#

Junjie

2025-04-21 edf5eb33c88d88062e295db466a654ac0a646ded

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

@@ -24,6 +24,7 @@
import com.zy.asrs.wcs.core.utils.NavigateMapData;
import com.zy.asrs.wcs.core.utils.NavigatePositionConvert;
import com.zy.asrs.wcs.core.utils.RedisUtil;
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;
@@ -99,17 +100,15 @@
            BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
            // 读取服务器的响应
            StringBuffer sb = new StringBuffer();
            String response = null;
            char[] chars = new char[2048];//缓冲区
            do {
            while (true) {
                reader.read(chars);
                String trim = new String(chars).trim();
                String trim = new String(chars);
                sb.append(trim);
                if (sb.lastIndexOf("\r\n") != -1) {
                if (trim.lastIndexOf("\r\n") != -1) {
                    break;
                }
            } while (response != null);
//            System.out.println("Received response from server: " + sb);
            }

            JSONObject result = JSON.parseObject(sb.toString());//得到响应结果集
            if (!socketResults.isEmpty() && socketResults.size() >= 5) {
@@ -324,6 +323,7 @@
                Integer requestId = resultHeader.getInteger("requestId");
                if (requestType.equals("init")) {
                    Integer code = resultBody.getInteger("code");
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向车复位上报 ===>> [code:{1}] [ip:{2}] [port:{3}]", code, device.getId(), device.getIp(), device.getPort()));
                    //小车复位请求
                    ShuttleCommand initCommand = getInitCommand(requestId, code);
                    //发出请求
@@ -451,6 +451,11 @@
    }

    @Override
    public boolean updateLocation(ShuttleCommand param) {
        return true;//还没移植过来
    }

    @Override
    public boolean isIdle() {
        return this.isIdle(null);
    }
@@ -551,7 +556,7 @@
                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;
                }
@@ -613,6 +618,7 @@
    @Override
    public List<NavigateNode> getMoveAdvancePath() {
        ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        ArrayList<NavigateNode> path = new ArrayList<>();
        if (shuttleProtocol.getTaskNo() != 0) {
            //存在任务，获取指令
@@ -631,6 +637,18 @@
                if (!nodes.isEmpty()) {
                    path.addAll(nodes);
                }

                //将路径锁与小车路径进行匹配
                ArrayList<NavigateNode> tmp = new ArrayList<>();
                //检测路径是否被锁定
                int[][] map = navigateMapData.getDataFromRedis(NavigationMapType.DFX.id, null, null);
                for (NavigateNode node : path) {
                    if(map[node.getX()][node.getY()] == -999) {
                        tmp.add(node);
                    }
                }

                path = tmp;
            }
        }
        return path;
@@ -777,6 +795,11 @@
        return command;
    }

    @Override
    public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
        return null;//还没移植过来
    }

    //获取小车复位响应命令
    public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
        LocService locService = SpringUtils.getBean(LocService.class);