#

Junjie

2025-04-02 15356da6eeca013fafc9bb6ed2d2a4a12422ce04

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

@@ -31,6 +31,7 @@
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
import com.zy.asrs.wcs.rcs.model.CommandResponse;
import com.zy.asrs.wcs.rcs.model.command.NyShuttleHttpCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -123,6 +124,8 @@

                    //小车空闲且有跑库程序
                    shuttleAction.moveLoc(device);

                    Thread.sleep(200);
                } catch (Exception e) {
                    e.printStackTrace();
                }
@@ -173,6 +176,7 @@
        BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
                .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
                .eq(BasShuttle::getHostId, device.getHostId()));

        if (basShuttle == null) {
            basShuttle = new BasShuttle();
            //四向穿梭车号
@@ -182,6 +186,10 @@
            basShuttle.setHostId(device.getHostId());
            basShuttle.setDeviceId(device.getId().intValue());
            shuttleService.save(basShuttle);
        }else {
            Integer shuttleId = basShuttle.getId();
            basShuttle = new BasShuttle();
            basShuttle.setId(shuttleId);
        }
        //任务号
        basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
@@ -224,7 +232,7 @@
        }
    }

    public JSONObject getRequestBody(String type) {
    public JSONObject getRequestBody(String type, String taskId) {
        try {
            // 获取服务器响应
            JSONObject result = null;
@@ -247,7 +255,14 @@
                }

                if (!responseType.equals(type)) {
                    continue;//响应ID与请求ID不一致，不在调试模式下
                    continue;//响应类型与请求类型不一致，不在调试模式下
                }

                if (taskId != null) {
                    String responseTaskId = resultBody.get("taskId").toString();
                    if (!responseTaskId.equals(taskId)) {
                        continue;//响应ID与请求ID不一致，不在调试模式下
                    }
                }

                result = socketResult;
@@ -271,6 +286,7 @@
                this.connect();
            }
            readStatus();
            Thread.sleep(200);
        } catch (Exception e) {
            e.printStackTrace();
            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.getId(), device.getIp(), device.getPort()));
@@ -387,6 +403,9 @@
                String requestType = resultBody.getString("requestType");
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    removeIdx = i;//此数据已经处理，从结果集中剔除
                    socketResults.remove(removeIdx);

                    Integer code = resultBody.getInteger("code");
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -394,16 +413,11 @@
                    NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
                    JSONObject requestResult = requestCommand(httpCommand);

                    removeIdx = i;//此数据已经处理，从结果集中剔除

                    log.info(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
                    break;
                }
            }

            if (removeIdx != -1) {
                socketResults.remove(removeIdx);
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -429,12 +443,14 @@
    }

    @Override
    public boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
        return true;
    public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
        CommandResponse response = new CommandResponse(true);
        return response;
    }

    @Override
    public boolean move(ShuttleCommand command) {
    public CommandResponse move(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
@@ -473,70 +489,86 @@

            for (NyShuttleHttpCommand requestCommand : commandList) {
                JSONObject result = requestCommand(requestCommand);
//                if (result == null) {
//                    return false;//请求失败
//                }
                if (result == null) {
                    return response;//请求失败
                }
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                response.setMessage(JSON.toJSONString(result));
                response.setResult(true);
            }
            return true;
        } catch (IOException e) {
            return false;
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            response.setMessage(e.getMessage());
            return response;
        }
    }

    @Override
    public boolean lift(ShuttleCommand command) {
    public CommandResponse lift(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        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
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            return true;
        } catch (IOException e) {
            return false;
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
    public boolean charge(ShuttleCommand command) {
    public CommandResponse charge(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        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
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            return true;
        } catch (IOException e) {
            return false;
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
    public boolean reset(ShuttleCommand command) {
    public CommandResponse reset(ShuttleCommand command) {
        setSyncTaskNo(0);
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        enableMoveLoc(null, false);
        return true;
        return new CommandResponse(true, JSON.toJSONString(command));
    }

    @Override
    public boolean updateLocation(ShuttleCommand command) {
    public CommandResponse updateLocation(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        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
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            return true;
        } catch (IOException e) {
            return false;
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

@@ -787,6 +819,15 @@
    }

    @Override
    public boolean requestWaiting() {
        if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
            this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
            return true;
        }
        return false;
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
@@ -794,9 +835,10 @@

        ArrayList<HashMap<String, Object>> path = new ArrayList<>();

        Integer taskId = getTaskId();
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("taskId", taskId);//TaskID需要随机
//        body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//起点
//        body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//终点
        body.put("path", path);
@@ -839,6 +881,7 @@
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(loc.getLocNo());
        command.setTaskNo(taskId);
        return command;
    }

@@ -847,9 +890,10 @@
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("taskId", taskId);
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -858,6 +902,7 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
        command.setTaskNo(taskId);
        return command;
    }

@@ -866,9 +911,10 @@
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("taskId", taskId);
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -877,6 +923,7 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
        command.setTaskNo(taskId);
        return command;
    }

@@ -896,6 +943,7 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
        command.setTaskNo(taskNo);
        return command;
    }

@@ -950,6 +998,7 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.RESET.id);
        command.setTaskNo(taskNo);
        return command;
    }

@@ -1033,25 +1082,29 @@
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));

        String requestType = null;
        String taskId = null;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
            taskId = httpCommand.getRequest().getBody().get("taskId").toString();
        } catch (Exception e) {
            return null;
//            return null;
            //taskId可能取空，不报错，正常情况
        }

        // 获取服务器响应
        // 尝试10次
        JSONObject result = null;
        for (int i = 0; i < 10; i++) {
            result = getRequestBody(requestType);
            result = getRequestBody(requestType,taskId);
            if (result == null) {
                try {
                    Thread.sleep(100);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }else {
                break;
            }
            break;
        }
        return result;//返回Body结果集
    }