#

Junjie

2024-10-13 99573d3503e32befd853dda7cc0180e01a4c8597

 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;
@@ -46,7 +49,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {

    private static final String API_URL = "http://192.168.7.149:8082";
    private static String API_URL = "http://127.0.0.1:8082";

    private Device device;
    private RedisUtil redisUtil;
@@ -55,6 +58,7 @@
    public SurayShuttleThread(Device device,RedisUtil redisUtil) {
        this.device = device;
        this.redisUtil = redisUtil;
        API_URL = "http://" + device.getIp() + ":" + device.getPort();
    }

    @Override
@@ -123,7 +127,7 @@
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
                //电池电量
                shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));
                shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0" : data.getString("battery"));
                //故障
                shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");

@@ -432,6 +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);
    }
@@ -514,7 +549,7 @@
                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;
                }
@@ -655,6 +690,15 @@
    }

    @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) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");
@@ -672,6 +716,17 @@
        body.put("nodeX", loc.getRow());
        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()));
@@ -713,6 +768,23 @@
        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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