From 15047d62d27fbe4f99b7f93292c2cf9709b7cc97 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期三, 03 四月 2024 08:53:39 +0800
Subject: [PATCH] Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master into Four-Way-Rack
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 241 ++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 231 insertions(+), 10 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
index 0fb820e..5986a9b 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
@@ -8,9 +8,12 @@
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.Loc;
+import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
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.LocService;
+import com.zy.asrs.wcs.core.utils.NavigateUtils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
@@ -18,12 +21,12 @@
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.entity.Device;
+import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
import java.text.SimpleDateFormat;
-import java.util.Date;
-import java.util.HashMap;
+import java.util.*;
@Slf4j
@SuppressWarnings("all")
@@ -85,6 +88,9 @@
shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
shuttleProtocol.setDevice(device);
+
+ InnerSuhttleExtend extend = new InnerSuhttleExtend();
+ shuttleProtocol.setExtend(extend);
}
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
@@ -106,13 +112,19 @@
//鏄惁涓哄厖鐢电姸鎬�
shuttleProtocol.setHasCharge((deviceStatus == 5 || deviceStatus == 13) ? true : false);
+ //*********璇诲彇鎵╁睍瀛楁**********
+ InnerSuhttleExtend extend = JSON.parseObject(JSON.toJSONString(shuttleProtocol.getExtend()), InnerSuhttleExtend.class);
+ extend.setMapVersion(data.getString("version"));//鍦板浘鐗堟湰
+ extend.setStatusDescription(data.getString("statusDescription"));//鐘舵�佹弿杩�
+ shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
+
///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
-// //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
-// if (shuttleProtocol.getDeviceStatusType() == ShuttleDeviceStatusType.BUSY) {
-// shuttleProtocol.setPakMk(true);
-// }
-//
+ //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
+ if (!shuttleProtocol.getIdle()) {
+ shuttleProtocol.setPakMk(true);
+ }
+
// if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == ShuttleDeviceStatusType.IDLE.id) {
// //灏忚溅绌洪棽鐘舵�併�佸皬杞︿换鍔＄姸鎬佷负鏈煡锛岃瀹氭浘绂荤嚎杩囷紝闇�瑕佸浣嶆垚绌洪棽
// shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
@@ -164,18 +176,180 @@
}
@Override
- public synchronized boolean movePath() {
+ public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
+ try {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return false;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
+ for (ArrayList<NavigateNode> sectionNodes : data) {
+ boolean flag = true;
+ int oper;
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
+ || ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
+ //姣嶈建鏂瑰悜
+ oper = 5;
+ }else {
+ //瀛愯建鏂瑰悜
+ oper = 6;
+ }
+
+ for (NavigateNode node : sectionNodes) {
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("nodexX", node.getX());
+ map.put("nodexY", node.getY());
+ map.put("nodexZ", node.getZ());
+ if (flag) {
+ map.put("oper", oper);
+ flag = false;
+ }
+ modes.add(map);
+ }
+ }
+
+
+ HashMap<String, Object> param = new HashMap<>();
+ param.put("messageName", "runRoute");
+ param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+ param.put("deviceNo", device.getDeviceNo());
+ param.put("taskId", taskNo);
+ param.put("nodeNum", nodes.size());
+ param.put("modes", modes);
+ String response = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/runRoute")
+ .setHeaders(headers)
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
return false;
}
@Override
- public synchronized boolean move() {
+ public synchronized boolean move(ShuttleCommand command) {
+ try {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return false;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ String response = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/runOrder")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
return false;
}
@Override
- public synchronized boolean lift() {
+ public synchronized boolean lift(ShuttleCommand command) {
+ try {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return false;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ String response = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/actionOrder")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
return false;
+ }
+
+ @Override
+ public synchronized boolean charge(ShuttleCommand command) {
+ try {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return false;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ String response = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/actionOrder")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return false;
+ }
+
+ @Override
+ public synchronized boolean reset(ShuttleCommand command) {
+ return false;
+ }
+
+ @Override
+ public boolean isIdle() {
+ if (this.shuttleProtocol.getIdle() == null
+ || this.shuttleProtocol.getPakMk() == null
+ || this.shuttleProtocol.getErrorCode() == null
+ || this.shuttleProtocol.getProtocolStatus() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.shuttleProtocol.getIdle()
+ && this.shuttleProtocol.getPakMk()
+ && this.shuttleProtocol.getErrorCode().equals("0")
+ && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
+ ;
+ return res;
}
@Override
@@ -205,6 +379,37 @@
return command;
}
+ @Override
+ public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
+ HashMap<String, Object> body = new HashMap<>();
+ body.put("messageName", "actionOrder");
+ body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+ body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
+ body.put("taskId", taskNo);
+ body.put("action", lift ? 1 : 2);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
+ HashMap<String, Object> body = new HashMap<>();
+ body.put("messageName", "runOrder");
+ body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+ body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
+ body.put("taskId", taskNo);
+ body.put("action", charge ? 3 : 4);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
+ return command;
+ }
//***************璁惧灞傞�氳-涓嶅悓鍘傚晢璁惧閫氳鏂规涓嶄竴鑷�***************
@@ -264,4 +469,20 @@
}
return null;
}
+
+ @Data
+ private class InnerSuhttleExtend {
+
+ /**
+ * 鍦板浘鐗堟湰
+ */
+ private String mapVersion;
+
+ /**
+ * 鐘舵�佹弿杩�
+ */
+ private String statusDescription;
+
+ }
+
}
--
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