blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
Junjie
2024-10-17 d835d1b51f832889929cdf69010034a30ef44d02 
 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java


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


import com.zy.asrs.wcs.core.entity.BasLift;


import com.zy.asrs.wcs.core.model.command.LiftCommand;


import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;


import com.zy.asrs.wcs.core.model.enums.MotionCtgType;


import com.zy.asrs.wcs.core.service.BasLiftService;


import com.zy.asrs.wcs.rcs.News;


import com.zy.asrs.wcs.rcs.cache.OutputQueue;


@@ -27,14 +28,13 @@




import java.text.MessageFormat;


import java.text.SimpleDateFormat;


import java.util.Date;


import java.util.HashMap;


import java.util.*;




@Slf4j


@SuppressWarnings("all")


public class SurayLiftThread implements LiftThread {




    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;


@@ -43,6 +43,7 @@


    public SurayLiftThread(Device device,RedisUtil redisUtil) {


        this.device = device;


        this.redisUtil = redisUtil;


        API_URL = "http://" + device.getIp() + ":" + device.getPort();


    }




    @Override


@@ -63,9 +64,9 @@


        try {


            readStatus();




            //提升机处于运行状态，将标记置为false


            //提升机处于运行状态，将标记置为true


            if (liftProtocol.getRun()) {


                liftProtocol.setPakMk(false);


                liftProtocol.setPakMk(true);


            }


        } catch (Exception e) {


            OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));


@@ -91,18 +92,25 @@


                //----------读取提升机状态-----------


                //模式


                liftProtocol.setModel(true);




                boolean runningState = data.getInteger("runningState") == 1;


                if (!data.getInteger("completeTaskNo").equals(data.getInteger("taskNo"))) {


                    runningState = true;//工作号不一致，认为处于运行中


                }


                //运行状态


                liftProtocol.setRun(data.getInteger("runningstate") == 1);


                liftProtocol.setRun(runningState);


                //就绪状态


                liftProtocol.setReady(data.getInteger("readyState") == 1);


                //有托盘


                liftProtocol.setHasTray(data.getString("haveCargo").equals("Y"));


                //有小车


                liftProtocol.setHasCar(data.getString("haveCar").equals("Y"));


                liftProtocol.setHasCar(data.getInteger("haveCar") == 1);


                //故障码


                liftProtocol.setErrorCode("");


                liftProtocol.setErrorCode("0");


                //层


                liftProtocol.setLev(data.getInteger("curFloor"));


                //已完成的任务号


                liftProtocol.setCompleteTaskNo(data.getString("completeTaskNo"));






                //************补充扩展字段*************


@@ -326,6 +334,30 @@




    @Override


    public synchronized boolean reset(LiftCommand 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/lifterOperation")


                    .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;


    }




@@ -335,22 +367,99 @@


    }




    @Override


    public boolean isIdle(ExecuteSupport support) {


        if (null != support) {


            if (!support.judgement()) {


                return false;


    public boolean isIdle(MotionCtgType flag) {


        if (flag == null) {


            InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//获取扩展字段


            // 判断提升机是否自动、就绪、空闲、未锁定


            if (this.liftProtocol.getModel()


                    && !this.liftProtocol.getRun()


                    && this.liftProtocol.getPakMk()


                    && this.liftProtocol.getReady()


                    && this.liftProtocol.getErrorCode().equals("0")


                    && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)


                    || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))


                    && !extend.getLock()


            ) {


                return true;


            }


            return false;


        }




        switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(flag)))){


            case SHUTTLE_MOVE_FROM_LIFT://穿梭车出提升机


            case SHUTTLE_MOVE_TO_LIFT://穿梭车进提升机


            case LIFT_SHUTTLE_ARRIVAL://提升机解锁


                return isIdleShuttleMoveToLift();


            case LIFT_LOCK://提升机锁定


            case LIFT_UNLOCK://提升机解锁


                return isIdleLiftLock();


        }




        return false;


    }




    //穿梭车进提升机时-提升机状态判断


    private boolean isIdleShuttleMoveToLift() {


        InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//获取扩展字段


        // 判断提升机是否自动、就绪、空闲、未锁定


        // 判断提升机是否自动、就绪、空闲


        if (this.liftProtocol.getModel()


                && !this.liftProtocol.getRun()


                && this.liftProtocol.getReady()


                && this.liftProtocol.getPakMk()


                && this.liftProtocol.getErrorCode().equals("0")


                && this.liftProtocol.getProtocolStatus().equals(LiftProtocolStatusType.IDLE)


                && !extend.getLock()


                && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)


                || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))


        ) {


            if (!extend.getLock()) {


                //提升机未锁定，需要判断是否就绪


                if (!this.liftProtocol.getReady()) {


                    return false;


                }


            }


            return true;


        }


        return false;


    }




    //提升机锁定-提升机状态判断


    private boolean isIdleLiftLock() {


        // 判断提升机是否自动、就绪、空闲


        if (this.liftProtocol.getModel()


                && !this.liftProtocol.getRun()


                && this.liftProtocol.getPakMk()


                && this.liftProtocol.getErrorCode().equals("0")


                && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)


                || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))


        ) {


            return true;


        }


        return false;


    }




    @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;


            }


        }




        // 判断提升机是否自动、就绪、空闲


        if (this.liftProtocol.getModel()


                && !this.liftProtocol.getRun()


                && this.liftProtocol.getErrorCode().equals("0")


        ) {


            if (this.liftProtocol.getTaskNo() == 0) {


                //无任务情况下检测是否就绪


                if (!this.liftProtocol.getReady()) {


                    return false;


                }


            }


            return true;


        }


        return false;


@@ -372,6 +481,11 @@


    public boolean isLock(ExecuteSupport support) {


        InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();


        return extend.getLock();


    }




    @Override


    public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {


        return taskNo;


    }




    //***************设备层通讯-不同厂商设备通讯方案不一致***************


@@ -403,42 +517,42 @@


    //获取设备状态


    private JSONObject requestDeviceStatus() {


        //模拟数据


        String data = "[{\"taskNo\":1244,\"curFloor\":2,\"readyState\":1,\"haveCar\":'N',\"completeTaskNo\":0,\"haveCargo\":\"Y\",\"runningstate\":0,\"floors\":[{\"floor\":1,\"location\":1,\"run\":1,\"error\":1,\"cargoState\":\"Y\"},{\"floor\":1,\"location\":2,\"run\":0,\"error\":0,\"cargoState\":\"N\"}]}]";


        return JSON.parseArray(data).getJSONObject(0);


//        try {


//            String loginToken = requestLoginToken();


//            if (loginToken == null) {


//                return null;


//            }


//


//            HashMap<String, Object> headers = new HashMap<>();


//            headers.put("Authorization", "Bearer " + loginToken);


//


//            HashMap<String, Object> param = new HashMap<>();


//            param.put("messageName", "deviceRgvStatus");


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


//            param.put("deviceNo", device.getDeviceNo());


//            String response = new HttpHandler.Builder()


//                    .setUri(API_URL)


//                    .setPath("/RDS/deviceLifterStatus")


//                    .setHeaders(headers)


//                    .setJson(JSON.toJSONString(param))


//                    .build()


//                    .doPost();


//            JSONObject jsonObject = JSON.parseObject(response);


//            Integer code = jsonObject.getInteger("code");


//            if (code.equals(200)) {


//                return jsonObject.getJSONArray("data").getJSONObject(0);


//            }


//        } catch (Exception e) {


//            e.printStackTrace();


//        }


//        return null;


//        String data = "[{\"taskNo\":1244,\"curFloor\":2,\"readyState\":1,\"haveCar\":'N',\"completeTaskNo\":0,\"haveCargo\":\"Y\",\"runningstate\":0,\"floors\":[{\"floor\":1,\"location\":1,\"run\":1,\"error\":1,\"cargoState\":\"Y\"},{\"floor\":1,\"location\":2,\"run\":0,\"error\":0,\"cargoState\":\"N\"}]}]";


//        return JSON.parseArray(data).getJSONObject(0);


        try {


            String loginToken = requestLoginToken();


            if (loginToken == null) {


                return null;


            }




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


            headers.put("Authorization", "Bearer " + loginToken);




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


            param.put("messageName", "deviceRgvStatus");


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


            param.put("deviceNo", device.getDeviceNo());


            String response = new HttpHandler.Builder()


                    .setUri(API_URL)


                    .setPath("/RDS/deviceLifterStatus")


                    .setHeaders(headers)


                    .setJson(JSON.toJSONString(param))


                    .build()


                    .doPost();


            JSONObject jsonObject = JSON.parseObject(response);


            Integer code = jsonObject.getInteger("code");


            if (code.equals(200)) {


                return jsonObject.getJSONArray("data").getJSONObject(0);


            }


        } catch (Exception e) {


            e.printStackTrace();


        }


        return null;


    }




    //空载移动


    @Override


    public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {


    public List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {


        int taskMode = 3;//空载移动




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


@@ -448,6 +562,8 @@


        body.put("taskId", taskNo);


        body.put("startLayer", 0);


        body.put("endLayer", targetLev);


        body.put("startLocation", 0);


        body.put("endLocation", 0);


        body.put("model", taskMode);




        LiftCommand command = new LiftCommand();


@@ -456,12 +572,16 @@


        command.setMode(LiftCommandModeType.MOVE.id);


        command.setOriginLev(0);


        command.setTargetLev(targetLev);


        return command;




        ArrayList<LiftCommand> list = new ArrayList<>();


        list.add(command);


        list.addAll(getTaskClearCommand());


        return list;


    }




    //载车移动


    @Override


    public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {


    public List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {


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


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


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


@@ -469,6 +589,8 @@


        body.put("taskId", taskNo);


        body.put("startLayer", sourceLev);


        body.put("endLayer", targetLev);


        body.put("startLocation", 0);


        body.put("endLocation", 0);


        body.put("model", 2);//载车移动




        LiftCommand command = new LiftCommand();


@@ -477,12 +599,16 @@


        command.setMode(LiftCommandModeType.MOVE.id);


        command.setOriginLev(sourceLev);


        command.setTargetLev(targetLev);


        return command;




        ArrayList<LiftCommand> list = new ArrayList<>();


        list.add(command);


        list.addAll(getTaskClearCommand());


        return list;


    }




    //托盘出入


    @Override


    public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {


    public List<LiftCommand> getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {


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


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


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


@@ -502,12 +628,16 @@


        command.setTargetLev(targetLev);


        command.setOriginSta(originSta);


        command.setTargetSta(targetSta);


        return command;




        ArrayList<LiftCommand> list = new ArrayList<>();


        list.add(command);


        list.addAll(getTaskClearCommand());


        return list;


    }




    //锁定/解锁提升机


    @Override


    public LiftCommand getLockCommand(Integer taskNo, Boolean lock) {


    public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {


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


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


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


@@ -520,12 +650,15 @@


        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));


        command.setBody(JSON.toJSONString(body));


        command.setMode(lock ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);


        return command;




        ArrayList<LiftCommand> list = new ArrayList<>();


        list.add(command);


        return list;


    }




    //小车已到位/已驶离信号


    @Override


    public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {


    public List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal) {


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


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


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


@@ -537,7 +670,28 @@


        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));


        command.setBody(JSON.toJSONString(body));


        command.setMode(signal ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);


        return command;




        ArrayList<LiftCommand> list = new ArrayList<>();


        list.add(command);


        return list;


    }




    //获取提升机任务清除命令


    private List<LiftCommand> getTaskClearCommand() {


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


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


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


        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));


        body.put("operation", 1);




        LiftCommand command = new LiftCommand();


        command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));


        command.setBody(JSON.toJSONString(body));


        command.setMode(LiftCommandModeType.RESET.id);




        ArrayList<LiftCommand> list = new ArrayList<>();


        list.add(command);


        return list;


    }




    /**