blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
luxiaotao1123
2024-04-12 d6201c37c34681b11d6eeb5d3fa2008991d9f370 
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java


@@ -12,6 +12,7 @@


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;


@@ -19,6 +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;


@@ -33,6 +35,7 @@


import java.text.MessageFormat;


import java.text.SimpleDateFormat;


import java.util.*;


import java.util.concurrent.TimeUnit;




@Slf4j


@SuppressWarnings("all")


@@ -265,6 +268,7 @@


                    .setPath("/RDS/runRoute")


                    .setHeaders(headers)


                    .setJson(JSON.toJSONString(param))


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -294,6 +298,7 @@


                    .setPath("/RDS/runOrder")


                    .setHeaders(headers)


                    .setJson(command.getBody())


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -323,6 +328,7 @@


                    .setPath("/RDS/actionOrder")


                    .setHeaders(headers)


                    .setJson(command.getBody())


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -352,6 +358,7 @@


                    .setPath("/RDS/actionOrder")


                    .setHeaders(headers)


                    .setJson(command.getBody())


                    .setTimeout(60, TimeUnit.SECONDS)


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


@@ -464,6 +471,23 @@


    }




    @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_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 ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {


        HashMap<String, Object> body = new HashMap<>();


        body.put("messageName", "runOrder");