zy-asrs-master.git

			@@ -8,8 +8,12 @@
			import com.zy.asrs.framework.common.SpringUtils;
			import com.zy.asrs.framework.exception.CoolException;
			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.service.LocService;
			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.model.enums.ShuttleProtocolStatusType;
			@@ -21,8 +25,7 @@

			import java.text.MessageFormat;
			import java.text.SimpleDateFormat;
			import java.util.Date;
			import java.util.HashMap;
			import java.util.*;

			@Slf4j
			@SuppressWarnings("all")
			@@ -81,24 +84,29 @@
			if (data != null) {
			if (null == shuttleProtocol) {
			shuttleProtocol = new ShuttleProtocol();
			shuttleProtocol.setShuttleNo(device.getDeviceNo());
			shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			shuttleProtocol.setDevice(device);
			}

			//----------读取四向穿梭车状态-----------
			//小车忙状态位
			shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
			//小车设备状态
			Integer deviceStatus = data.getInteger("deviceStatus");
			shuttleProtocol.setDeviceStatus(deviceStatus);
			//当前二维码
			shuttleProtocol.setCurrentCode(data.getString("deviceLocation") == null ? "0" : data.getString("deviceLocation"));
			shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
			//电池电量
			shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));


			//是否顶升
			shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
			//是否有托盘
			shuttleProtocol.setHasPallet(data.getInteger("hasPallet") != 2 ? true : false);
			//行驶方向
			shuttleProtocol.setRunDirection(data.getString("direction") == null ? "none" : data.getString("direction"));
			//是否为充电状态
			shuttleProtocol.setHasCharge((deviceStatus == 5 \|\| deviceStatus == 13) ? true : false);

			///读取四向穿梭车状态-end

			@@ -158,17 +166,161 @@
			}

			@Override
			public synchronized boolean movePath() {
			public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
			try {
			String loginToken = requestLoginToken();
			if (loginToken == null) {
			return false;
			}

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

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

			for (NavigateNode node : sectionNodes) {
			HashMap<String, Object> map = new HashMap<>();
			map.put("nodexX", node.getX());
			map.put("nodexY", node.getY());
			map.put("nodexZ", node.getZ());
			if (flag) {
			map.put("oper", oper);
			flag = false;
			}
			modes.add(map);
			}
			}


			HashMap<String, Object> param = new HashMap<>();
			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("nodeNum", nodes.size());
			param.put("modes", modes);
			String response = new HttpHandler.Builder()
			.setUri(API_URL)
			.setPath("/RDS/runRoute")
			.setHeaders(headers)
			.setJson(JSON.toJSONString(param))
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			return false;
			}

			@Override
			public synchronized boolean move() {
			public synchronized boolean move(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/runOrder")
			.setHeaders(headers)
			.setJson(command.getBody())
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			return false;
			}

			@Override
			public synchronized boolean lift() {
			public synchronized boolean lift(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/actionOrder")
			.setHeaders(headers)
			.setJson(command.getBody())
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			return false;
			}

			@Override
			public synchronized boolean charge(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/actionOrder")
			.setHeaders(headers)
			.setJson(command.getBody())
			.build()
			.doPost();
			JSONObject jsonObject = JSON.parseObject(response);
			Integer code = jsonObject.getInteger("code");
			if (code.equals(200)) {
			return true;
			}
			} catch (Exception e) {
			e.printStackTrace();
			}
			return false;
			}

			@Override
			public synchronized boolean reset(ShuttleCommand command) {
			return false;
			}

			@@ -194,6 +346,8 @@
			ShuttleCommand command = new ShuttleCommand();
			command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
			command.setBody(JSON.toJSONString(body));
			command.setMode(ShuttleCommandModeType.MOVE.id);
			command.setTargetLocNo(loc.getLocNo());
			return command;
			}