#

zjj

2024-08-28 0a6532305b842185c85afd4e8c670f64700f2a6d

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java

@@ -24,6 +24,7 @@
import com.zy.asrs.wcs.core.utils.NavigateMapData;
import com.zy.asrs.wcs.core.utils.NavigatePositionConvert;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -99,17 +100,15 @@
            BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
            // 读取服务器的响应
            StringBuffer sb = new StringBuffer();
            String response = null;
            char[] chars = new char[2048];//缓冲区
            do {
            while (true) {
                reader.read(chars);
                String trim = new String(chars).trim();
                String trim = new String(chars);
                sb.append(trim);
                if (sb.lastIndexOf("\r\n") != -1) {
                if (trim.lastIndexOf("\r\n") != -1) {
                    break;
                }
            } while (response != null);
//            System.out.println("Received response from server: " + sb);
            }

            JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
            if (!socketResults.isEmpty() && socketResults.size() >= 5) {
@@ -213,11 +212,11 @@
                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? true : false);
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
                //是否有托盘
                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
                //行驶方向
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("direction"));
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
                //是否为充电状态
                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);

@@ -374,6 +373,7 @@
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            Map<String, Object> body = httpCommand.getRequest().getBody();
            Object pathObj = body.get("path");
            int taskId = Integer.parseInt(body.get("taskId").toString());
            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
            while (!path.isEmpty()) {
@@ -381,7 +381,12 @@
                if (path.size() > 10) {
                    List<JSONObject> subList = path.subList(0, 10);
                    list.addAll(subList);
                    subList.clear();

                    List<JSONObject> tmp = new ArrayList<>();
                    for (int i = 10; i < path.size(); i++) {
                        tmp.add(path.get(i));
                    }
                    path = tmp;
                }else  {
                    list.addAll(path);
                    path.clear();
@@ -392,6 +397,7 @@

                NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
                bodyCopy.put("path", list);
                bodyCopy.put("taskId", taskId++);
                request.setBody(bodyCopy);
                httpCommandCopy.setRequest(request);

@@ -400,9 +406,9 @@

            for (NyShuttleHttpCommand requestCommand : commandList) {
                JSONObject result = requestCommand(requestCommand);
                if (result == null) {
                    return false;//请求失败
                }
//                if (result == null) {
//                    return false;//请求失败
//                }
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            }
            return true;
@@ -449,6 +455,22 @@
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        enableMoveLoc(null, false);
        return true;
    }

    @Override
    public boolean updateLocation(ShuttleCommand command) {
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            if (result == null) {
                return false;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            return true;
        } catch (IOException e) {
            return false;
        }
    }

    @Override
@@ -552,7 +574,7 @@
                if (shuttleService == null) {
                    return false;
                }
                BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
                BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, this.device.getId()));
                if (basShuttle == null) {
                    return false;
                }
@@ -573,7 +595,7 @@
            return false;
        }

        if (this.shuttleProtocol.getDeviceStatus() == 1 && this.shuttleProtocol.getHasCharge()) {
        if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
            //运行中 && 充电中
            return true;
        }
@@ -614,6 +636,7 @@
    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
@@ -632,6 +655,18 @@
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }

                //将路径锁与小车路径进行匹配
                ArrayList<NavigateNode> tmp = new ArrayList<>();
                //检测路径是否被锁定
                int[][] map = navigateMapData.getDataFromRedis(NavigationMapType.DFX.id, null, null);
                for (NavigateNode node : path) {
                    if(map[node.getX()][node.getY()] == -999) {
                        tmp.add(node);
                    }
                }

                path = tmp;
            }
        }
        return path;
@@ -778,6 +813,25 @@
        return command;
    }

    @Override
    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateFloor");//更新层Z
        body.put("z", Utils.getLev(locNo));//坐标Z
        request.setBody(body);

        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
        return command;
    }

    //获取小车复位响应命令
    public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
        LocService locService = SpringUtils.getBean(LocService.class);