1

zhang

2025-08-29 c6ac196d7207e64b8591f84932439214561fc446

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

@@ -1,464 +1,80 @@
package com.zy.core.thread;

import HslCommunication.Core.Transfer.DataFormat;
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import com.zy.common.ExecuteSupport;
import com.zy.common.model.NavigateNode;
import com.zy.core.ThreadHandler;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleTaskNoType;
import com.zy.core.model.CommandResponse;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.param.ShuttleMoveLocParam;
import com.zy.core.model.protocol.ShuttleProtocol;

import java.util.List;

/**
 * 四向穿梭车线程
 */
@Data
@Slf4j
public class ShuttleThread implements  Runnable, ThreadHandler {
public interface ShuttleThread extends ThreadHandler {

    private ModbusTcpNet modbusTcpNet;
    private ShuttleSlave slave;
    private ShuttleProtocol shuttleProtocol;
    private RedisUtil redisUtil;
    ShuttleProtocol getStatus(boolean clone);//获取四向穿梭车状态

    public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }
    ShuttleProtocol getStatus();//获取四向穿梭车状态-默认clone

    @Override
    public void run() {
        this.connect();
        while (true) {
            try {
                int step = 1;
                Task task = MessageQueue.poll(SlaveType.Shuttle, slave.getId());
                if (task != null) {
                    step = task.getStep();
                }
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((ShuttleCommand) task.getData());
                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
                        break;
                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
                e.printStackTrace();
            }
        }
    }
    CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo);//路径下发

    @Override
    public boolean connect() {
        boolean result = false;
        //-------------------------四向穿梭车连接方法------------------------//
        modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
        // 当你需要指定格式的数据解析时，就需要设置下面的这个信息
        modbusTcpNet.setDataFormat(DataFormat.ABCD);
        OperateResult connect = modbusTcpNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】四向穿梭车plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.info("四向穿梭车plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】四向穿梭车plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("四向穿梭车plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
        }
        modbusTcpNet.ConnectClose();
        //-------------------------四向穿梭车连接方法------------------------//
        return result;
    }
    CommandResponse move(ShuttleCommand command);//移动

    @Override
    public void close() {
        modbusTcpNet.ConnectClose();
    }
    CommandResponse lift(ShuttleCommand command);//顶升

    private void readStatus() {
        try {
            OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
            if (result.IsSuccess) {
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }
    CommandResponse charge(ShuttleCommand command);//充电开关

                //----------读取四向穿梭车状态-----------
                //获取数据
                byte[] content = result.Content;
                //小车忙状态位
                shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
                //当前二维码
                shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
                //电池电量百分比
                shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
                //电池温度
                shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
                //错误编号
                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //Plc输出状态IO
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
                //错误信息码
                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                //PLC输入状态
                shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
                //当前或者之前读到的二维码值
                shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
                //读到的二维码X方向偏移量
                shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
                //读到的二维码Y方向偏移量
                shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
                //当前的电压值
                shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
                //当前的模拟量值
                shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
                //当前的升降伺服速度
                shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
                //当前的行走伺服速度
                shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
                //当前的升降伺服负载率
                shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
                //当前的行走伺服负载率
                shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));
    CommandResponse reset(ShuttleCommand command);//复位开关

                ///读取四向穿梭车状态-end
    CommandResponse updateLocation(ShuttleCommand command);//更新坐标

                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
    boolean isIdle();

                //小车处于忙碌状态，将标记置为true
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }
    boolean isIdle(ExecuteSupport support);//是否空闲

                //四向穿梭车空闲、有任务且标记为true，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.getAssignCommand());
                }
    boolean isDeviceIdle();//设备是否空闲

            }else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
                throw new CoolException(MessageFormat.format( "四向穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } 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();
        }
    }
    boolean isDeviceIdle(ExecuteSupport support);//设备是否空闲

    private boolean write(ShuttleCommand command){
        if (null == command) {
            News.error("四向穿梭车写入命令为空");
            return false;
        }
    boolean isRequireCharge();//是否满足充电状态

        command.setShuttleNo(slave.getId().shortValue());
        // 开始任务
        short[] array = new short[17];
        //控制指令字
        array[0] = command.getCommandWord();
        if (command.getStartCodeNum() != null) {
            //启始二维编号
            array[1] = command.getStartCodeNum();
        }
    boolean isCharging();//是否充电中

        if (command.getMiddleCodeNum() != null) {
            //中间二维编号
            array[2] = command.getMiddleCodeNum();
        }
    boolean isChargingCompleted();//是否充电完成

        if (command.getDistCodeNum() != null) {
            //目标二维编号
            array[3] = command.getDistCodeNum();
        }
    boolean isFault();//是否故障

        if (command.getStartToDistDistance() != null) {
            //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
            array[4] = startToDistDistances[0];
            array[5] = startToDistDistances[1];
        }
    List<NavigateNode> getMoveAdvancePath();//获取穿梭车任务路径

        if (command.getMiddleToDistDistance() != null) {
            //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
            array[6] = middleToDistDistances[0];
            array[7] = middleToDistDistances[1];
        }
    int generateDeviceTaskNo(int taskNo, ShuttleTaskNoType type);//生成硬件设备工作号

        if (command.getRunDirection() != null) {
            //小车运行方向
            array[8] = command.getRunDirection();
        }
    boolean setProtocolStatus(ShuttleProtocolStatusType status);//设置工作状态

        if (command.getPalletLift() != null) {
            //托盘顶升
            array[9] = command.getPalletLift();
        }
    boolean setTaskNo(Integer taskNo);//设置工作号

        if (command.getForceMoveDistance() != null) {
            //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
            array[10] = forceMoveDistances[0];
            array[11] = forceMoveDistances[1];
        }
    boolean setSyncTaskNo(Integer taskNo);//设置工作号

        if (command.getChargeSwitch() != null) {
            //充电开关
            array[12] = command.getChargeSwitch();
        }
    boolean setPakMk(boolean pakMk);//设置标记

        if (command.getIOControl() != null) {
            //小车IO控制
            array[13] = command.getIOControl();
        }
    boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable);

        if (command.getRunSpeed() != null) {
            //小车运行速度
            array[14] = command.getRunSpeed();
        }
    boolean requestWaiting();

        if (command.getRadarTmp() != null) {
            //小车雷达备用
            array[15] = command.getRadarTmp();
        }
    boolean enableDemo(boolean enable);//演示模式

        //指令结束位
        array[16] = command.getCommandEnd();
    boolean offerSystemMsg(String format, Object... arguments);

        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)));
            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()));
            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;
        }
    }
    //***************获取命令*****************

    /**
     * 初始化四向穿梭车
     */
    private void initShuttle() {
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
    }
    ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//获取移动命令

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();
    ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//顶升命令 true=>顶升 false=>下降

        //计算路径
        List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), assignCommand.getTaskMode().intValue());
        if (calc != null) {
            //获取分段路径
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
            //路径数据
            map.put("path", data);
        }
    ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//充电开关命令 true=>开 false=>关

        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
        map.put("commandStep", 0);
        //命令
        map.put("assignCommand", assignCommand);
        shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
        shuttleProtocol.setAssignCommand(assignCommand);
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        //执行下发任务
        executeWork(assignCommand);
    }
    ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo);//获取更新坐标命令

    //执行下发的指令
    private void executeWork(ShuttleAssignCommand assignCommand) {
        //读取redis数据
        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        //path路径数目
        int size = 0;
        //下发命令
        ShuttleCommand command = new ShuttleCommand();
        switch (assignCommand.getTaskMode()) {
            case 1://入库
            case 2://出库
                //当前路径数据
                Object data = map.get("path");
                ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
                //取第一条路径
                Object o1 = pathList.get(commandStep);
                ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);

                size = path.size();
                //开始路径
                JSONObject startPath = JSON.parseObject(path.get(0).toString());
                //目标路径
                JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());

                command.setCommandWord((short) 1);
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
                command.setMiddleCodeNum((short) 0);
                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
                command.setStartToDistDistance(1000);
                command.setMiddleToDistDistance(1000);
                command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
                command.setPalletLift((short) 1);
                command.setForceMoveDistance(1000);
                command.setChargeSwitch((short) 2);
                command.setIOControl((short) 0);
                command.setRunSpeed((short) 1000);
                command.setRadarTmp((short) 0);

                break;
            case 3://托盘顶升
            case 4://托盘下降
                command.setCommandWord((short) 2);
                command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
                command.setCommandEnd((short) 1);
                break;
            case 5://强制左移
            case 6://强制右移
            case 7://强制上移
            case 8://强制下移
                command.setCommandWord((short) 3);
                command.setForceMoveDistance(1000);
                command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
                command.setCommandEnd((short) 1);
                break;
            case 9://状态复位
                command.setCommandWord((short) 0);
                //设置四向穿梭车为空闲状态
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                //任务号清零
                shuttleProtocol.setTaskNo((short) 0);
                break;
            default:
        }

        command.setCommandEnd((short) 1);
        //下发命令
        if (!write(command)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            //将标记置为false(防止重发)
            shuttleProtocol.setPakMk(false);

            //判断数据是否执行完成
            if (commandStep < size) {
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
            }else {
                //已执行完成
                //保存数据到数据库做流水
                BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
                if (shuttleOptService != null) {
                    BasShuttleOpt opt = new BasShuttleOpt(
                            assignCommand.getTaskNo().intValue(),
                            assignCommand.getShuttleNo().intValue(),
                            new Date(),
                            ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                            assignCommand.getSourceLocNo(),
                            assignCommand.getDistLocNo(),
                            null,
                            null,
                            null,
                            JSON.toJSONString(command)
                    );
                    shuttleOptService.insert(opt);
                }
                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                //对主线程抛出等待确认状态waiting
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);

                News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
            }

        }
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/
    public static void main(String[] args) throws InterruptedException {
        ShuttleSlave slave = new ShuttleSlave();
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
//        ShuttleThread thread = new ShuttleThread(slave);
//        thread.connect();
//        thread.readStatus();
//
//        ShuttleCommand command = new ShuttleCommand();
//        command.setCommandWord((short) 0);
//        command.setStartCodeNum((short) 12323);
//        command.setMiddleCodeNum((short) 22323);
//        command.setDistCodeNum((short) 29999);
//        command.setStartToDistDistance(109999);
//        command.setMiddleToDistDistance(5000);
//        command.setRunDirection((short) 1);
//        command.setPalletLift((short) 2);
//        command.setForceMoveDistance(3000);
//        command.setChargeSwitch((short) 2);
//        command.setIOControl((short) 0);
//        command.setRunSpeed((short) 0);
//        command.setRadarTmp((short) 0);
//        command.setCommandEnd((short) 1);
//        thread.write(command);

    }
}