#

Junjie

2024-06-18 225f8abb319ed527b90f50c678c38f6e7af68bdd

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

@@ -9,6 +9,7 @@
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.MapNode;
@@ -23,6 +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;
@@ -56,7 +58,7 @@
    private ShuttleProtocol shuttleProtocol;
    private Socket socket;

    private static final boolean DEBUG = true;//调试模式
    private static final boolean DEBUG = false;//调试模式

    private List<JSONObject> socketResults = new ArrayList<>();

@@ -98,17 +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) {
@@ -120,31 +120,44 @@
        }
    }

    public JSONObject getRequestBody(Integer requestId) {
        // 获取服务器响应
        JSONObject result = null;
        for (int i = 0; i < socketResults.size(); i++) {
            JSONObject socketResult = socketResults.get(i);
            if (!socketResult.get("msgType").equals("responseMsg")) {//不是响应内容
                continue;
    public JSONObject getRequestBody(String type) {
        try {
            // 获取服务器响应
            JSONObject result = null;
            if (type.equals("readState")) {
                type = "state";
            }

            JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
            JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
            int responseId = Integer.parseInt(resultHeader.get("responseId").toString());
            if (!DEBUG && responseId != requestId) {
                continue;//响应ID与请求ID不一致，不在调试模式下
            for (int i = 0; i < socketResults.size(); i++) {
                JSONObject socketResult = socketResults.get(i);
                if (!socketResult.get("msgType").equals("responseMsg")) {//不是响应内容
                    continue;
                }

                JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
                JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
                String responseType = resultBody.get("responseType").toString();
                if (DEBUG) {
                    result = socketResult;
                    break;
                }

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

                result = socketResult;
                break;
            }

            result = socketResult;
            break;
        }
            if (result == null) {
                return null;//无响应结果
            }

        if (result == null) {
            return null;//无响应结果
            return filterBodyData(result);//返回Body结果集
        } catch (Exception e) {
            return null;
        }

        return filterBodyData(result);//返回Body结果集
    }

    private void read() {
@@ -163,22 +176,26 @@

    private void readStatus() {
        try {
            if (null == shuttleProtocol) {
                shuttleProtocol = new ShuttleProtocol();
                shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                shuttleProtocol.setDevice(device);

                InnerSuhttleExtend extend = new InnerSuhttleExtend();
                shuttleProtocol.setExtend(extend);
            }

            //----------读取四向穿梭车状态-----------
            NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(Integer.parseInt(device.getDeviceNo()));
            JSONObject data = requestCommand(readStatusCommand);
            if (data == null) {
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
                    //最后一次上线时间超过60s，认定离线
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车Socket状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
            }else {
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    shuttleProtocol.setDevice(device);

                    InnerSuhttleExtend extend = new InnerSuhttleExtend();
                    shuttleProtocol.setExtend(extend);
                }

                //----------读取四向穿梭车状态-----------
                //小车设备状态
@@ -186,13 +203,13 @@
                //小车模式
                shuttleProtocol.setMode(data.getInteger("workingMode"));
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("coord"));
                shuttleProtocol.setCurrentCode(data.getString("point"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
                //电池电压
                shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
                //故障
                shuttleProtocol.setErrorCode(data.getString("errState"));
                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? true : false);
@@ -219,9 +236,9 @@
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                ///读取四向穿梭车状态-end

                //小车处于运行中，将标记置为false
                //小车处于运行中，将标记置为true
                if (shuttleProtocol.getDeviceStatus() == 1) {
                    shuttleProtocol.setPakMk(false);
                    shuttleProtocol.setPakMk(true);
                }

                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
@@ -258,6 +275,7 @@
                    basShuttle.setStatus(1);
                    basShuttle.setDeleted(0);
                    basShuttle.setHostId(device.getHostId());
                    basShuttle.setDeviceId(device.getId().intValue());
                    shuttleService.save(basShuttle);
                }
                //任务号
@@ -304,8 +322,10 @@
                String requestType = resultBody.getString("requestType");
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    Integer code = resultBody.getInteger("code");
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", code, device.getId(), device.getIp(), device.getPort()));
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId);
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
                    //发出请求
                    NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
                    JSONObject requestResult = requestCommand(httpCommand);
@@ -325,10 +345,15 @@

    @Override
    public ShuttleProtocol getStatus() {
        return getStatus(true);
    }

    @Override
    public ShuttleProtocol getStatus(boolean clone) {
        if (this.shuttleProtocol == null) {
            return null;
        }
        return this.shuttleProtocol.clone();
        return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
    }

    @Override
@@ -346,11 +371,39 @@
        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
            Map<String, Object> body = httpCommand.getRequest().getBody();
            Object pathObj = body.get("path");
            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
            while (!path.isEmpty()) {
                ArrayList<Map<String, Object>> list = new ArrayList<>();
                if (path.size() > 10) {
                    List<JSONObject> subList = path.subList(0, 10);
                    list.addAll(subList);
                    subList.clear();
                }else  {
                    list.addAll(path);
                    path.clear();
                }

                NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
                JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));

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

                commandList.add(httpCommandCopy);//add copy
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间

            for (NyShuttleHttpCommand requestCommand : commandList) {
                JSONObject result = requestCommand(requestCommand);
                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;
@@ -391,8 +444,9 @@

    @Override
    public boolean reset(ShuttleCommand command) {
        this.shuttleProtocol.setTaskNo(0);
        this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        setSyncTaskNo(0);
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        enableMoveLoc(null, false);
        return true;
    }

@@ -404,10 +458,12 @@
    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
@@ -420,18 +476,31 @@

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        boolean res = this.shuttleProtocol.getDeviceStatus() == 0
        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
                && this.shuttleProtocol.getMode() == 1
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id)
                && extend.getSuspendState() == 0
                ;
                && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id)
                && extend.getSuspendState() == 0;
        return res;
    }

    @Override
    public boolean isDeviceIdle() {
        return isDeviceIdle(null);
    }

    @Override
    public boolean isDeviceIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
@@ -443,7 +512,7 @@

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        boolean res = this.shuttleProtocol.getDeviceStatus() == 0
        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
                && this.shuttleProtocol.getMode() == 1
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
@@ -466,7 +535,7 @@

        InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();

        boolean res = this.shuttleProtocol.getDeviceStatus() == 0
        boolean res = this.shuttleProtocol.getDeviceStatus() == 1
                && this.shuttleProtocol.getMode() == 1
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
@@ -544,6 +613,7 @@
    @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
@@ -562,6 +632,18 @@
                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;
@@ -591,6 +673,30 @@
    }

    @Override
    public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
        if (enable) {
            shuttleProtocol.setMoveLoc(true);//开启跑库
            shuttleProtocol.setMoveType(param.getMoveType());
            shuttleProtocol.setXStart(param.getStartX());
            shuttleProtocol.setXTarget(param.getTargetX());
            shuttleProtocol.setXCurrent(param.getStartX());
            shuttleProtocol.setYStart(param.getStartY());
            shuttleProtocol.setYTarget(param.getTargetY());
            shuttleProtocol.setYCurrent(param.getStartY());
        }else {
            shuttleProtocol.setMoveLoc(false);
            shuttleProtocol.setMoveType(0);
            shuttleProtocol.setXStart(0);
            shuttleProtocol.setXTarget(0);
            shuttleProtocol.setXCurrent(0);
            shuttleProtocol.setYStart(0);
            shuttleProtocol.setYTarget(0);
            shuttleProtocol.setYCurrent(0);
        }
        return true;
    }

    @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);
@@ -612,8 +718,8 @@
            HashMap<String, Object> data = new HashMap<>();
            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ(), device.getHostId());
            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum, device.getHostId()));
            int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));

            List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, null, null);
@@ -623,10 +729,10 @@
            data.put("xp", xp);
            data.put("yp", yp);
            data.put("z", z);
            data.put("x", mapNode.getXBase());
            data.put("y", mapNode.getYBase());
            data.put("x", mapNode.getYBase());
            data.put("y", mapNode.getXBase());
            path.add(data);
        }


        httpStandard.setRequest(request);

@@ -660,7 +766,7 @@

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
        return command;
    }
@@ -685,13 +791,46 @@
    }

    //获取小车复位响应命令
    public ShuttleCommand getInitCommand(Integer taskNo) {
    public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
        LocService locService = SpringUtils.getBean(LocService.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        //code -> {Integer@13781} 1101101
        int lev = code % 100;
        int bay = code / 100 % 1000;
        int row = code / 100000;

        HashMap<String, Object> map = new HashMap<>();
        map.put("x", row);
        map.put("y", bay);
        map.put("z", lev);

        String mapStr = JSON.toJSONString(map);
        Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getCode, mapStr)
                .eq(Loc::getStatus, 1)
                .eq(Loc::getHostId, this.device.getHostId()));
        if (loc == null) {
            throw new CoolException("地址码不存在");
        }

        navigateMapData.setLev(lev);
        List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, null, null);
        List<MapNode> mapNodes = mapData.get(loc.getRow());
        MapNode mapNode = mapNodes.get(loc.getBay());

        HashMap<String, Object> location = new HashMap<>();
        location.put("xp", row);
        location.put("yp", bay);
        location.put("z", lev);
        location.put("x", mapNode.getYBase());
        location.put("y", mapNode.getXBase());

        HashMap<String, Object> body = new HashMap<>();
        body.put("responseType", "init");//复位
        body.put("location", new ArrayList<>());//初始化坐标
        body.put("location", location);//初始化坐标
        body.put("devicePoints", new ArrayList<>());//提升机点位
        body.put("specialPoints", new ArrayList<>());//特殊条码坐标
        request.setBody(body);
@@ -784,11 +923,18 @@
        writer.flush();
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));

        String requestType = null;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
        } catch (Exception e) {
            return null;
        }

        // 获取服务器响应
        // 尝试10次
        JSONObject result = null;
        for (int i = 0; i < 10; i++) {
            result = getRequestBody(httpCommand.getRequest().getHeader().getRequestId());
            result = getRequestBody(requestType);
            if (result == null) {
                try {
                    Thread.sleep(100);
@@ -796,6 +942,7 @@
                    e.printStackTrace();
                }
            }
            break;
        }
        return result;//返回Body结果集
    }
@@ -827,11 +974,13 @@

    //WCS系统坐标转牛眼坐标
    private static int[] WCSXyzToNyXyz(int x, int y, int z) {
        //WCS系统Y轴 => 牛眼X轴转换公式
        int x1 = Math.abs(y - 61) + 11;
        //WCS系统X轴 => 牛眼Y轴转换公式
        int y1 = x + 10;
        return new int[]{x1, y1, z};
//        //WCS系统Y轴 => 牛眼X轴转换公式
//        int x1 = Math.abs(y - 61) + 11;
//        //WCS系统X轴 => 牛眼Y轴转换公式
//        int y1 = x + 10;
        int x1 = x + 10;
        int y1 = y + 10;
        return new int[]{y1, x1, z};
    }

    @Data