#

Junjie

2024-06-18 225f8abb319ed527b90f50c678c38f6e7af68bdd

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

@@ -10,6 +10,7 @@
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.NavigateNode;
@@ -45,7 +46,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {

    private static final String API_URL = "http://127.0.0.1:8082";
    private static final String API_URL = "http://192.168.7.149:8082";

    private Device device;
    private RedisUtil redisUtil;
@@ -184,6 +185,7 @@
                    basShuttle.setStatus(1);
                    basShuttle.setDeleted(0);
                    basShuttle.setHostId(device.getHostId());
                    basShuttle.setDeviceId(device.getId().intValue());
                    shuttleService.save(basShuttle);
                }
                //任务号
@@ -217,10 +219,15 @@

    @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
@@ -231,6 +238,16 @@
    @Override
    public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
        try {
            //默认地图母轨方向x
            String mapDirection = "x";
            DictService dictService = SpringUtils.getBean(DictService.class);
            Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
                    .eq(Dict::getFlag, "direction_map")
                    .eq(Dict::getStatus, 1));
            if (dict != null) {
                mapDirection = dict.getValue();
            }

            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
@@ -255,7 +272,7 @@
                NavigateNode startPath = sectionNodes.get(0);
                //结束路径
                NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
                if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                        || ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
                    //母轨方向
                    oper = 5;
@@ -299,7 +316,11 @@
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            System.out.println("路径下发" + taskNo);
            System.out.println(JSON.toJSONString(jsonObject));
            System.out.println(JSON.toJSONString(param));
            if (code.equals(200)) {
                System.out.println("路径下发" + taskNo);
                return true;
            }
        } catch (Exception e) {
@@ -329,6 +350,7 @@
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            System.out.println(JSON.toJSONString(command.getBody()));
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
@@ -405,6 +427,7 @@
    public synchronized boolean reset(ShuttleCommand command) {
        setSyncTaskNo(0);
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        enableMoveLoc(null, false);
        return true;
    }

@@ -608,6 +631,30 @@
    }

    @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) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");