#算法优化

Junjie

2024-12-03 b757ac18d7aab051f72c8f52c546c7fd715a8196

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

@@ -10,20 +10,25 @@
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.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;
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.CommandResponse;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
@@ -45,7 +50,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {

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

    private Device device;
    private RedisUtil redisUtil;
@@ -54,6 +59,7 @@
    public SurayShuttleThread(Device device,RedisUtil redisUtil) {
        this.device = device;
        this.redisUtil = redisUtil;
        API_URL = "http://" + device.getIp() + ":" + device.getPort();
    }

    @Override
@@ -122,7 +128,7 @@
                //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");

@@ -184,6 +190,7 @@
                    basShuttle.setStatus(1);
                    basShuttle.setDeleted(0);
                    basShuttle.setHostId(device.getHostId());
                    basShuttle.setDeviceId(device.getId().intValue());
                    shuttleService.save(basShuttle);
                }
                //任务号
@@ -217,10 +224,15 @@

    @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
@@ -229,11 +241,23 @@
    }

    @Override
    public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
    public synchronized CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
        CommandResponse response = new CommandResponse(false);
        try {
            NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
            //默认地图母轨方向x
            String mapDirection = "x";
            DictService dictService = SpringUtils.getBean(DictService.class);
            Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
                    .eq(Dict::getFlag, "direction_map")
                    .eq(Dict::getStatus, 1));
            if (dict != null) {
                mapDirection = dict.getValue();
            }

            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
                return response;
            }

            HashMap<String, Object> headers = new HashMap<>();
@@ -241,7 +265,7 @@

            ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
            ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodes);
            for (int idx = 0; idx < data.size(); idx++) {
                ArrayList<NavigateNode> sectionNodes = data.get(idx);
                boolean isRemoveFooterNode = false;//是否剔除尾节点
@@ -255,7 +279,7 @@
                NavigateNode startPath = sectionNodes.get(0);
                //结束路径
                NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
                if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
                        || ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
                    //母轨方向
                    oper = 5;
@@ -289,7 +313,7 @@
            param.put("taskId", taskNo);
            param.put("nodeNum", nodes.size());
            param.put("modes", modes);
            String response = new HttpHandler.Builder()
            String responseStr = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/runRoute")
                    .setHeaders(headers)
@@ -297,29 +321,36 @@
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            JSONObject jsonObject = JSON.parseObject(responseStr);
            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)) {
                return true;
                System.out.println("路径下发" + taskNo);
                response.setResult(true);
                response.setMessage(responseStr);
                return response;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
        return response;
    }

    @Override
    public synchronized boolean move(ShuttleCommand command) {
    public synchronized CommandResponse move(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
                return response;
            }

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

            String response = new HttpHandler.Builder()
            String responseStr = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/runOrder")
                    .setHeaders(headers)
@@ -327,30 +358,34 @@
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            JSONObject jsonObject = JSON.parseObject(responseStr);
            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;
                response.setResult(true);
                response.setMessage(responseStr);
                return response;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
        return response;
    }

    @Override
    public synchronized boolean lift(ShuttleCommand command) {
    public synchronized CommandResponse lift(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
                return response;
            }

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

            String response = new HttpHandler.Builder()
            String responseStr = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/actionOrder")
                    .setHeaders(headers)
@@ -358,30 +393,33 @@
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            JSONObject jsonObject = JSON.parseObject(responseStr);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
                response.setResult(true);
                response.setMessage(responseStr);
                return response;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
        return response;
    }

    @Override
    public synchronized boolean charge(ShuttleCommand command) {
    public synchronized CommandResponse charge(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return false;
                return response;
            }

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

            String response = new HttpHandler.Builder()
            String responseStr = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/actionOrder")
                    .setHeaders(headers)
@@ -389,23 +427,60 @@
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(response);
            JSONObject jsonObject = JSON.parseObject(responseStr);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                return true;
                response.setResult(true);
                response.setMessage(responseStr);
                return response;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return false;
        return response;
    }

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

    @Override
    public CommandResponse updateLocation(ShuttleCommand command) {
        CommandResponse response = new CommandResponse(false);
        try {
            String loginToken = requestLoginToken();
            if (loginToken == null) {
                return response;
            }

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

            String responseStr = new HttpHandler.Builder()
                    .setUri(API_URL)
                    .setPath("/RDS/changeLocation")
                    .setHeaders(headers)
                    .setJson(command.getBody())
                    .setTimeout(60, TimeUnit.SECONDS)
                    .build()
                    .doPost();
            JSONObject jsonObject = JSON.parseObject(responseStr);
            Integer code = jsonObject.getInteger("code");
            if (code.equals(200)) {
                this.shuttleProtocol.setSendTime(System.currentTimeMillis());//指令下发时间
                response.setResult(true);
                response.setMessage(responseStr);
                return response;
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
        return response;
    }

    @Override
@@ -491,7 +566,7 @@
                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;
                }
@@ -608,6 +683,39 @@
    }

    @Override
    public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
        if (enable) {
            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());
        }else {
            shuttleProtocol.setMoveLoc(false);
            shuttleProtocol.setMoveType(0);
            shuttleProtocol.setXStart(0);
            shuttleProtocol.setXTarget(0);
            shuttleProtocol.setXCurrent(0);
            shuttleProtocol.setYStart(0);
            shuttleProtocol.setYTarget(0);
            shuttleProtocol.setYCurrent(0);
        }
        return true;
    }

    @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");
@@ -626,11 +734,23 @@
        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()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(loc.getLocNo());
        command.setTaskNo(taskNo);
        return command;
    }

@@ -647,6 +767,7 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
        command.setTaskNo(taskNo);
        return command;
    }

@@ -663,6 +784,25 @@
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
        command.setTaskNo(taskNo);
        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);
        command.setTaskNo(taskNo);
        return command;
    }