#

Junjie

2024-04-12 684484fb93775edcfa19cfc7a43d0a748c8362be

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

@@ -7,10 +7,12 @@
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.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
import com.zy.asrs.wcs.core.service.BasShuttleService;
@@ -18,6 +20,7 @@
import com.zy.asrs.wcs.core.utils.NavigateUtils;
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;
@@ -110,7 +113,8 @@
                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);
@@ -370,6 +374,16 @@

    @Override
    public boolean isIdle() {
        return this.isIdle(null);
    }

    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
            }
        }
        if (this.shuttleProtocol.getIdle() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
@@ -441,10 +455,34 @@

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

        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= 100) {
            return true;
        }
        return false;
    }

    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
            Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_FLAG + shuttleProtocol.getTaskNo());
            if (object != null) {
                ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }
            }
        }
        return path;
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");