package com.zy.core.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.mapper.EntityWrapper;
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import com.core.common.DateUtils;
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import com.core.common.SpringUtils;
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import com.zy.asrs.entity.BasDevp;
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import com.zy.asrs.entity.BasStationOpt;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.entity.DeviceDataLog;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.BasStationOptService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.utils.NavigateUtils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.OutputQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.enums.StationCommandType;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.StationCommand;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.network.DeviceConnectPool;
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import com.zy.core.network.ZyStationConnectDriver;
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import com.zy.core.network.entity.ZyStationStatusEntity;
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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.util.concurrent.ExecutorService;
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import java.util.concurrent.Executors;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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@Data
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@Slf4j
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public class ZyStationV3Thread implements Runnable, com.zy.core.thread.StationThread {
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private List<StationProtocol> statusList = new ArrayList<>();
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private DeviceConfig deviceConfig;
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private RedisUtil redisUtil;
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private ZyStationConnectDriver zyStationConnectDriver;
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private int deviceLogCollectTime = 200;
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private long deviceDataLogTime = System.currentTimeMillis();
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private ExecutorService executor = Executors.newFixedThreadPool(9999);
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public ZyStationV3Thread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
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this.deviceConfig = deviceConfig;
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this.redisUtil = redisUtil;
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}
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@Override
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@SuppressWarnings("InfiniteLoopStatement")
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public void run() {
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this.connect();
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deviceLogCollectTime = Utils.getDeviceLogCollectTime();
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Thread readThread = new Thread(() -> {
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while (true) {
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try {
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deviceLogCollectTime = Utils.getDeviceLogCollectTime();
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readStatus();
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Thread.sleep(100);
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} catch (Exception e) {
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log.error("StationV3Thread Fail", e);
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}
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}
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});
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readThread.start();
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Thread processThread = new Thread(() -> {
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while (true) {
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try {
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int step = 1;
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Task task = MessageQueue.poll(SlaveType.Devp, deviceConfig.getDeviceNo());
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if (task != null) {
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step = task.getStep();
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}
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if (step == 2) {
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StationCommand cmd = (StationCommand) task.getData();
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executor.submit(() -> executeMoveWithSeg(cmd));
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}
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Thread.sleep(100);
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} catch (Exception e) {
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log.error("StationV3Process Fail", e);
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}
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}
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});
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processThread.start();
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}
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private void readStatus() {
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if (zyStationConnectDriver == null) {
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return;
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}
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if (statusList.isEmpty()) {
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BasDevpService basDevpService = null;
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try {
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basDevpService = SpringUtils.getBean(BasDevpService.class);
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} catch (Exception e) {
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}
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if (basDevpService == null) {
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return;
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}
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BasDevp basDevp = basDevpService
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.selectOne(new EntityWrapper<BasDevp>().eq("devp_no", deviceConfig.getDeviceNo()));
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if (basDevp == null) {
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return;
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}
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List<ZyStationStatusEntity> list = JSONObject.parseArray(basDevp.getStationList(), ZyStationStatusEntity.class);
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for (ZyStationStatusEntity entity : list) {
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StationProtocol stationProtocol = new StationProtocol();
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stationProtocol.setStationId(entity.getStationId());
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statusList.add(stationProtocol);
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}
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}
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List<ZyStationStatusEntity> zyStationStatusEntities = zyStationConnectDriver.getStatus();
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for (ZyStationStatusEntity statusEntity : zyStationStatusEntities) {
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for (StationProtocol stationProtocol : statusList) {
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if (stationProtocol.getStationId().equals(statusEntity.getStationId())) {
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stationProtocol.setTaskNo(statusEntity.getTaskNo());
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stationProtocol.setTargetStaNo(statusEntity.getTargetStaNo());
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stationProtocol.setAutoing(statusEntity.isAutoing());
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stationProtocol.setLoading(statusEntity.isLoading());
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stationProtocol.setInEnable(statusEntity.isInEnable());
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stationProtocol.setOutEnable(statusEntity.isOutEnable());
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stationProtocol.setEmptyMk(statusEntity.isEmptyMk());
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stationProtocol.setFullPlt(statusEntity.isFullPlt());
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stationProtocol.setPalletHeight(statusEntity.getPalletHeight());
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stationProtocol.setError(statusEntity.getError());
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stationProtocol.setBarcode(statusEntity.getBarcode());
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stationProtocol.setRunBlock(statusEntity.isRunBlock());
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stationProtocol.setEnableIn(statusEntity.isEnableIn());
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}
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}
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}
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OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), deviceConfig.getDeviceNo()));
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if (System.currentTimeMillis() - deviceDataLogTime > deviceLogCollectTime) {
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DeviceDataLog deviceDataLog = new DeviceDataLog();
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deviceDataLog.setOriginData(JSON.toJSONString(zyStationStatusEntities));
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deviceDataLog.setWcsData(JSON.toJSONString(statusList));
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deviceDataLog.setType(String.valueOf(SlaveType.Devp));
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deviceDataLog.setDeviceNo(deviceConfig.getDeviceNo());
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deviceDataLog.setCreateTime(new Date());
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redisUtil.set(RedisKeyType.DEVICE_LOG_KEY.key + System.currentTimeMillis(), deviceDataLog, 60 * 60 * 24);
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deviceDataLogTime = System.currentTimeMillis();
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}
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}
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@Override
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public boolean connect() {
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zyStationConnectDriver = new ZyStationConnectDriver(deviceConfig, redisUtil);
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zyStationConnectDriver.start();
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DeviceConnectPool.put(SlaveType.Devp, deviceConfig.getDeviceNo(), zyStationConnectDriver);
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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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if (zyStationConnectDriver != null) {
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zyStationConnectDriver.close();
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}
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if (executor != null) {
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try { executor.shutdownNow(); } catch (Exception ignore) {}
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}
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}
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@Override
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public List<StationProtocol> getStatus() {
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return statusList;
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}
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@Override
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public Map<Integer, StationProtocol> getStatusMap() {
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Map<Integer, StationProtocol> map = new HashMap<>();
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for (StationProtocol stationProtocol : statusList) {
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map.put(stationProtocol.getStationId(), stationProtocol);
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}
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return map;
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}
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@Override
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public StationCommand getCommand(StationCommandType commandType, Integer taskNo, Integer stationId, Integer targetStationId, Integer palletSize) {
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StationCommand stationCommand = new StationCommand();
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stationCommand.setTaskNo(taskNo);
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stationCommand.setStationId(stationId);
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stationCommand.setTargetStaNo(targetStationId);
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stationCommand.setPalletSize(palletSize);
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stationCommand.setCommandType(commandType);
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if (commandType == StationCommandType.MOVE) {
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if (!stationId.equals(targetStationId)) {
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List<Integer> path = calcPathStationIds(stationId, targetStationId);
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stationCommand.setNavigatePath(path);
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}
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}
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return stationCommand;
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}
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@Override
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public CommandResponse sendCommand(StationCommand command) {
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CommandResponse commandResponse = null;
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try {
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commandResponse = zyStationConnectDriver.sendCommand(command);
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return commandResponse;
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} finally {
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BasStationOptService optService = SpringUtils.getBean(BasStationOptService.class);
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List<ZyStationStatusEntity> statusListEntity = zyStationConnectDriver.getStatus();
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ZyStationStatusEntity matched = null;
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if (statusListEntity != null) {
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for (ZyStationStatusEntity e : statusListEntity) {
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if (e.getStationId() != null && e.getStationId().equals(command.getStationId())) {
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matched = e;
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break;
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}
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}
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}
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BasStationOpt basStationOpt = new BasStationOpt(
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command.getTaskNo(),
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command.getStationId(),
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new Date(),
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String.valueOf(command.getCommandType()),
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command.getStationId(),
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command.getTargetStaNo(),
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null,
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null,
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null,
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JSON.toJSONString(command),
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JSON.toJSONString(matched),
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1,
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JSON.toJSONString(commandResponse)
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);
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if (optService != null) {
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optService.insert(basStationOpt);
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}
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}
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}
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@Override
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public CommandResponse sendOriginCommand(String address, short[] data) {
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return zyStationConnectDriver.sendOriginCommand(address, data);
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}
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@Override
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public byte[] readOriginCommand(String address, int length) {
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return zyStationConnectDriver.readOriginCommand(address, length);
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}
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private List<Integer> calcPathStationIds(Integer startStationId, Integer targetStationId) {
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NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
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if (navigateUtils == null) {
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return new ArrayList<>();
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}
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List<NavigateNode> nodes = navigateUtils.calcByStationId(startStationId, targetStationId);
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List<Integer> ids = new ArrayList<>();
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for (NavigateNode n : nodes) {
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JSONObject v = JSONObject.parseObject(n.getNodeValue());
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if (v != null) {
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ids.add(v.getInteger("stationId"));
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}
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}
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return ids;
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}
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private void executeMoveWithSeg(StationCommand original) {
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if(original.getCommandType() == StationCommandType.MOVE){
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List<Integer> path = original.getNavigatePath();
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if (path == null || path.isEmpty()) {
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path = calcPathStationIds(original.getStationId(), original.getTargetStaNo());
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}
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if (path == null || path.isEmpty()) {
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return;
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}
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int total = path.size();
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List<Integer> segmentTargets = new ArrayList<>();
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List<Integer> segmentEndIndices = new ArrayList<>();
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int idx = 0;
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while (idx < total) {
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int end = Math.min(idx + 20, total) - 1;
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segmentTargets.add(path.get(end));
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segmentEndIndices.add(end);
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idx = end + 1;
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}
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int segCursor = 0;
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Integer currentTarget = segmentTargets.get(segCursor);
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Integer currentEndIdx = segmentEndIndices.get(segCursor);
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Integer currentStartIdx = 0;
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StationCommand segCmd = new StationCommand();
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segCmd.setTaskNo(original.getTaskNo());
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segCmd.setStationId(original.getStationId());
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segCmd.setTargetStaNo(original.getTargetStaNo());
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segCmd.setCommandType(original.getCommandType());
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segCmd.setPalletSize(original.getPalletSize());
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segCmd.setNavigatePath(new ArrayList<>(path.subList(0, currentEndIdx + 1)));
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sendCommand(segCmd);
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boolean finished = false;
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while (!finished) {
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try {
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Integer currentStationId = findCurrentStationByTask(original.getTaskNo());
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if (currentStationId == null) {
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Thread.sleep(500);
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continue;
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}
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int currentIndex = path.indexOf(currentStationId);
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if (currentIndex < 0) {
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Thread.sleep(500);
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continue;
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}
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int remaining = total - currentIndex - 1;
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if (remaining <= 0) {
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finished = true;
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break;
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}
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int currentSegEndIndex = path.indexOf(segmentTargets.get(segCursor));
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int currentSegStartIndex = segCursor == 0 ? 0 : path.indexOf(segmentTargets.get(segCursor - 1)) + 1;
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int segLen = currentSegEndIndex - currentSegStartIndex + 1;
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int remainingSegment = Math.max(0, currentSegEndIndex - currentIndex);
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int thresholdSegment = (int) Math.ceil(segLen * 0.3);
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if (remainingSegment <= thresholdSegment && segCursor < segmentTargets.size() - 1) {
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segCursor++;
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currentEndIdx = segmentEndIndices.get(segCursor);
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currentStartIdx = segmentEndIndices.get(segCursor - 1) + 1;
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StationCommand nextCmd = new StationCommand();
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nextCmd.setTaskNo(original.getTaskNo());
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nextCmd.setStationId(original.getStationId());
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nextCmd.setTargetStaNo(original.getTargetStaNo());
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nextCmd.setCommandType(original.getCommandType());
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nextCmd.setPalletSize(original.getPalletSize());
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nextCmd.setNavigatePath(new ArrayList<>(path.subList(currentStartIdx, currentEndIdx + 1)));
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sendCommand(nextCmd);
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}
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Thread.sleep(500);
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} catch (Exception e) {
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break;
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}
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}
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}else {
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sendCommand(original);
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}
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}
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private Integer findCurrentStationByTask(Integer taskNo) {
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try {
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com.zy.asrs.service.DeviceConfigService deviceConfigService = SpringUtils.getBean(com.zy.asrs.service.DeviceConfigService.class);
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if (deviceConfigService == null) {
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return null;
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}
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List<DeviceConfig> devpList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
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.eq("device_type", String.valueOf(SlaveType.Devp)));
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for (DeviceConfig dc : devpList) {
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com.zy.core.thread.StationThread t = (com.zy.core.thread.StationThread) SlaveConnection.get(SlaveType.Devp, dc.getDeviceNo());
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if (t == null) {
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continue;
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}
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Map<Integer, StationProtocol> m = t.getStatusMap();
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if (m == null || m.isEmpty()) {
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continue;
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}
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for (StationProtocol sp : m.values()) {
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if (sp.getTaskNo() != null && sp.getTaskNo().equals(taskNo) && sp.isLoading()) {
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return sp.getStationId();
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}
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}
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}
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} catch (Exception e) {
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return null;
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}
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return null;
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}
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}
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