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Junjie

2024-04-26 57eaf07f7bbca383c85580c97bdc6d1a7f5691f3

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 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java

@@ -514,7 +514,7 @@
            //通过xy坐标小车二维码
            String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ(), hostId);
            //获取移动命令
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed);
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
            command.setNodes(nodes);//将行走节点添加到每一步命令中
            commands.add(command);
        }

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/MapNode.java

@@ -37,6 +37,12 @@

    private Integer bay;

    //**************兼容牛眼新协议**************//
    private Integer xBase;//x基准

    private Integer yBase;//y基准
    //**************兼容牛眼新协议**************//

    @Override
    public MapNode clone() {
        try {

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

@@ -50,7 +50,7 @@

    //***************获取命令*****************

    ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed);//获取移动命令
    ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes);//获取移动命令

    ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//顶升命令 true=>顶升 false=>下降


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

@@ -11,13 +11,17 @@
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
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.rcs.News;
@@ -79,6 +83,7 @@
                this.connect();
            }
            readStatus();
            listenInit();
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】读取四向穿梭车状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
@@ -205,6 +210,53 @@
            } catch (IOException | InterruptedException exception) {
                e.printStackTrace();
            }
        }
    }

    /**
     * 监听小车复位初始化信号
     */
    public void listenInit() {
        try {
            // 获取输入流
            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 {
                reader.read(chars);
                String trim = new String(chars).trim();
                sb.append(trim);
                if (sb.lastIndexOf("\r\n") != -1) {
                    break;
                }
            } while (response != null);
//            System.out.println("Received response from server: " + sb);

            JSONObject result = JSON.parseObject(sb.toString());//得到请求结果集
            if (!result.get("msgType").equals("requestMsg")) {//不是请求内容
                return;
            }

            JSONObject resultResponse = JSON.parseObject(result.get("request").toString());
            JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
            JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
            String requestType = resultBody.getString("requestType");
            Integer requestId = resultHeader.getInteger("requestId");
            if (requestType.equals("init")) {
                //小车复位请求
                ShuttleCommand initCommand = getInitCommand(requestId);
                //发出请求
                NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
                JSONObject requestResult = requestCommand(httpCommand);
                if (requestResult == null) {
                    return;//请求失败
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

@@ -476,16 +528,42 @@
    }

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

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

        HashMap<String, Object> body = new HashMap<>();
        body.put("requestType", "move");//移动命令
        body.put("taskId", getTaskId());//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("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);
        navigateMapData.setLev(startNode.getZ());
        for (NavigateNode node : nodes) {
            HashMap<String, Object> data = new HashMap<>();
            String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ(), device.getHostId());
            Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum, device.getHostId()));
            int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
            int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
            int z = Integer.parseInt(String.valueOf(nyNode.get("z")));

            List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, 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());
        }


        httpStandard.setRequest(request);

@@ -543,6 +621,27 @@
        return command;
    }

    //获取小车复位响应命令
    public ShuttleCommand getInitCommand(Integer taskNo) {
        NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
        NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();

        HashMap<String, Object> body = new HashMap<>();
        body.put("responseType", "init");//复位
        body.put("location", new ArrayList<>());//初始化坐标
        body.put("devicePoints", new ArrayList<>());//提升机点位
        body.put("specialPoints", new ArrayList<>());//特殊条码坐标
        request.setBody(body);

        httpStandard.setRequest(request);

        ShuttleCommand command = new ShuttleCommand();
        command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
        command.setBody(JSON.toJSONString(httpStandard));
        command.setMode(ShuttleCommandModeType.RESET.id);
        return command;
    }

    @Override
    public boolean connect() {
        try {

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

@@ -593,7 +593,7 @@
    }

    @Override
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
    public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
        HashMap<String, Object> body = new HashMap<>();
        body.put("messageName", "runOrder");
        body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));