#

Junjie

2024-04-23 36b753105aa294e6a34fd7acccbd26693b9b93d1

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

@@ -3,19 +3,26 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.DateUtils;
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.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.utils.NavigateUtils;
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;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -24,12 +31,15 @@
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.concurrent.TimeUnit;

@Slf4j
@SuppressWarnings("all")
@@ -99,12 +109,22 @@
                //----------读取四向穿梭车状态-----------
                //小车设备状态
                Integer deviceStatus = data.getInteger("deviceStatus");
                if (deviceStatus == 255) {
                    //离线
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }

                if(deviceStatus != 4 || deviceStatus != 6 || deviceStatus != 7 || deviceStatus != 8 || deviceStatus != 255 || deviceStatus != -1) {
                    shuttleProtocol.setMode(1);//自动状态
                }

                shuttleProtocol.setDeviceStatus(deviceStatus);
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));

                //故障
                shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
@@ -121,17 +141,19 @@
                extend.setStatusDescription(data.getString("statusDescription"));//状态描述
                shuttleProtocol.setExtend(extend);//扩展字段

                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                ///读取四向穿梭车状态-end

                //小车处于忙碌状态，将标记置为true
                if (!shuttleProtocol.getIdle()) {
                if (deviceStatus == 1 || deviceStatus == 2 || deviceStatus == 5) {
                    shuttleProtocol.setPakMk(true);
                }

//                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == ShuttleDeviceStatusType.IDLE.id) {
//                    //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
//                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
//                }
                if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 3) {
                    //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲
                    shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
                }

                if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
                    //采集时间超过5s，保存一次数据记录
@@ -148,6 +170,30 @@

                    //更新采集时间
                    shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
                }

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                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
                    basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
                    basShuttle.setStatus(1);
                    basShuttle.setDeleted(0);
                    basShuttle.setHostId(device.getHostId());
                    shuttleService.save(basShuttle);
                }
                //任务号
                basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
                //修改时间
                basShuttle.setUpdateTime(new Date());
                //设备状态
                basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
                if (shuttleService.updateById(basShuttle)) {
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
                }
            } else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}读取四向穿梭车状态信息失败", DateUtils.convert(new Date()), device.getDeviceNo()));
@@ -171,7 +217,10 @@

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

    @Override
@@ -193,25 +242,37 @@
            ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
            for (ArrayList<NavigateNode> sectionNodes : data) {
            for (int idx = 0; idx < data.size(); idx++) {
                ArrayList<NavigateNode> sectionNodes = data.get(idx);
                boolean isRemoveFooterNode = false;//是否剔除尾节点
                if (idx != data.size() - 1) {
                    isRemoveFooterNode = true;//剔除尾节点
                }

                boolean flag = true;
                int oper;
                //开始路径
                NavigateNode startPath = nodes.get(0);
                NavigateNode startPath = sectionNodes.get(0);
                //结束路径
                NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
                if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                        || ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
                    //母轨方向
                    oper = 5;
                }else {
                } else {
                    //子轨方向
                    oper = 6;
                }

                for (NavigateNode node : sectionNodes) {
                for (int i = 0; i < sectionNodes.size(); i++) {
                    if (isRemoveFooterNode && i == sectionNodes.size() - 1) {
                        continue;
                    }
                    NavigateNode node = sectionNodes.get(i);
                    HashMap<String, Object> map = new HashMap<>();
                    map.put("nodexX", node.getX());
                    map.put("nodexY", node.getY());
                    map.put("nodexZ", node.getZ());
                    map.put("nodeX", node.getX());
                    map.put("nodeY", node.getY());
                    map.put("nodeZ", node.getZ());
                    if (flag) {
                        map.put("oper", oper);
                        flag = false;
@@ -233,6 +294,7 @@
                    .setPath("/RDS/runRoute")
                    .setHeaders(headers)
                    .setJson(JSON.toJSONString(param))
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
@@ -262,11 +324,13 @@
                    .setPath("/RDS/runOrder")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
            }
        } catch (Exception e) {
@@ -291,11 +355,13 @@
                    .setPath("/RDS/actionOrder")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
            }
        } catch (Exception e) {
@@ -320,11 +386,13 @@
                    .setPath("/RDS/actionOrder")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
            }
        } catch (Exception e) {
@@ -335,12 +403,24 @@

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

    @Override
    public boolean isIdle() {
        if (this.shuttleProtocol.getIdle() == null
        return this.isIdle(null);
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
            }
        }
        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
@@ -348,12 +428,168 @@
            return false;
        }

        boolean res = this.shuttleProtocol.getIdle()
        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id)
                ;
        return res;
    }

    @Override
    public boolean isDeviceIdle() {
        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
        ) {
            return false;
        }

        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                ;
        return res;
    }

    @Override
    public boolean isRequireCharge() {
        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
        ) {
            return false;
        }

        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                ;
        return res;
        if (!res) {
            return res;
        } else {
            // 电量小于阈值需要进行充电
            try {
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                if (shuttleService == null) {
                    return false;
                }
                BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
                if (basShuttle == null) {
                    return false;
                }
                Integer chargeLine = basShuttle.getChargeLine();
                if (chargeLine == null) {
                    return false;
                }
                return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
            } catch (Exception e) {
                return false;
            }
        }
    }

    @Override
    public boolean isCharging() {
        if (this.shuttleProtocol.getDeviceStatus() == null) {
            return false;
        }

        if (this.shuttleProtocol.getDeviceStatus() == 5 || this.shuttleProtocol.getDeviceStatus() == 13) {
            //充电中和电池均衡 =》 充电
            return true;
        }
        return false;
    }

    @Override
    public boolean isChargingCompleted() {
        Integer maxPower = 100;
        DictService dictService = SpringUtils.getBean(DictService.class);
        if (dictService != null) {
            Dict chargeMaxValue = dictService.getOne(new LambdaQueryWrapper<Dict>()
                    .eq(Dict::getFlag, "chargeMaxValue")
                    .eq(Dict::getStatus, 1));
            if (chargeMaxValue != null) {
                maxPower = Integer.parseInt(chargeMaxValue.getValue());
            }
        }

        if (this.shuttleProtocol.getBatteryPower() == null) {
            return false;
        }

        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
            return true;
        }
        return false;
    }

    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
            Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
            if (object != null) {
                ShuttleRedisCommand redisCommand = null;
                try {
                    redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
                } catch (JsonProcessingException e) {
                    return path;
                }
                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
                if (nodes == null) {
                    return path;
                }
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }
            }
        }
        return path;
    }

    @Override
    public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
        int deviceTaskNo = taskNo;
        try {
            deviceTaskNo = Utils.getTaskNo("SURAY_SHUTTLE");
        } catch (Exception e) {
            return taskNo;
        }

        switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(motionCtgType)))){
            case SHUTTLE_MOVE://穿梭车移动
            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
            case SHUTTLE_MOVE_TO_LIFT://进提升机
                return deviceTaskNo;
            default:
                return taskNo;
        }
    }

    @Override
    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
        this.shuttleProtocol.setProtocolStatus(status);
        return true;
    }

    @Override
    public synchronized boolean setSyncTaskNo(Integer taskNo) {
        this.shuttleProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public synchronized boolean setPakMk(boolean pakMk) {
        this.shuttleProtocol.setPakMk(pakMk);
        return true;
    }

    @Override