package com.zy.core.thread;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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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.*;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.*;
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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.*;
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import com.zy.core.News;
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import com.zy.core.ThreadHandler;
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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.*;
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import com.zy.core.model.LiftSlave;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.*;
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import com.zy.core.model.protocol.LiftProtocol;
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import com.zy.core.model.protocol.NyShuttleProtocol;
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import com.zy.core.properties.SlaveProperties;
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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.ArrayList;
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import java.util.Date;
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import java.util.List;
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/**
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* 牛眼四向穿梭车线程
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*/
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@Data
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@Slf4j
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public class NyShuttleThread implements Runnable, ThreadHandler {
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private ShuttleSlave slave;
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private NyShuttleProtocol shuttleProtocol;
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private RedisUtil redisUtil;
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public NyShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
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this.slave = slave;
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this.redisUtil = redisUtil;
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}
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@Override
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public void run() {
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this.connect();
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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.Shuttle, slave.getId());
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if (task != null) {
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step = task.getStep();
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}
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switch (step) {
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// 读数据
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case 1:
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read();
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break;
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// 写入数据
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case 2:
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write((NyShuttleHttpCommand) task.getData());
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break;
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//下发任务
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case 3:
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assignWork((ShuttleAssignCommand) task.getData());
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break;
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default:
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break;
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}
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Thread.sleep(500);
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} catch (Exception e) {
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e.printStackTrace();
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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.getFree() == ShuttleStatusType.IDLE.id
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&& shuttleProtocol.getTaskNo() != 0
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&& shuttleProtocol.getPakMk()) {
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//执行下一步指令
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executeWork(shuttleProtocol.getTaskNo().shortValue());
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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}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.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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if (null == shuttleProtocol) {
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shuttleProtocol = new NyShuttleProtocol();
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shuttleProtocol.setShuttleNo(slave.getId().shortValue());
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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}
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//----------读取四向穿梭车状态-----------
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NyShuttleHttpCommand readStatusCommand = NyHttpUtils.getReadStatusCommand(slave.getId());
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JSONObject jsonObject = NyHttpUtils.requestCommand(readStatusCommand);
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if (jsonObject == null) {
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OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
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}else {
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//手动状态/自动状态
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shuttleProtocol.setWorkingMode(jsonObject.getInteger("workingMode"));
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//允许状态 0:运行中1：空闲
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shuttleProtocol.setFree(jsonObject.getInteger("free"));
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//当前速度
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shuttleProtocol.setSpeed(jsonObject.getInteger("speed"));
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//负载状态
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shuttleProtocol.setLoadState(jsonObject.getInteger("loadState"));
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//管制状态
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shuttleProtocol.setSuspendState(jsonObject.getInteger("suspendState"));
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//顶升位置
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shuttleProtocol.setLiftPosition(jsonObject.getInteger("liftPosition"));
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//运行方向
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shuttleProtocol.setRunDir(jsonObject.getInteger("runDir"));
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//运行方向
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shuttleProtocol.setRunDir2(jsonObject.getInteger("runDir2"));
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//充电状态
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shuttleProtocol.setChargState(jsonObject.getInteger("chargState"));
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//电池电量
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shuttleProtocol.setPowerPercent(jsonObject.getInteger("powerPercent"));
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//最高电芯电压(mV)
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shuttleProtocol.setMaxCellVoltage(jsonObject.getInteger("maxCellVoltage"));
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//最低电芯电压(mV)
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shuttleProtocol.setMinCellVoltage(jsonObject.getInteger("minCellVoltage"));
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//电池电压
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shuttleProtocol.setVoltage(jsonObject.getInteger("voltage"));
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//充放电循环次数
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shuttleProtocol.setChargeCycleTimes(jsonObject.getInteger("chargeCycleTimes"));
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//剩余电量
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shuttleProtocol.setSurplusQuantity(jsonObject.getInteger("surplusQuantity"));
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//总电量
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shuttleProtocol.setCountQuantity(jsonObject.getInteger("countQuantity"));
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//实际库位xyz
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shuttleProtocol.setPoint(jsonObject.getObject("point", NyShuttleProtocol.NyShuttlePointClass.class));
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//实际坐标xyz
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shuttleProtocol.setCoord(jsonObject.getObject("coord", NyShuttleProtocol.NyShuttlePointClass.class));
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//任务目的库位
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shuttleProtocol.setTask(jsonObject.getObject("task", NyShuttleProtocol.TaskClass.class));
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//任务状态
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shuttleProtocol.setTaskState(jsonObject.getInteger("taskState"));
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//故障状态
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shuttleProtocol.setErrState(jsonObject.getInteger("errState"));
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ArrayList<Integer> errCode = new ArrayList<>();
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for (Object o : jsonObject.getJSONArray("errCode")) {
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errCode.add(Integer.parseInt(o.toString()));
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}
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//故障码
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shuttleProtocol.setErrCode(errCode);
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//总里程数
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shuttleProtocol.setStatusSum(jsonObject.getObject("statusSum", NyShuttleProtocol.StatusSumClass.class));
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//非自动状态时间计时
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shuttleProtocol.setErrTime(jsonObject.getInteger("errTime"));
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//小车处于运行中，将标记置为true
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if (shuttleProtocol.getFree() == 0) {
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shuttleProtocol.setPakMk(true);
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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.selectById(slave.getId());
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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(slave.getId());
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shuttleService.insert(basShuttle);
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}
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//工作模式
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basShuttle.setWorkingMode(shuttleProtocol.getWorkingMode());
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//运行状态
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basShuttle.setFree(shuttleProtocol.getFree());
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//当前速度
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basShuttle.setSpeed(shuttleProtocol.getSpeed());
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//负载状态
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basShuttle.setLoadState(shuttleProtocol.getLoadState());
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//管制状态
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basShuttle.setSuspendState(shuttleProtocol.getSuspendState());
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//顶升位置
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basShuttle.setLiftPosition(shuttleProtocol.getLiftPosition());
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//运行方向
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basShuttle.setRunDir(shuttleProtocol.getRunDir());
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//运行方向
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basShuttle.setRunDir2(shuttleProtocol.getRunDir2());
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//充电状态
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basShuttle.setChargState(shuttleProtocol.getChargState());
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//电池电量
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basShuttle.setPowerPercent(shuttleProtocol.getPowerPercent());
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//最高电芯电压
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basShuttle.setMaxCellVoltage(shuttleProtocol.getMaxCellVoltage());
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//电池电压
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basShuttle.setVoltage(shuttleProtocol.getVoltage());
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//充放电循环次数
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basShuttle.setChargeCycleTimes(shuttleProtocol.getChargeCycleTimes());
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//剩余电量
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basShuttle.setSurplusQuantity(shuttleProtocol.getSurplusQuantity());
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//总电量
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basShuttle.setCountQuantity(shuttleProtocol.getCountQuantity());
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//实际库位
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basShuttle.setPoint(JSONObject.toJSONString(shuttleProtocol.getPoint()));
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//实际坐标
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basShuttle.setCoord(JSONObject.toJSONString(shuttleProtocol.getCoord()));
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//任务目的库位
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basShuttle.setTask(JSONObject.toJSONString(shuttleProtocol.getTask()));
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//任务状态
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basShuttle.setTaskState(shuttleProtocol.getTaskState());
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//故障状态
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basShuttle.setErrState(shuttleProtocol.getErrState());
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//总里程数
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basShuttle.setStatusSum(JSONObject.toJSONString(shuttleProtocol.getStatusSum()));
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//非自动状态时间计时
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basShuttle.setErrTime(shuttleProtocol.getErrTime());
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//任务号
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basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
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//修改时间
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basShuttle.setUpdateTime(new Date());
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//作业标记
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basShuttle.setPakMk(shuttleProtocol.getPakMk());
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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()), slave.getId()));
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// log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
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}
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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}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.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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private boolean write(NyShuttleHttpCommand command){
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if (null == command) {
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News.error("四向穿梭车写入命令为空");
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return false;
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}
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BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
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if (shuttleService == null) {
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News.error("系统错误");
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return false;
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}
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BasShuttle basShuttle = shuttleService.selectById(slave.getId().shortValue());
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if (basShuttle == null) {
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News.error("四向穿梭车不存在");
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return false;
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}
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//发出请求
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JSONObject result = NyHttpUtils.requestCommand(command);
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if (result == null) {
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return false;//请求失败
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}
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return true;
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}
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//分配任务
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private void assignWork(ShuttleAssignCommand assignCommand) {
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ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
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redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号
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redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
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redisCommand.setCommandStep(0);//命令执行步序
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redisCommand.setAssignCommand(assignCommand);//命令
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shuttleProtocol.setTaskNo(assignCommand.getTaskNo().intValue());
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shuttleProtocol.setAssignCommand(assignCommand);
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
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//任务数据保存到redis
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redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
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//执行下发任务
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executeWork(assignCommand.getTaskNo());
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}
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//执行下发的指令
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private boolean executeWork(Short wrkNo) {
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//读取redis数据
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if (wrkNo == null) {
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return false;
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}
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WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
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Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
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if (o == null) {
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return false;
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}
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ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
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List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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//当前步序
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int commandStep = redisCommand.getCommandStep();
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if (commands.size() == 0) {
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return false;
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}
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NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
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//取出命令
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NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
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if (commandStep != 0) {
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//判断上一条指令是否完成
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NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
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String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
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if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
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//移动命令、出入提升机命令
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NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
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if (shuttleProtocol.getPoint().equals(target)) {
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//上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
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lastCommand.setComplete(true);
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//解锁锁定路径，上一条路径和当前路径
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List<NavigateNode> nodes = lastCommand.getNodes();
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nodes.addAll(command.getNodes());
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navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
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}
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}else {
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lastCommand.setComplete(true);//其他命令默认认为完成
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}
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//任务数据保存到redis
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redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
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if (!lastCommand.getComplete()) {
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//上一条任务未完成，禁止下发命令
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return false;
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}
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}
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List<NavigateNode> nextNodes = null;//下一步命令行走路径
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if (commandStep + 1 < commands.size()) {
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NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//下一步命令
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nextNodes = nextCommand.getNodes();//下一步命令行走路径
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}
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if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
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return false;//小车状态忙，禁止执行命令
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}
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//检测小车是否要进提升机，如需要进提升机则调度提升机
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if (!checkLiftStation(wrkNo)) {
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return false;
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}
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//检测穿梭车是否在提升机内
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if (!checkShuttleInTheLift(wrkNo)) {
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return false;
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}
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//检查路径是否可行走(检查路径锁定状态，检测路径是否有其他小车)
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//检测当前行走路径，和下一步路径
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boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(command.getNodes(), shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
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boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
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if (!checkPathIsAvailable && !checkPathIsAvailable2) {
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return false;
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}
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//锁定路径，锁定当前路径和下一步路径
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List<NavigateNode> nodes = command.getNodes();
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nodes.addAll(nextNodes);
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navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用
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//可执行命令
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if (!write(command)) {
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News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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return false;
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}
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News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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//将标记置为false(防止重发)
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shuttleProtocol.setPakMk(false);
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//保存数据到数据库做流水
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BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
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if (shuttleOptService != null) {
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BasShuttleOpt opt = new BasShuttleOpt(
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assignCommand.getTaskNo().intValue(),
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assignCommand.getShuttleNo().intValue(),
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new Date(),
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ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
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assignCommand.getSourceLocNo(),
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assignCommand.getLocNo(),
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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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null
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);
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shuttleOptService.insert(opt);
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}
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//判断数据是否执行完成
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if (commandStep < commands.size() - 1) {
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//更新redis数据
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//步序增加
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commandStep++;
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redisCommand.setCommandStep(commandStep);
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//任务数据保存到redis
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redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
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}else {
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//已执行完成
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//删除redis
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redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
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if (!assignCommand.getCharge()) {
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//对主线程抛出等待确认状态waiting
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
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}else {
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shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
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}
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News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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}
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return true;
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}
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//检测小车是否要进提升机，如需要进提升机则调度提升机
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private boolean checkLiftStation(Short wrkNo) {
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//读取redis数据
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if (wrkNo == null) {
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return false;
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}
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Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
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if (o == null) {
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return false;
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}
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WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
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ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
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//当前步序
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int commandStep = redisCommand.getCommandStep();
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//检测是否存在提升机口的指令
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List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
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if (commands.isEmpty()) {
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return false;
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}
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NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
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if (!command.getMsgType().equals("intoLift")) {
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return true;//不是入提升机命令，直接放行
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}
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//获取起点(输送站点)
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NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(command.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
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//将牛眼坐标转换成WCS库位号
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String startLocNo = NavigatePositionConvert.nyXyzToLocNo(start.getX(), start.getY(), start.getZ());
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BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
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BasDevp basDevp = basDevpService.queryByLocNo(startLocNo);
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if (basDevp == null) {
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return false;//查不到站点，禁止下发
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}
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//拿到提升机线程
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
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if (liftThread == null) {
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return false;
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}
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LiftProtocol liftProtocol = liftThread.getLiftProtocol();
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if (liftProtocol == null) {
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return false;
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}
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if (!liftProtocol.isIdle()) {
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return false;
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}
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if (liftProtocol.getLev().intValue() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
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return true;//提升机达到小车楼层，放行
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}
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//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
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WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
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if (wrkMast1 != null && wrkMast1.getWrkNo() != wrkNo.intValue()) {
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return false;
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}
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//提升机未到达小车楼层，呼叫提升机
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//获取提升机命令
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NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, null, basDevp.getDevNo(), wrkNo.intValue());
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ArrayList<NyLiftCommand> liftCommands = new ArrayList<>();
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liftCommands.add(liftCommand);
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//提交到线程去工作
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LiftAssignCommand assignCommand = new LiftAssignCommand();
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assignCommand.setCommands(liftCommands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(wrkNo);
|
assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
|
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
|
return false;//默认不放行
|
}
|
|
/**
|
* 检测穿梭车是否在提升机内
|
* 如穿梭车在提升机内，必须等待提升机空闲才可执行穿梭车命令
|
*/
|
private boolean checkShuttleInTheLift(Short wrkNo) {
|
//读取redis数据
|
if (wrkNo == null) {
|
return false;
|
}
|
|
Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
|
if (o == null) {
|
return false;
|
}
|
|
SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
|
BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
BasLift basLift = liftService.selectById(liftSlave.getId());
|
if (basLift == null) {
|
continue;
|
}
|
if (basLift.getPoint().equals(shuttleProtocol.getPoint())) {
|
//小车在提升机内
|
//判断提升机是否空闲
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
if (liftProtocol.isIdle()) {
|
//提升机处于空闲，放行
|
return true;
|
}
|
}
|
}
|
return false;//默认不放行
|
}
|
|
}
|
