package com.zy.core.thread.impl;
|
|
import com.alibaba.fastjson.JSON;
|
import com.alibaba.fastjson.JSONObject;
|
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
|
import com.core.common.Cools;
|
import com.core.common.DateUtils;
|
import com.core.common.SpringUtils;
|
import com.zy.asrs.entity.BasDevp;
|
import com.zy.asrs.entity.BasStationOpt;
|
import com.zy.asrs.entity.DeviceConfig;
|
import com.zy.asrs.entity.DeviceDataLog;
|
import com.zy.asrs.service.BasDevpService;
|
import com.zy.asrs.service.BasStationOptService;
|
import com.zy.asrs.utils.Utils;
|
import com.zy.common.model.NavigateNode;
|
import com.zy.common.utils.NavigateUtils;
|
import com.zy.common.utils.RedisUtil;
|
import com.zy.core.cache.MessageQueue;
|
import com.zy.core.cache.OutputQueue;
|
import com.zy.core.enums.SlaveType;
|
import com.zy.core.enums.StationCommandType;
|
import com.zy.core.model.CommandResponse;
|
import com.zy.core.model.Task;
|
import com.zy.core.model.command.StationCommand;
|
import com.zy.core.model.protocol.StationProtocol;
|
import com.zy.core.network.DeviceConnectPool;
|
import com.zy.core.network.ZyStationConnectDriver;
|
import com.zy.core.network.entity.ZyStationStatusEntity;
|
import com.zy.core.thread.impl.v5.StationV5SegmentExecutor;
|
import com.zy.core.utils.DeviceLogRedisKeyBuilder;
|
import lombok.Data;
|
import lombok.extern.slf4j.Slf4j;
|
|
import java.text.MessageFormat;
|
import java.util.ArrayList;
|
import java.util.Date;
|
import java.util.HashMap;
|
import java.util.List;
|
import java.util.Map;
|
import java.util.concurrent.ExecutorService;
|
import java.util.concurrent.Executors;
|
|
@Data
|
@Slf4j
|
public class ZyStationV5Thread implements Runnable, com.zy.core.thread.StationThread {
|
|
private List<StationProtocol> statusList = new ArrayList<>();
|
private DeviceConfig deviceConfig;
|
private RedisUtil redisUtil;
|
private ZyStationConnectDriver zyStationConnectDriver;
|
private int deviceLogCollectTime = 200;
|
private boolean initStatus = false;
|
private long deviceDataLogTime = System.currentTimeMillis();
|
private ExecutorService executor = Executors.newFixedThreadPool(9999);
|
private StationV5SegmentExecutor segmentExecutor;
|
|
public ZyStationV5Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
|
this.deviceConfig = deviceConfig;
|
this.redisUtil = redisUtil;
|
this.segmentExecutor = new StationV5SegmentExecutor(deviceConfig, redisUtil, this::sendCommand);
|
}
|
|
@Override
|
@SuppressWarnings("InfiniteLoopStatement")
|
public void run() {
|
this.connect();
|
deviceLogCollectTime = Utils.getDeviceLogCollectTime();
|
|
Thread readThread = new Thread(() -> {
|
while (true) {
|
try {
|
if (initStatus) {
|
deviceLogCollectTime = Utils.getDeviceLogCollectTime();
|
}
|
readStatus();
|
Thread.sleep(100);
|
} catch (Exception e) {
|
log.error("StationV5Thread Fail", e);
|
}
|
}
|
}, "DevpRead-" + deviceConfig.getDeviceNo());
|
readThread.start();
|
|
Thread processThread = new Thread(() -> {
|
while (true) {
|
try {
|
int step = 1;
|
Task task = MessageQueue.poll(SlaveType.Devp, deviceConfig.getDeviceNo());
|
if (task != null) {
|
step = task.getStep();
|
}
|
if (step == 2) {
|
StationCommand cmd = (StationCommand) task.getData();
|
executor.submit(() -> segmentExecutor.execute(cmd));
|
}
|
Thread.sleep(100);
|
} catch (Exception e) {
|
log.error("StationV5Process Fail", e);
|
}
|
}
|
}, "DevpProcess-" + deviceConfig.getDeviceNo());
|
processThread.start();
|
}
|
|
private void readStatus() {
|
if (zyStationConnectDriver == null) {
|
return;
|
}
|
|
if (statusList.isEmpty()) {
|
BasDevpService basDevpService = null;
|
try {
|
basDevpService = SpringUtils.getBean(BasDevpService.class);
|
} catch (Exception ignore) {
|
}
|
if (basDevpService == null) {
|
return;
|
}
|
|
BasDevp basDevp = basDevpService
|
.getOne(new QueryWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
|
if (basDevp == null) {
|
return;
|
}
|
|
List<ZyStationStatusEntity> list = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
|
for (ZyStationStatusEntity entity : list) {
|
StationProtocol stationProtocol = new StationProtocol();
|
stationProtocol.setStationId(entity.getStationId());
|
statusList.add(stationProtocol);
|
}
|
initStatus = true;
|
}
|
|
List<ZyStationStatusEntity> zyStationStatusEntities = zyStationConnectDriver.getStatus();
|
for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
|
for (StationProtocol stationProtocol : statusList) {
|
if (stationProtocol.getStationId().equals(statusEntity.getStationId())) {
|
stationProtocol.setTaskNo(statusEntity.getTaskNo());
|
stationProtocol.setTargetStaNo(statusEntity.getTargetStaNo());
|
stationProtocol.setAutoing(statusEntity.isAutoing());
|
stationProtocol.setLoading(statusEntity.isLoading());
|
stationProtocol.setInEnable(statusEntity.isInEnable());
|
stationProtocol.setOutEnable(statusEntity.isOutEnable());
|
stationProtocol.setEmptyMk(statusEntity.isEmptyMk());
|
stationProtocol.setFullPlt(statusEntity.isFullPlt());
|
stationProtocol.setPalletHeight(statusEntity.getPalletHeight());
|
stationProtocol.setError(statusEntity.getError());
|
stationProtocol.setErrorMsg(statusEntity.getErrorMsg());
|
stationProtocol.setBarcode(statusEntity.getBarcode());
|
stationProtocol.setRunBlock(statusEntity.isRunBlock());
|
stationProtocol.setEnableIn(statusEntity.isEnableIn());
|
stationProtocol.setWeight(statusEntity.getWeight());
|
stationProtocol.setTaskWriteIdx(statusEntity.getTaskWriteIdx());
|
}
|
|
if (!Cools.isEmpty(stationProtocol.getSystemWarning())) {
|
if (stationProtocol.isAutoing() && !stationProtocol.isLoading()) {
|
stationProtocol.setSystemWarning("");
|
}
|
}
|
}
|
}
|
|
OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",
|
DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
|
|
if (System.currentTimeMillis() - deviceDataLogTime > deviceLogCollectTime) {
|
DeviceDataLog deviceDataLog = new DeviceDataLog();
|
deviceDataLog.setOriginData(JSON.toJSONString(zyStationStatusEntities));
|
deviceDataLog.setWcsData(JSON.toJSONString(statusList));
|
deviceDataLog.setType(String.valueOf(SlaveType.Devp));
|
deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
|
deviceDataLog.setCreateTime(new Date());
|
|
redisUtil.set(DeviceLogRedisKeyBuilder.build(deviceDataLog), deviceDataLog, 60 * 60 * 24);
|
deviceDataLogTime = System.currentTimeMillis();
|
}
|
}
|
|
@Override
|
public boolean connect() {
|
zyStationConnectDriver = new ZyStationConnectDriver(deviceConfig, redisUtil);
|
zyStationConnectDriver.start();
|
DeviceConnectPool.put(SlaveType.Devp, deviceConfig.getDeviceNo(), zyStationConnectDriver);
|
return true;
|
}
|
|
@Override
|
public void close() {
|
if (zyStationConnectDriver != null) {
|
zyStationConnectDriver.close();
|
}
|
if (executor != null) {
|
try {
|
executor.shutdownNow();
|
} catch (Exception ignore) {
|
}
|
}
|
}
|
|
@Override
|
public List<StationProtocol> getStatus() {
|
return statusList;
|
}
|
|
@Override
|
public Map<Integer, StationProtocol> getStatusMap() {
|
Map<Integer, StationProtocol> map = new HashMap<>();
|
for (StationProtocol stationProtocol : statusList) {
|
map.put(stationProtocol.getStationId(), stationProtocol);
|
}
|
return map;
|
}
|
|
@Override
|
public StationCommand getCommand(StationCommandType commandType,
|
Integer taskNo,
|
Integer stationId,
|
Integer targetStationId,
|
Integer palletSize) {
|
StationCommand stationCommand = new StationCommand();
|
stationCommand.setTaskNo(taskNo);
|
stationCommand.setStationId(stationId);
|
stationCommand.setTargetStaNo(targetStationId);
|
stationCommand.setPalletSize(palletSize);
|
stationCommand.setCommandType(commandType);
|
|
if (commandType == StationCommandType.MOVE && !stationId.equals(targetStationId)) {
|
List<NavigateNode> nodes = calcPathNavigateNodes(stationId, targetStationId);
|
List<Integer> path = new ArrayList<>();
|
List<Integer> liftTransferPath = new ArrayList<>();
|
for (NavigateNode n : nodes) {
|
JSONObject v = JSONObject.parseObject(n.getNodeValue());
|
if (v == null) {
|
continue;
|
}
|
Integer stationNo = v.getInteger("stationId");
|
if (stationNo == null) {
|
continue;
|
}
|
path.add(stationNo);
|
if (Boolean.TRUE.equals(n.getIsLiftTransferPoint())) {
|
liftTransferPath.add(stationNo);
|
}
|
}
|
stationCommand.setNavigatePath(path);
|
stationCommand.setLiftTransferPath(liftTransferPath);
|
}
|
return stationCommand;
|
}
|
|
@Override
|
public CommandResponse sendCommand(StationCommand command) {
|
CommandResponse commandResponse = null;
|
try {
|
commandResponse = zyStationConnectDriver.sendCommand(command);
|
} catch (Exception e) {
|
e.printStackTrace();
|
} finally {
|
BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class);
|
List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus();
|
ZyStationStatusEntity matched = null;
|
if (statusListEntity != null) {
|
for (ZyStationStatusEntity entity : statusListEntity) {
|
if (entity.getStationId() != null && entity.getStationId().equals(command.getStationId())) {
|
matched = entity;
|
break;
|
}
|
}
|
}
|
BasStationOpt basStationOpt = new BasStationOpt(
|
command.getTaskNo(),
|
command.getStationId(),
|
new Date(),
|
String.valueOf(command.getCommandType()),
|
command.getStationId(),
|
command.getTargetStaNo(),
|
null,
|
null,
|
null,
|
JSON.toJSONString(command),
|
JSON.toJSONString(matched),
|
1,
|
JSON.toJSONString(commandResponse)
|
);
|
if (optService != null) {
|
optService.save(basStationOpt);
|
}
|
}
|
return commandResponse;
|
}
|
|
@Override
|
public CommandResponse sendOriginCommand(String address, short[] data) {
|
return zyStationConnectDriver.sendOriginCommand(address, data);
|
}
|
|
@Override
|
public byte[] readOriginCommand(String address, int length) {
|
return zyStationConnectDriver.readOriginCommand(address, length);
|
}
|
|
private List<NavigateNode> calcPathNavigateNodes(Integer startStationId, Integer targetStationId) {
|
NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
|
if (navigateUtils == null) {
|
return new ArrayList<>();
|
}
|
return navigateUtils.calcByStationId(startStationId, targetStationId);
|
}
|
}
|
