#

zjj

2024-06-20 5a2ec88cf71194456a371efda15f3cab5f6225ae

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

@@ -11,14 +11,17 @@
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.BasLift;
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.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.NavigateUtils;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
@@ -433,6 +436,37 @@
    }

    @Override
    public boolean updateLocation(ShuttleCommand command) {
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
            }

            HashMap<String, Object> headers = new HashMap<>();
            headers.put("Authorization", "Bearer " + loginToken);

            String response = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/changeLocation")
                    .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) {
            e.printStackTrace();
        }
        return false;
    }

    @Override
    public boolean isIdle() {
        return this.isIdle(null);
    }
@@ -674,6 +708,17 @@
        body.put("nodeY", loc.getBay());
        body.put("nodeZ", loc.getLev());

        //检测目标点是否为提升机
        BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
        BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getRow, loc.getRow())
                .eq(BasLift::getBay, loc.getBay())
                .eq(BasLift::getHostId, this.device.getHostId()));
        if (basLift != null) {
            LiftDispatcher liftDispatcher = SpringUtils.getBean(LiftDispatcher.class);
            Integer realLev = liftDispatcher.getLiftLevOffset(basLift.getDeviceId().intValue(), loc.getLev());
            body.put("nodeZ", realLev);
        }

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
@@ -714,6 +759,23 @@
        return command;
    }

    @Override
    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));

        String coord = "(" + Utils.getRow(locNo) + "," + Utils.getBay(locNo) + "," + Utils.getLev(locNo) + ")";
        body.put("coord", coord);

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

    //***************设备层通讯-不同厂商设备通讯方案不一致***************

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