#

Junjie

2024-05-10 a42ae1ffc20459dc46a88590bc4a94f9280f2d3d

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

@@ -10,6 +10,7 @@
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.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
@@ -184,6 +185,7 @@
                    basShuttle.setStatus(1);
                    basShuttle.setDeleted(0);
                    basShuttle.setHostId(device.getHostId());
                    basShuttle.setDeviceId(device.getId().intValue());
                    shuttleService.save(basShuttle);
                }
                //任务号
@@ -217,10 +219,15 @@

    @Override
    public ShuttleProtocol getStatus() {
        return getStatus(true);
    }

    @Override
    public ShuttleProtocol getStatus(boolean clone) {
        if (this.shuttleProtocol == null) {
            return null;
        }
        return this.shuttleProtocol.clone();
        return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
    }

    @Override
@@ -257,11 +264,11 @@
                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 {
                    //子轨方向
                    oper = 6;
                } else {
                    //母轨方向
                    oper = 5;
                }

                for (int i = 0; i < sectionNodes.size(); i++) {
@@ -299,7 +306,11 @@
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            System.out.println("路径下发" + taskNo);
            System.out.println(JSON.toJSONString(jsonObject));
            System.out.println(JSON.toJSONString(param));
            if (code.equals(200)) {
                System.out.println("路径下发" + taskNo);
                return true;
            }
        } catch (Exception e) {
@@ -329,6 +340,7 @@
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            Integer code = jsonObject.getInteger("code");
            System.out.println(JSON.toJSONString(command.getBody()));
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
@@ -403,7 +415,9 @@

    @Override
    public synchronized boolean reset(ShuttleCommand command) {
        return false;
        setSyncTaskNo(0);
        setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        return true;
    }

    @Override
@@ -414,10 +428,12 @@
    @Override
    public boolean isIdle(ExecuteSupport support) {
        if (null != support) {
            if (!support.judgement()) {
                return false;
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
@@ -429,13 +445,26 @@
        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.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id)
                ;
                && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
                || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id);
        return res;
    }

    @Override
    public boolean isDeviceIdle() {
        return isDeviceIdle(null);
    }

    @Override
    public boolean isDeviceIdle(ExecuteSupport support) {
        if (null != support) {
            Boolean judgement = support.judgement();
            if (judgement != null && !judgement) {
                return true;
            }
        }

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
@@ -591,7 +620,20 @@
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
    public boolean enableMoveLoc(ShuttleMoveLocParam param) {
        shuttleProtocol.setMoveLoc(true);//开启跑库
        shuttleProtocol.setMoveType(param.getMoveType());
        shuttleProtocol.setXStart(param.getStartX());
        shuttleProtocol.setXTarget(param.getTargetX());
        shuttleProtocol.setXCurrent(param.getStartX());
        shuttleProtocol.setYStart(param.getStartY());
        shuttleProtocol.setYTarget(param.getTargetY());
        shuttleProtocol.setYCurrent(param.getStartY());
        return true;
    }

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