blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
Junjie
2024-04-12 89e6e823e4eeed9c08ac612d8089678ad24b4ef2 
 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;


@@ -32,6 +35,7 @@


import java.text.MessageFormat;


import java.text.SimpleDateFormat;


import java.util.*;


import java.util.concurrent.TimeUnit;




@Slf4j


@SuppressWarnings("all")


@@ -110,7 +114,8 @@


                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);


@@ -130,7 +135,7 @@


                ///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);


                }




@@ -223,25 +228,37 @@


            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;


@@ -255,7 +272,7 @@


            param.put("messageName", "runRoute");


            param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));


            param.put("deviceNo", device.getDeviceNo());


            param.put("taskId", taskNo);


            param.put("taskId", generateDeviceTaskNo(taskNo));


            param.put("nodeNum", nodes.size());


            param.put("modes", modes);


            String response = new HttpHandler.Builder()


@@ -263,6 +280,7 @@


                    .setPath("/RDS/runRoute")


                    .setHeaders(headers)


                    .setJson(JSON.toJSONString(param))


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -292,6 +310,7 @@


                    .setPath("/RDS/runOrder")


                    .setHeaders(headers)


                    .setJson(command.getBody())


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -321,6 +340,7 @@


                    .setPath("/RDS/actionOrder")


                    .setHeaders(headers)


                    .setJson(command.getBody())


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -350,6 +370,7 @@


                    .setPath("/RDS/actionOrder")


                    .setHeaders(headers)


                    .setJson(command.getBody())


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -370,27 +391,35 @@




    @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


                || this.shuttleProtocol.getTaskNo() == null


        ) {


            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.getTaskNo() == 0


                ;


        return res;


    }




    @Override


    public boolean isRequireCharge() {


        if (this.shuttleProtocol.getIdle() == null


        if (this.shuttleProtocol.getDeviceStatus() == null


                || this.shuttleProtocol.getPakMk() == null


                || this.shuttleProtocol.getErrorCode() == null


                || this.shuttleProtocol.getProtocolStatus() == null


@@ -398,7 +427,7 @@


            return false;


        }




        boolean res = this.shuttleProtocol.getIdle()


        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3)


                && this.shuttleProtocol.getPakMk()


                && this.shuttleProtocol.getErrorCode().equals("0")


                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id


@@ -454,12 +483,38 @@


    }




    @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_WORK_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 int generateDeviceTaskNo(int taskNo) {


        int no = taskNo % 255;


        if (no <= 1) {


            no = 2;


        }


        return no;


    }




    @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");


        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));


        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));


        body.put("taskId", taskNo);


        body.put("taskId", generateDeviceTaskNo(taskNo));




        LocService locService = SpringUtils.getBean(LocService.class);


        Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()