#

Junjie

2024-12-24 d8f361c9d69271aaa58ba19e75f38e0fee00f3bb

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

@@ -172,6 +172,8 @@
                shuttleProtocol.setStatusSum(jsonObject.getObject("statusSum", NyShuttleProtocol.StatusSumClass.class));
                //非自动状态时间计时
                shuttleProtocol.setErrTime(jsonObject.getInteger("errTime"));
                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());

                //小车处于运行中，将标记置为false
                if (shuttleProtocol.getFree() == 0) {
@@ -187,71 +189,34 @@
                    basShuttle.setShuttleNo(slave.getId());
                    shuttleService.insert(basShuttle);
                }
                //工作模式
                basShuttle.setWorkingMode(shuttleProtocol.getWorkingMode());
                //运行状态
                basShuttle.setFree(shuttleProtocol.getFree());
                //当前速度
                basShuttle.setSpeed(shuttleProtocol.getSpeed());
                //负载状态
                basShuttle.setLoadState(shuttleProtocol.getLoadState());
                //管制状态
                basShuttle.setSuspendState(shuttleProtocol.getSuspendState());
                //顶升位置
                basShuttle.setLiftPosition(shuttleProtocol.getLiftPosition());
                //运行方向
                basShuttle.setRunDir(shuttleProtocol.getRunDir());
                //运行方向
                basShuttle.setRunDir2(shuttleProtocol.getRunDir2());
                //充电状态
                basShuttle.setChargState(shuttleProtocol.getChargState());
                //电池电量
                basShuttle.setPowerPercent(shuttleProtocol.getPowerPercent());
                //最高电芯电压
                basShuttle.setMaxCellVoltage(shuttleProtocol.getMaxCellVoltage());
                //电池电压
                basShuttle.setVoltage(shuttleProtocol.getVoltage());
                //充放电循环次数
                basShuttle.setChargeCycleTimes(shuttleProtocol.getChargeCycleTimes());
                //剩余电量
                basShuttle.setSurplusQuantity(shuttleProtocol.getSurplusQuantity());
                //总电量
                basShuttle.setCountQuantity(shuttleProtocol.getCountQuantity());
                //实际库位
                basShuttle.setPoint(JSONObject.toJSONString(shuttleProtocol.getPoint()));
                //实际坐标
                basShuttle.setCoord(JSONObject.toJSONString(shuttleProtocol.getCoord()));
                //任务目的库位
                basShuttle.setTask(JSONObject.toJSONString(shuttleProtocol.getTask()));
                //任务状态
                basShuttle.setTaskState(shuttleProtocol.getTaskState());
                //故障状态
                basShuttle.setErrState(shuttleProtocol.getErrState());
                //总里程数
                basShuttle.setStatusSum(JSONObject.toJSONString(shuttleProtocol.getStatusSum()));
                //非自动状态时间计时
                basShuttle.setErrTime(shuttleProtocol.getErrTime());
                //任务号
                basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
                //修改时间
                basShuttle.setUpdateTime(new Date());
                //作业标记
                basShuttle.setPakMk(shuttleProtocol.getPakMk());
                basShuttle.setDeviceStatus(JSON.toJSONString(basShuttle));
                if (shuttleService.updateById(basShuttle)) {
                    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()));
                }
//                log.warn(JSON.toJSONString(shuttleProtocol));//输出小车状态

                //保存数据记录
                DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                DeviceDataLog deviceDataLog = new DeviceDataLog();
                deviceDataLog.setOriginData(JSON.toJSONString(jsonObject));
                deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
                deviceDataLog.setType("shuttle");
                deviceDataLog.setDeviceNo(shuttleProtocol.getShuttleNo().intValue());
                deviceDataLog.setCreateTime(new Date());
                deviceDataLogService.insert(deviceDataLog);
                if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
                    //采集时间超过5s，保存一次数据记录
                    //保存数据记录
                    DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
                    DeviceDataLog deviceDataLog = new DeviceDataLog();
                    deviceDataLog.setOriginData(JSON.toJSONString(jsonObject));
                    deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
                    deviceDataLog.setType("shuttle");
                    deviceDataLog.setDeviceNo(shuttleProtocol.getShuttleNo().intValue());
                    deviceDataLog.setCreateTime(new Date());
                    deviceDataLogService.insert(deviceDataLog);

                    //更新采集时间
                    shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -429,7 +394,7 @@
                        if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
                            nodes.remove(nodes.size() - 1);//剔除尾节点
                        }
                        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, false);//解锁路径
                        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo().intValue(), nodes, false);//解锁路径
                        if (!result) {
                            return false;//解锁失败
                        }
@@ -794,7 +759,7 @@
                    }
                }
            }
        }else {//跑库位
        } else if (shuttleProtocol.getMoveType() == 1) {//跑库位
            Integer xCurrent = shuttleProtocol.getXCurrent();
            if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值，进行归零且Y方向+1
                shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
@@ -818,12 +783,56 @@
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//小车和目标位置一致，跳过
            }else {
            } else {
                boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
                if (result) {//调度成功
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                }
            }
        } else if (shuttleProtocol.getMoveType() == 2) {//母轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (yCurrent.equals(shuttleProtocol.getYStart())) {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//小车和目标位置一致，切换库位
                }else {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//小车和目标位置一致，切换库位
                }
            } else {
                boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
                if (result) {//调度成功
                    if (yCurrent.equals(shuttleProtocol.getYStart())) {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//切换库位
                    }else {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//切换库位
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 3) {//子轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (xCurrent.equals(shuttleProtocol.getXStart())) {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//小车和目标位置一致，切换库位
                }else {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//小车和目标位置一致，切换库位
                }
            } else {
                boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
                if (result) {//调度成功
                    if (xCurrent.equals(shuttleProtocol.getXStart())) {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//切换库位
                    }else {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//切换库位
                    }
                }
            }
        }
    }