#

Junjie

2025-08-13 629959675a97b4d41c1c36eaa60ee1671c224e93

 src/main/java/com/zy/core/thread/impl/NyShuttleThread.java

@@ -52,6 +52,7 @@
    private DeviceConfig deviceConfig;
    private RedisUtil redisUtil;
    private ShuttleProtocol shuttleProtocol;
    private ShuttleAction shuttleAction = null;

    private static final boolean DEBUG = false;//调试模式

@@ -92,14 +93,11 @@
//        Thread executeThread = new Thread(() -> {
//            while (true) {
//                try {
//                    ShuttleAction shuttleAction = null;
//                    try {
//                        shuttleAction = SpringUtils.getBean(ShuttleAction.class);
//                    }catch (Exception e){
//                        continue;
//                    }
//
//                    if (shuttleAction == null) {
//                        try {
//                            shuttleAction = SpringUtils.getBean(ShuttleAction.class);
//                        }catch (Exception e){
//                        }
//                        continue;
//                    }
//
@@ -929,11 +927,36 @@
            return false;
        }

        List<NavigationMapType> restartCalcMapTypes = new ArrayList<>(mapTypes);
        restartCalcMapTypes.add(NavigationMapType.SHUTTLE);

        String currentLocNo = shuttleProtocol.getCurrentLocNo();
        List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, mapTypes, assignCommand, this);
        List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, restartCalcMapTypes, assignCommand, this);
        if (commands == null) {
            return false;
        }

        if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
            List<ShuttleCommand> originCommands = assignCommand.getCommands();
            if (originCommands == null) {
                return false;
            }

            ShuttleCommand firstCommand = originCommands.get(0);
            ShuttleCommand endCommand = originCommands.get(originCommands.size() - 1);

            if (firstCommand.getMode() != ShuttleCommandModeType.PALLET_LIFT.id) {
                return false;
            }

            if (endCommand.getMode() != ShuttleCommandModeType.PALLET_DOWN.id) {
                return false;
            }

            commands.add(0, firstCommand);
            commands.add(endCommand);
        }

        assignCommand.setCommands(commands);

        //下发任务
@@ -954,8 +977,64 @@
        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", taskId);//TaskID需要随机
//        body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//起点
//        body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//终点
        body.put("path", path);
        request.setBody(body);

        NavigateNode startNode = nodes.get(0);
        for (NavigateNode node : nodes) {
            HashMap<String, Object> data = new HashMap<>();
            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
            int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));

            List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
            List<MapNode> mapNodes = mapData.get(node.getX());
            MapNode mapNode = mapNodes.get(node.getY());

            data.put("xp", xp);
            data.put("yp", yp);
            data.put("z", z);
            data.put("x", mapNode.getXBase());
            data.put("y", mapNode.getYBase());
            path.add(data);
        }

        httpStandard.setRequest(request);

        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                .eq("qr_code_value", distCodeNum));
        if (locMast == null) {
            throw new CoolException("库位信息不存在");
        }

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(deviceConfig.getDeviceNo());
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.MOVE.id);
        command.setTargetLocNo(locMast.getLocNo());
        command.setTaskNo(taskId);
        return command;
    }

    @Override
    public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn) {
        NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
        NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        ArrayList<HashMap<String, Object>> path = new ArrayList<>();

        Integer taskId = getTaskId();
        HashMap<String, Object> body = new HashMap<>();
        if (moveIn) {
            body.put("requestType", "intoLift");//进提升机
        }else {
            body.put("requestType", "outLift");//出提升机
        }
        body.put("taskId", taskId);//TaskID需要随机
        body.put("path", path);
        request.setBody(body);

@@ -1192,16 +1271,16 @@

    private JSONObject queryCommandStatus(String resultKey) {
        // 获取服务器响应
        // 尝试50次
        JSONObject result = null;
        for (int i = 0; i < 50; i++) {
        long startTime = System.currentTimeMillis();
        while (true) {
            if((System.currentTimeMillis() - startTime) > 1000 * 10) {
                break;
            }

            result = getRequestBody(resultKey);
            if (result == null) {
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
                    e.printStackTrace();
                }
                continue;
            }else {
                break;
            }