#

Junjie

2024-03-27 eb73160dca035ca64aa5fc777b437682c0fe6dc8

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

@@ -2,9 +2,14 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
@@ -147,6 +152,51 @@
        return this.shuttleProtocol;
    }

    @Override
    public Device getDevice() {
        return this.device;
    }

    @Override
    public synchronized boolean movePath() {
        return false;
    }

    @Override
    public synchronized boolean move() {
        return false;
    }

    @Override
    public synchronized boolean lift() {
        return false;
    }

    @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");
        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", taskNo);

        LocService locService = SpringUtils.getBean(LocService.class);
        Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getCode, distCodeNum)
                .eq(Loc::getHostId, this.device.getHostId()));
        if (loc == null) {
            throw new CoolException("库位信息不存在");
        }
        body.put("nodeX", loc.getRow());
        body.put("nodeY", loc.getBay());
        body.put("nodeZ", loc.getLev());

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(body));
        return command;
    }


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