#充电换层优化

Junjie

2025-05-09 7e129b703408f5d2f1409f8c5a3af9c4cb3d86f6

 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.action.ShuttleAction;
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;
@@ -30,6 +31,7 @@
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
import com.zy.asrs.wcs.rcs.model.CommandResponse;
import com.zy.asrs.wcs.rcs.model.command.NyShuttleHttpCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -62,6 +64,9 @@

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

    //原始设备数据
    private Object originDeviceData;

    public NyShuttleThread(Device device, RedisUtil redisUtil) {
        this.device = device;
        this.redisUtil = redisUtil;
@@ -75,18 +80,125 @@
        //监听消息并存储
        Thread innerThread = new Thread(() -> {
            while (true) {
                listenSocketMessage();
                try {
                    listenSocketMessage();
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        innerThread.start();

        while (true) {
            try {
                read();
                Thread.sleep(500);
            } catch (Exception e) {
                log.error("ShuttleThread Fail", e);
        //设备读取
        Thread readThread = new Thread(() -> {
            while (true) {
                try {
                    read();
                    Thread.sleep(50);
                } catch (Exception e) {
                    log.error("ShuttleThread Fail", e);
                }
            }
        });
        readThread.start();

        //设备执行
        Thread executeThread = new Thread(() -> {
            while (true) {
                try {
                    ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
                    if (shuttleAction == null) {
                        continue;
                    }

                    Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_FLAG + device.getDeviceNo());
                    if (object == null) {
                        continue;
                    }

                    Integer taskNo = Integer.valueOf(String.valueOf(object));
                    if (taskNo != 0) {
                        //存在任务需要执行
                        boolean result = shuttleAction.executeWork(device, taskNo);
                    }

                    //小车空闲且有跑库程序
                    shuttleAction.moveLoc(device);

                    Thread.sleep(200);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        executeThread.start();

        //其他任务
        Thread otherThread = new Thread(() -> {
            while (true) {
                try {
                    listenInit();//监听初始化事件
                    saveLog();//保存数据
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        });
        otherThread.start();
    }

    private void saveLog() {
        if (shuttleProtocol == null) {
            return;
        }

        if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
            if (this.originDeviceData != null) {
                //采集时间超过5s，保存一次数据记录
                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
                deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
                deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
                deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
                deviceDataLog.setCreateTime(new Date());
                deviceDataLog.setHostId(device.getHostId());
                deviceDataLogService.save(deviceDataLog);

                //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());
            basShuttle.setDeviceId(device.getId().intValue());
            shuttleService.save(basShuttle);
        }else {
            Integer shuttleId = basShuttle.getId();
            basShuttle = new BasShuttle();
            basShuttle.setId(shuttleId);
        }
        //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()));
        }
    }

@@ -120,7 +232,7 @@
        }
    }

    public JSONObject getRequestBody(String type) {
    public JSONObject getRequestBody(String type, String taskId) {
        try {
            // 获取服务器响应
            JSONObject result = null;
@@ -143,7 +255,14 @@
                }

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

                if (taskId != null) {
                    String responseTaskId = resultBody.get("taskId").toString();
                    if (!responseTaskId.equals(taskId)) {
                        continue;//响应ID与请求ID不一致，不在调试模式下
                    }
                }

                result = socketResult;
@@ -167,7 +286,6 @@
                this.connect();
            }
            readStatus();
            listenInit();//监听初始化事件
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
@@ -212,11 +330,11 @@
                shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));

                //是否顶升
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? true : false);
                shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
                //是否有托盘
                shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
                //行驶方向
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("direction"));
                shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
                //是否为充电状态
                shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);

@@ -246,47 +364,9 @@
                    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
                    //保存数据记录
                    DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                    DeviceDataLog deviceDataLog = new DeviceDataLog();
                    deviceDataLog.setOriginData(JSON.toJSONString(data));
                    deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
                    deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
                    deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
                    deviceDataLog.setCreateTime(new Date());
                    deviceDataLog.setHostId(device.getHostId());
                    deviceDataLogService.save(deviceDataLog);
                this.originDeviceData = data;

                    //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());
                    basShuttle.setDeviceId(device.getId().intValue());
                    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()));
                }
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), device.getDeviceNo()));
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -323,7 +403,6 @@
                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, code);
                    //发出请求
@@ -331,6 +410,9 @@
                    JSONObject requestResult = requestCommand(httpCommand);

                    removeIdx = i;//此数据已经处理，从结果集中剔除

                    log.info(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
                    break;
                }
            }
@@ -362,17 +444,20 @@
    }

    @Override
    public boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
        return true;
    public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
        CommandResponse response = new CommandResponse(true);
        return response;
    }

    @Override
    public boolean move(ShuttleCommand command) {
    public CommandResponse move(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            Map<String, Object> body = httpCommand.getRequest().getBody();
            Object pathObj = body.get("path");
            int taskId = Integer.parseInt(body.get("taskId").toString());
            List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
            ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
            while (!path.isEmpty()) {
@@ -380,7 +465,12 @@
                if (path.size() > 10) {
                    List<JSONObject> subList = path.subList(0, 10);
                    list.addAll(subList);
                    subList.clear();

                    List<JSONObject> tmp = new ArrayList<>();
                    for (int i = 10; i < path.size(); i++) {
                        tmp.add(path.get(i));
                    }
                    path = tmp;
                }else  {
                    list.addAll(path);
                    path.clear();
@@ -391,6 +481,7 @@

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

@@ -400,59 +491,86 @@
            for (NyShuttleHttpCommand requestCommand : commandList) {
                JSONObject result = requestCommand(requestCommand);
                if (result == null) {
                    return false;//请求失败
                    return response;//请求失败
                }
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                response.setMessage(JSON.toJSONString(result));
                response.setResult(true);
            }
            return true;
        } catch (IOException e) {
            return false;
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            response.setMessage(e.getMessage());
            return response;
        }
    }

    @Override
    public boolean lift(ShuttleCommand command) {
    public CommandResponse lift(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        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
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            return true;
        } catch (IOException e) {
            return false;
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
    public boolean charge(ShuttleCommand command) {
    public CommandResponse charge(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        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
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            return true;
        } catch (IOException e) {
            return false;
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
    public boolean reset(ShuttleCommand command) {
    public CommandResponse reset(ShuttleCommand command) {
        setSyncTaskNo(0);
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        enableMoveLoc(null, false);
        return true;
        return new CommandResponse(true, JSON.toJSONString(command));
    }

    @Override
    public boolean updateLocation(ShuttleCommand param) {
        return true;//还没移植过来
    public CommandResponse updateLocation(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            //发出请求
            NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
            JSONObject result = requestCommand(httpCommand);
            if (result == null) {
                return response;//请求失败
            }
            this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
            response.setMessage(JSON.toJSONString(result));
            response.setResult(true);
            return response;
        } catch (Exception e) {
            e.printStackTrace();
            return response;
        }
    }

    @Override
@@ -556,7 +674,7 @@
                if (shuttleService == null) {
                    return false;
                }
                BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
                BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, this.device.getId()));
                if (basShuttle == null) {
                    return false;
                }
@@ -577,7 +695,7 @@
            return false;
        }

        if (this.shuttleProtocol.getDeviceStatus() == 1 && this.shuttleProtocol.getHasCharge()) {
        if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
            //运行中 && 充电中
            return true;
        }
@@ -702,6 +820,15 @@
    }

    @Override
    public boolean requestWaiting() {
        if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
            this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
            return true;
        }
        return false;
    }

    @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);
@@ -709,9 +836,10 @@

        ArrayList<HashMap<String, Object>> path = new ArrayList<>();

        Integer taskId = getTaskId();
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("taskId", taskId);//TaskID需要随机
//        body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//起点
//        body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//终点
        body.put("path", path);
@@ -754,6 +882,7 @@
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(loc.getLocNo());
        command.setTaskNo(taskId);
        return command;
    }

@@ -762,9 +891,10 @@
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", lift ? "liftUp" : "liftDown");//顶升或下降命令
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("taskId", taskId);
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -773,6 +903,7 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
        command.setTaskNo(taskId);
        return command;
    }

@@ -781,9 +912,10 @@
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        Integer taskId = getTaskId();//TaskID需要随机
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", charge ? "charge" : "stopCharge");//充电或停止充电
        body.put("taskId", getTaskId());//TaskID需要随机
        body.put("taskId", taskId);
        request.setBody(body);

        httpStandard.setRequest(request);
@@ -792,12 +924,28 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
        command.setTaskNo(taskId);
        return command;
    }

    @Override
    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
        return null;//还没移植过来
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "updateFloor");//更新层Z
        body.put("z", Utils.getLev(locNo));//坐标Z
        request.setBody(body);

        httpStandard.setRequest(request);

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

    //获取小车复位响应命令
@@ -851,6 +999,7 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.RESET.id);
        command.setTaskNo(taskNo);
        return command;
    }

@@ -934,25 +1083,29 @@
//            System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));

        String requestType = null;
        String taskId = null;
        try {
            requestType = httpCommand.getRequest().getBody().get("requestType").toString();
            taskId = httpCommand.getRequest().getBody().get("taskId").toString();
        } catch (Exception e) {
            return null;
//            return null;
            //taskId可能取空，不报错，正常情况
        }

        // 获取服务器响应
        // 尝试10次
        JSONObject result = null;
        for (int i = 0; i < 10; i++) {
            result = getRequestBody(requestType);
            result = getRequestBody(requestType, taskId);
            if (result == null) {
                try {
                    Thread.sleep(100);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }else {
                break;
            }
            break;
        }
        return result;//返回Body结果集
    }