try {
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JSONObject data = requestDeviceStatus();
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if (data != null) {
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if (null == shuttleProtocol) {
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shuttleProtocol = new ShuttleProtocol();
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shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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shuttleProtocol.setDevice(device);
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InnerSuhttleExtend extend = new InnerSuhttleExtend();
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shuttleProtocol.setExtend(extend);
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}
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//----------读取四向穿梭车状态-----------
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//小车设备状态
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Integer deviceStatus = data.getInteger("deviceStatus");
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if (deviceStatus == 255) {
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//离线
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
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}
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if(deviceStatus != 4 || deviceStatus != 6 || deviceStatus != 7 || deviceStatus != 8 || deviceStatus != 255 || deviceStatus != -1) {
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shuttleProtocol.setMode(1);//自动状态
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}
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shuttleProtocol.setDeviceStatus(deviceStatus);
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//当前二维码
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shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
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//电池电量
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shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));
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//故障
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shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");
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//是否顶升
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shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
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//是否有托盘
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shuttleProtocol.setHasPallet(data.getInteger("hasPallet") == null ? true : data.getInteger("hasPallet") != 2 ? true : false);
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//行驶方向
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shuttleProtocol.setRunDirection(data.getString("direction") == null ? "none" : data.getString("direction"));
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//是否为充电状态
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shuttleProtocol.setHasCharge((deviceStatus == 5 || deviceStatus == 13) ? true : false);
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//*********读取扩展字段**********
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InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
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extend.setMapVersion(data.getString("version"));//地图版本
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extend.setStatusDescription(data.getString("statusDescription"));//状态描述
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shuttleProtocol.setExtend(extend);//扩展字段
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//最近一次在线时间
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shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
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///读取四向穿梭车状态-end
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//小车处于忙碌状态，将标记置为true
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if (deviceStatus == 1 || deviceStatus == 2 || deviceStatus == 5) {
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shuttleProtocol.setPakMk(true);
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}
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if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 3) {
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//小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
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shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
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}
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if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
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//采集时间超过5s，保存一次数据记录
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//保存数据记录
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DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(JSON.toJSONString(data));
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deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
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deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
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deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
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deviceDataLog.setCreateTime(new Date());
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deviceDataLog.setHostId(device.getHostId());
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deviceDataLogService.save(deviceDataLog);
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//更新采集时间
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shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
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}
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//将四向穿梭车状态保存至数据库
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BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
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BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
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.eq(BasShuttle::getShuttleNo, device.getDeviceNo())
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.eq(BasShuttle::getHostId, device.getHostId()));
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if (basShuttle == null) {
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basShuttle = new BasShuttle();
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//四向穿梭车号
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basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
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basShuttle.setStatus(1);
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basShuttle.setDeleted(0);
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basShuttle.setHostId(device.getHostId());
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basShuttle.setDeviceId(device.getId().intValue());
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shuttleService.save(basShuttle);
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}
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//任务号
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basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
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//修改时间
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basShuttle.setUpdateTime(new Date());
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//设备状态
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basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
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if (shuttleService.updateById(basShuttle)) {
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
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}
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} else {
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}读取四向穿梭车状态信息失败", DateUtils.convert(new Date()), device.getDeviceNo()));
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throw new CoolException(MessageFormat.format("读取四向穿梭车状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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} catch (Exception e) {
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e.printStackTrace();
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort()));
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}
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}
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@Override
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public boolean connect() {
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return true;
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}
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@Override
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public void close() {
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}
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@Override
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public ShuttleProtocol getStatus() {
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return getStatus(true);
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}
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@Override
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public ShuttleProtocol getStatus(boolean clone) {
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if (this.shuttleProtocol == null) {
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return null;
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}
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return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
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}
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@Override
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public Device getDevice() {
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return this.device;
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}
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@Override
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public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
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try {
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//默认地图母轨方向x
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String mapDirection = "x";
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DictService dictService = SpringUtils.getBean(DictService.class);
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
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.eq(Dict::getFlag, "direction_map")
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.eq(Dict::getStatus, 1));
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if (dict != null) {
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mapDirection = dict.getValue();
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}
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
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//获取分段路径
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ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
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for (int idx = 0; idx < data.size(); idx++) {
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ArrayList<NavigateNode> sectionNodes = data.get(idx);
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boolean isRemoveFooterNode = false;//是否剔除尾节点
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if (idx != data.size() - 1) {
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isRemoveFooterNode = true;//剔除尾节点
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}
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boolean flag = true;
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int oper;
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//开始路径
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NavigateNode startPath = sectionNodes.get(0);
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//结束路径
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NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
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if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
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|| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
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//母轨方向
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oper = 5;
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} else {
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//子轨方向
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oper = 6;
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}
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for (int i = 0; i < sectionNodes.size(); i++) {
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if (isRemoveFooterNode && i == sectionNodes.size() - 1) {
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continue;
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}
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NavigateNode node = sectionNodes.get(i);
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HashMap<String, Object> map = new HashMap<>();
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map.put("nodeX", node.getX());
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map.put("nodeY", node.getY());
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map.put("nodeZ", node.getZ());
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if (flag) {
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map.put("oper", oper);
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flag = false;
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}
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modes.add(map);
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}
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}
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HashMap<String, Object> param = new HashMap<>();
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param.put("messageName", "runRoute");
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param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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param.put("deviceNo", device.getDeviceNo());
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param.put("taskId", taskNo);
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param.put("nodeNum", nodes.size());
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param.put("modes", modes);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/runRoute")
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.setHeaders(headers)
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.setJson(JSON.toJSONString(param))
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.setTimeout(60, TimeUnit.SECONDS)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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System.out.println("路径下发" + taskNo);
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System.out.println(JSON.toJSONString(jsonObject));
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System.out.println(JSON.toJSONString(param));
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if (code.equals(200)) {
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System.out.println("路径下发" + taskNo);
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean move(ShuttleCommand command) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/runOrder")
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.setHeaders(headers)
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.setJson(command.getBody())
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.setTimeout(60, TimeUnit.SECONDS)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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System.out.println(JSON.toJSONString(command.getBody()));
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if (code.equals(200)) {
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this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean lift(ShuttleCommand command) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/actionOrder")
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.setHeaders(headers)
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.setJson(command.getBody())
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.setTimeout(60, TimeUnit.SECONDS)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean charge(ShuttleCommand command) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/actionOrder")
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.setHeaders(headers)
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.setJson(command.getBody())
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.setTimeout(60, TimeUnit.SECONDS)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public synchronized boolean reset(ShuttleCommand command) {
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setSyncTaskNo(0);
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setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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enableMoveLoc(null, false);
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return true;
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}
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@Override
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public boolean updateLocation(ShuttleCommand command) {
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try {
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String loginToken = requestLoginToken();
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if (loginToken == null) {
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return false;
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}
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HashMap<String, Object> headers = new HashMap<>();
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headers.put("Authorization", "Bearer " + loginToken);
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String response = new HttpHandler.Builder()
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.setUri(API_URL)
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.setPath("/RDS/changeLocation")
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.setHeaders(headers)
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.setJson(command.getBody())
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.setTimeout(60, TimeUnit.SECONDS)
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
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return true;
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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return false;
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}
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@Override
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public boolean isIdle() {
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return this.isIdle(null);
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}
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@Override
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public boolean isIdle(ExecuteSupport support) {
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if (null != support) {
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Boolean judgement = support.judgement();
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if (judgement != null && !judgement) {
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return true;
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}
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}
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if (this.shuttleProtocol.getDeviceStatus() == null
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|| this.shuttleProtocol.getPakMk() == null
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|| this.shuttleProtocol.getErrorCode() == null
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|| this.shuttleProtocol.getProtocolStatus() == null
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) {
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return false;
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}
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boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
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&& this.shuttleProtocol.getPakMk()
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&& this.shuttleProtocol.getErrorCode().equals("0")
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&& (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
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|| this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
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|| this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id);
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return res;
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}
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@Override
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public boolean isDeviceIdle() {
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return isDeviceIdle(null);
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}
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@Override
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public boolean isDeviceIdle(ExecuteSupport support) {
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if (null != support) {
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Boolean judgement = support.judgement();
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if (judgement != null && !judgement) {
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return true;
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}
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}
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|
if (this.shuttleProtocol.getDeviceStatus() == null
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|| this.shuttleProtocol.getPakMk() == null
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|| this.shuttleProtocol.getErrorCode() == null
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) {
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return false;
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}
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boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
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&& this.shuttleProtocol.getPakMk()
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&& this.shuttleProtocol.getErrorCode().equals("0")
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;
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return res;
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}
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@Override
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public boolean isRequireCharge() {
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if (this.shuttleProtocol.getDeviceStatus() == null
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|| this.shuttleProtocol.getPakMk() == null
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|| this.shuttleProtocol.getErrorCode() == null
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|| this.shuttleProtocol.getProtocolStatus() == null
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) {
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return false;
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}
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boolean res = (this.shuttleProtocol.getDeviceStatus() == 3)
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&& this.shuttleProtocol.getPakMk()
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&& this.shuttleProtocol.getErrorCode().equals("0")
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&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
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;
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if (!res) {
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return res;
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} else {
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// 电量小于阈值需要进行充电
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try {
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BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
|
if (shuttleService == null) {
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return false;
|
}
|
BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
|
if (basShuttle == null) {
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return false;
|
}
|
Integer chargeLine = basShuttle.getChargeLine();
|
if (chargeLine == null) {
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return false;
|
}
|
return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
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} catch (Exception e) {
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return false;
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}
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}
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}
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@Override
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public boolean isCharging() {
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if (this.shuttleProtocol.getDeviceStatus() == null) {
|
return false;
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}
|
|
if (this.shuttleProtocol.getDeviceStatus() == 5 || this.shuttleProtocol.getDeviceStatus() == 13) {
|
//充电中和电池均衡 =》 充电
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return true;
|
}
|
return false;
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}
|
|
@Override
|
public boolean isChargingCompleted() {
|
Integer maxPower = 100;
|
DictService dictService = SpringUtils.getBean(DictService.class);
|
if (dictService != null) {
|
Dict chargeMaxValue = dictService.getOne(new LambdaQueryWrapper<Dict>()
|
.eq(Dict::getFlag, "chargeMaxValue")
|
.eq(Dict::getStatus, 1));
|
if (chargeMaxValue != null) {
|
maxPower = Integer.parseInt(chargeMaxValue.getValue());
|
}
|
}
|
|
if (this.shuttleProtocol.getBatteryPower() == null) {
|
return false;
|
}
|
|
if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
|
return true;
|
}
|
return false;
|
}
|
|
@Override
|
public List<NavigateNode> getMoveAdvancePath() {
|
ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
|
ArrayList<NavigateNode> path = new ArrayList<>();
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//存在任务，获取指令
|
Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
|
if (object != null) {
|
ShuttleRedisCommand redisCommand = null;
|
try {
|
redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
|
} catch (JsonProcessingException e) {
|
return path;
|
}
|
List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
|
if (nodes == null) {
|
return path;
|
}
|
if (!nodes.isEmpty()) {
|
path.addAll(nodes);
|
}
|
}
|
}
|
return path;
|
}
|
|
@Override
|
public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
|
int deviceTaskNo = taskNo;
|
try {
|
deviceTaskNo = Utils.getTaskNo("SURAY_SHUTTLE");
|
} catch (Exception e) {
|
return taskNo;
|
}
|
|
switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(motionCtgType)))){
|
case SHUTTLE_MOVE://穿梭车移动
|
case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
|
case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
|
case SHUTTLE_MOVE_FROM_LIFT://出提升机
|
case SHUTTLE_MOVE_TO_LIFT://进提升机
|
return deviceTaskNo;
|
default:
|
return taskNo;
|
}
|
}
|
|
@Override
|
public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
|
this.shuttleProtocol.setProtocolStatus(status);
|
return true;
|
}
|
|
@Override
|
public synchronized boolean setSyncTaskNo(Integer taskNo) {
|
this.shuttleProtocol.setSyncTaskNo(taskNo);
|
return true;
|
}
|
|
@Override
|
public synchronized boolean setPakMk(boolean pakMk) {
|
this.shuttleProtocol.setPakMk(pakMk);
|
return true;
|
}
|
|
@Override
|
public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
|
if (enable) {
|
shuttleProtocol.setMoveLoc(true);//开启跑库
|
shuttleProtocol.setMoveType(param.getMoveType());
|
shuttleProtocol.setXStart(param.getStartX());
|
shuttleProtocol.setXTarget(param.getTargetX());
|
shuttleProtocol.setXCurrent(param.getStartX());
|
shuttleProtocol.setYStart(param.getStartY());
|
shuttleProtocol.setYTarget(param.getTargetY());
|
shuttleProtocol.setYCurrent(param.getStartY());
|
}else {
|
shuttleProtocol.setMoveLoc(false);
|
shuttleProtocol.setMoveType(0);
|
shuttleProtocol.setXStart(0);
|
shuttleProtocol.setXTarget(0);
|
shuttleProtocol.setXCurrent(0);
|
shuttleProtocol.setYStart(0);
|
shuttleProtocol.setYTarget(0);
|
shuttleProtocol.setYCurrent(0);
|
}
|
return true;
|
}
|
|
@Override
|
public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("messageName", "runOrder");
|
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
|
body.put("taskId", taskNo);
|
|
LocService locService = SpringUtils.getBean(LocService.class);
|
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
|
.eq(Loc::getCode, distCodeNum)
|
.eq(Loc::getHostId, this.device.getHostId()));
|
if (loc == null) {
|
throw new CoolException("库位信息不存在");
|
}
|
body.put("nodeX", loc.getRow());
|
body.put("nodeY", loc.getBay());
|
body.put("nodeZ", loc.getLev());
|
|
//检测目标点是否为提升机
|
BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
|
BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getRow, loc.getRow())
|
.eq(BasLift::getBay, loc.getBay())
|
.eq(BasLift::getHostId, this.device.getHostId()));
|
if (basLift != null) {
|
LiftDispatcher liftDispatcher = SpringUtils.getBean(LiftDispatcher.class);
|
Integer realLev = liftDispatcher.getLiftLevOffset(basLift.getDeviceId().intValue(), loc.getLev());
|
body.put("nodeZ", realLev);
|
}
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(ShuttleCommandModeType.MOVE.id);
|
command.setTargetLocNo(loc.getLocNo());
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("messageName", "actionOrder");
|
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
|
body.put("taskId", taskNo);
|
body.put("action", lift ? 1 : 2);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("messageName", "runOrder");
|
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
|
body.put("taskId", taskNo);
|
body.put("action", charge ? 3 : 4);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
|
return command;
|
}
|
|
@Override
|
public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
|
HashMap<String, Object> body = new HashMap<>();
|
body.put("messageName", "runOrder");
|
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
|
|
String coord = "(" + Utils.getRow(locNo) + "," + Utils.getBay(locNo) + "," + Utils.getLev(locNo) + ")";
|
body.put("coord", coord);
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
|
command.setBody(JSON.toJSONString(body));
|
command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
|
return command;
|
}
|
|
//***************设备层通讯-不同厂商设备通讯方案不一致***************
|
|
//请求登录
|
private String requestLoginToken() {
|
try {
|
HashMap<String, Object> param = new HashMap<>();
|
param.put("username", "admin");
|
param.put("password", "admin123");
|
param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
String response = new HttpHandler.Builder()
|
.setUri(API_URL)
|
.setPath("/RDS/loginToken")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
return jsonObject.getString("token");
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
return null;
|
}
|
|
//获取设备状态
|
private JSONObject requestDeviceStatus() {
|
try {
|
String loginToken = requestLoginToken();
|
if (loginToken == null) {
|
return null;
|
}
|
|
HashMap<String, Object> headers = new HashMap<>();
|
headers.put("Authorization", "Bearer " + loginToken);
|
|
HashMap<String, Object> param = new HashMap<>();
|
param.put("messageName", "deviceRgvStatus");
|
param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
|
param.put("deviceNo", device.getDeviceNo());
|
String response = new HttpHandler.Builder()
|
.setUri(API_URL)
|
.setPath("/RDS/deviceRgvStatus")
|
.setHeaders(headers)
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
return jsonObject.getJSONArray("data").getJSONObject(0);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
return null;
|
}
|
|
@Data
|
private class InnerSuhttleExtend {
|
|
/**
|
* 地图版本
|
*/
|
private String mapVersion;
|
|
/**
|
* 状态描述
|
*/
|
private String statusDescription;
|
|
}
|
|
}
|
