牛眼四向穿梭车HTTP请求工具类

Junjie

2023-07-26 14cf00a11479cb1696eec55e10208490bd4aa09d

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -64,7 +64,7 @@
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        read();
                        break;
                    // 写入数据
                    case 2:
@@ -108,6 +108,23 @@
    @Override
    public void close() {
        modbusTcpNet.ConnectClose();
    }

    private void read() {
        try {
            readStatus();
            //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
            if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                    && shuttleProtocol.getTaskNo() != 0
                    && shuttleProtocol.getPakMk()) {
                //执行下一步指令
                executeWork(shuttleProtocol.getTaskNo());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initShuttle();
        }
    }

    private void readStatus() {
@@ -172,40 +189,6 @@
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }

//                if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
//                    //出现错误
//                    resetAndTryFix(shuttleProtocol.getTaskNo());
//                }
//
//                if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
//                        && shuttleProtocol.getTaskNo() != 0
//                        && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){
//                    //处于故障修复状态
//                    //执行下一步指令
//                    executeWork(shuttleProtocol.getTaskNo());
//                }

                //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getPakMk()) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getTaskNo());
                }

//                //检测是否有提升机锁定标记，有则检测提升机是否到位，是否能走下一步命令
//                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
//                        && shuttleProtocol.getTaskNo() != 0) {
//                    Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
//                    if (o != null) {
//                        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
//                        if (redisCommand.getLiftSecurityMk()) {
//                            //执行下一步指令
//                            executeWork(shuttleProtocol.getTaskNo());
//                        }
//                    }
//                }

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
@@ -292,18 +275,40 @@
        }
        command.setShuttleNo(slave.getId().shortValue());
        short[] array = getCommandArr(command);//获取命令报文
        OperateResult result = modbusTcpNet.Write("0", array);;
        OperateResult result = modbusTcpNet.Write("0", array);
        if (result != null && result.IsSuccess) {
            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            try {
                Thread.sleep(3000);//命令下发后休眠1s
                Thread.sleep(3000);//命令下发后休眠
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));

            for (int i = 0; i < 5; i++) {
                if (command.getCommandWord().intValue() == 5 || command.getCommandWord().intValue() == 6) {
                    break;//充电开关和系统复位不需要重发机制
                }
                readStatus();//重新读取状态
                if (shuttleProtocol.getBusyStatusType().equals(ShuttleStatusType.BUSY)) {
                    break;
                }

                //判断是否运行中，如不运行，重新下发命令
                result = modbusTcpNet.Write("0", array);
                News.info("四向穿梭车命令下发[id:{}] >>>>> {},次数：{}", slave.getId(), JSON.toJSON(command), i);
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2},次数：{}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
                try {
                    Thread.sleep(300);//命令下发后休眠
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
            }

            return true;
        } else {
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】写入四向穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】写入四向穿梭车plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}],次数：{}", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            News.error("写入四向穿梭车plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
@@ -440,7 +445,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
@@ -476,7 +481,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
@@ -538,7 +543,7 @@
                        Short liftArrival = liftProtocol.getPositionArrivalFeedback();//提升机位置反馈
                        String liftSiteLocNo = Utils.liftArrivalToOutInStaLocNo(liftArrival);
                        LocMast locMast1 = locMastService.selectById(liftSiteLocNo);
                        ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1400, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
                        ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1600, ShuttleRunDirection.BOTTOM.id, null, null, runSpeed);
                        commands.add(moveCommand);

                        //起始位置修改为提升机口站点位置
@@ -565,7 +570,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
@@ -602,7 +607,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
@@ -618,7 +623,7 @@
                    }

                    //增加移动进提升机命令
                    ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, runSpeed);
                    ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, runSpeed);
                    commands.add(moveCommand);
                    break;
                default:
@@ -946,6 +951,10 @@
            }
        }

        if (commands.size() == 0) {
            return false;
        }

        //当前等待执行的指令
        ShuttleCommand command = commands.get(commandStep);