#

Junjie

2024-05-05 dad3cd8ed8afa86b651bb1a053421e7aa2b8c7ac

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

@@ -3,6 +3,8 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
@@ -13,11 +15,11 @@
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.model.enums.*;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
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;
@@ -29,6 +31,8 @@
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

@@ -109,6 +113,11 @@
                    //离线
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
                }

                if(deviceStatus != 4 || deviceStatus != 6 || deviceStatus != 7 || deviceStatus != 8 || deviceStatus != 255 || deviceStatus != -1) {
                    shuttleProtocol.setMode(1);//自动状态
                }

                shuttleProtocol.setDeviceStatus(deviceStatus);
                //当前二维码
                shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
@@ -132,10 +141,12 @@
                extend.setStatusDescription(data.getString("statusDescription"));//状态描述
                shuttleProtocol.setExtend(extend);//扩展字段

                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
                ///读取四向穿梭车状态-end

                //小车处于忙碌状态，将标记置为true
                if (!shuttleProtocol.getIdle()) {
                if (deviceStatus == 1 || deviceStatus == 2 || deviceStatus == 5) {
                    shuttleProtocol.setPakMk(true);
                }

@@ -206,7 +217,10 @@

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

    @Override
@@ -228,21 +242,33 @@
            ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
            for (ArrayList<NavigateNode> sectionNodes : data) {
            for (int idx = 0; idx < data.size(); idx++) {
                ArrayList<NavigateNode> sectionNodes = data.get(idx);
                boolean isRemoveFooterNode = false;//是否剔除尾节点
                if (idx != data.size() - 1) {
                    isRemoveFooterNode = true;//剔除尾节点
                }

                boolean flag = true;
                int oper;
                //开始路径
                NavigateNode startPath = nodes.get(0);
                NavigateNode startPath = sectionNodes.get(0);
                //结束路径
                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 {
                } else {
                    //子轨方向
                    oper = 6;
                }

                for (NavigateNode node : sectionNodes) {
                for (int i = 0; i < sectionNodes.size(); i++) {
                    if (isRemoveFooterNode && i == sectionNodes.size() - 1) {
                        continue;
                    }
                    NavigateNode node = sectionNodes.get(i);
                    HashMap<String, Object> map = new HashMap<>();
                    map.put("nodeX", node.getX());
                    map.put("nodeY", node.getY());
@@ -260,7 +286,7 @@
            param.put("messageName", "runRoute");
            param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
            param.put("deviceNo", device.getDeviceNo());
            param.put("taskId", generateDeviceTaskNo(taskNo));
            param.put("taskId", taskNo);
            param.put("nodeNum", nodes.size());
            param.put("modes", modes);
            String response = new HttpHandler.Builder()
@@ -304,6 +330,7 @@
            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) {
@@ -334,6 +361,7 @@
            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) {
@@ -364,6 +392,7 @@
            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) {
@@ -374,7 +403,9 @@

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

    @Override
@@ -385,11 +416,13 @@
    @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.getIdle() == null

        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
@@ -397,17 +430,46 @@
            return false;
        }

        boolean res = this.shuttleProtocol.getIdle()
        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.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
        ) {
            return false;
        }

        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                ;
        return res;
    }

    @Override
    public boolean isRequireCharge() {
        if (this.shuttleProtocol.getIdle() == null
        if (this.shuttleProtocol.getDeviceStatus() == null
                || this.shuttleProtocol.getPakMk() == null
                || this.shuttleProtocol.getErrorCode() == null
                || this.shuttleProtocol.getProtocolStatus() == null
@@ -415,7 +477,7 @@
            return false;
        }

        boolean res = this.shuttleProtocol.getIdle()
        boolean res = (this.shuttleProtocol.getDeviceStatus() == 3)
                && this.shuttleProtocol.getPakMk()
                && this.shuttleProtocol.getErrorCode().equals("0")
                && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
@@ -439,7 +501,6 @@
                }
                return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
            } catch (Exception e) {
                News.error("fail", e);
                return false;
            }
        }
@@ -460,11 +521,22 @@

    @Override
    public boolean isChargingCompleted() {
        Integer maxPower = 100;
        DictService dictService = SpringUtils.getBean(DictService.class);
        if (dictService != null) {
            Dict chargeMaxValue = dictService.getOne(new LambdaQueryWrapper<Dict>()
                    .eq(Dict::getFlag, "chargeMaxValue")
                    .eq(Dict::getStatus, 1));
            if (chargeMaxValue != null) {
                maxPower = Integer.parseInt(chargeMaxValue.getValue());
            }
        }

        if (this.shuttleProtocol.getBatteryPower() == null) {
            return false;
        }

        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= 100) {
        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
            return true;
        }
        return false;
@@ -472,13 +544,22 @@

    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        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());
            Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
            if (object != null) {
                ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
                ShuttleRedisCommand redisCommand = null;
                try {
                    redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
                } catch (JsonProcessingException e) {
                    return path;
                }
                List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//穿梭车预计路径
                if (nodes == null) {
                    return path;
                }
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }
@@ -488,21 +569,51 @@
    }

    @Override
    public int generateDeviceTaskNo(int taskNo) {
        int no = taskNo % 255;
        if (no <= 1) {
            no = 2;
    public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
        int deviceTaskNo = taskNo;
        try {
            deviceTaskNo = Utils.getTaskNo("SURAY_SHUTTLE");
        } catch (Exception e) {
            return taskNo;
        }
        return no;

        switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(motionCtgType)))){
            case SHUTTLE_MOVE://穿梭车移动
            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
            case SHUTTLE_MOVE_TO_LIFT://进提升机
                return deviceTaskNo;
            default:
                return taskNo;
        }
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
    public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
        this.shuttleProtocol.setProtocolStatus(status);
        return true;
    }

    @Override
    public synchronized boolean setSyncTaskNo(Integer taskNo) {
        this.shuttleProtocol.setSyncTaskNo(taskNo);
        return true;
    }

    @Override
    public synchronized boolean setPakMk(boolean pakMk) {
        this.shuttleProtocol.setPakMk(pakMk);
        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()));
        body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
        body.put("taskId", generateDeviceTaskNo(taskNo));
        body.put("taskId", taskNo);

        LocService locService = SpringUtils.getBean(LocService.class);
        Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()