From 15356da6eeca013fafc9bb6ed2d2a4a12422ce04 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 02 四月 2025 16:41:52 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 131 ++++++++++++++++++++++++++++++-------------
1 files changed, 92 insertions(+), 39 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
index 56f00c1..ab95590 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
@@ -31,6 +31,7 @@
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
+import com.zy.asrs.wcs.rcs.model.CommandResponse;
import com.zy.asrs.wcs.rcs.model.command.NyShuttleHttpCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -123,6 +124,8 @@
//灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
shuttleAction.moveLoc(device);
+
+ Thread.sleep(200);
} catch (Exception e) {
e.printStackTrace();
}
@@ -173,6 +176,7 @@
BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
.eq(BasShuttle::getShuttleNo, device.getDeviceNo())
.eq(BasShuttle::getHostId, device.getHostId()));
+
if (basShuttle == null) {
basShuttle = new BasShuttle();
//鍥涘悜绌挎杞﹀彿
@@ -182,6 +186,10 @@
basShuttle.setHostId(device.getHostId());
basShuttle.setDeviceId(device.getId().intValue());
shuttleService.save(basShuttle);
+ }else {
+ Integer shuttleId = basShuttle.getId();
+ basShuttle = new BasShuttle();
+ basShuttle.setId(shuttleId);
}
//浠诲姟鍙�
basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
@@ -224,7 +232,7 @@
}
}
- public JSONObject getRequestBody(String type) {
+ public JSONObject getRequestBody(String type, String taskId) {
try {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
@@ -247,7 +255,14 @@
}
if (!responseType.equals(type)) {
- continue;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ continue;//鍝嶅簲绫诲瀷涓庤姹傜被鍨嬩笉涓�鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ }
+
+ if (taskId != null) {
+ String responseTaskId = resultBody.get("taskId").toString();
+ if (!responseTaskId.equals(taskId)) {
+ continue;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ }
}
result = socketResult;
@@ -271,6 +286,7 @@
this.connect();
}
readStatus();
+ Thread.sleep(200);
} catch (Exception e) {
e.printStackTrace();
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戣鍙栧洓鍚戠┛姊溅鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
@@ -387,6 +403,9 @@
String requestType = resultBody.getString("requestType");
Integer requestId = resultHeader.getInteger("requestId");
if (requestType.equals("init")) {
+ removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
+ socketResults.remove(removeIdx);
+
Integer code = resultBody.getInteger("code");
//灏忚溅澶嶄綅璇锋眰
ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -394,16 +413,11 @@
NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
JSONObject requestResult = requestCommand(httpCommand);
- removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
log.info(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
break;
}
- }
-
- if (removeIdx != -1) {
- socketResults.remove(removeIdx);
}
} catch (Exception e) {
e.printStackTrace();
@@ -429,12 +443,14 @@
}
@Override
- public boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
- return true;
+ public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
+ CommandResponse response = new CommandResponse(true);
+ return response;
}
@Override
- public boolean move(ShuttleCommand command) {
+ public CommandResponse move(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
@@ -473,70 +489,86 @@
for (NyShuttleHttpCommand requestCommand : commandList) {
JSONObject result = requestCommand(requestCommand);
-// if (result == null) {
-// return false;//璇锋眰澶辫触
-// }
+ if (result == null) {
+ return response;//璇锋眰澶辫触
+ }
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
}
- return true;
- } catch (IOException e) {
- return false;
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ response.setMessage(e.getMessage());
+ return response;
}
}
@Override
- public boolean lift(ShuttleCommand command) {
+ public CommandResponse lift(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
JSONObject result = requestCommand(httpCommand);
if (result == null) {
- return false;//璇锋眰澶辫触
+ return response;//璇锋眰澶辫触
}
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
- } catch (IOException e) {
- return false;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return response;
}
}
@Override
- public boolean charge(ShuttleCommand command) {
+ public CommandResponse charge(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
JSONObject result = requestCommand(httpCommand);
if (result == null) {
- return false;//璇锋眰澶辫触
+ return response;//璇锋眰澶辫触
}
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
- } catch (IOException e) {
- return false;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return response;
}
}
@Override
- public boolean reset(ShuttleCommand command) {
+ public CommandResponse reset(ShuttleCommand command) {
setSyncTaskNo(0);
setProtocolStatus(ShuttleProtocolStatusType.IDLE);
enableMoveLoc(null, false);
- return true;
+ return new CommandResponse(true, JSON.toJSONString(command));
}
@Override
- public boolean updateLocation(ShuttleCommand command) {
+ public CommandResponse updateLocation(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
JSONObject result = requestCommand(httpCommand);
if (result == null) {
- return false;//璇锋眰澶辫触
+ return response;//璇锋眰澶辫触
}
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
- } catch (IOException e) {
- return false;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return response;
}
}
@@ -787,6 +819,15 @@
}
@Override
+ public boolean requestWaiting() {
+ if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ return true;
+ }
+ return false;
+ }
+
+ @Override
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);
@@ -794,9 +835,10 @@
ArrayList<HashMap<String, Object>> path = new ArrayList<>();
+ Integer taskId = getTaskId();
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", "move");//绉诲姩鍛戒护
- body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
+ body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
// body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//璧风偣
// body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//缁堢偣
body.put("path", path);
@@ -839,6 +881,7 @@
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.MOVE.id);
command.setTargetLocNo(loc.getLocNo());
+ command.setTaskNo(taskId);
return command;
}
@@ -847,9 +890,10 @@
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+ Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", lift ? "liftUp" : "liftDown");//椤跺崌鎴栦笅闄嶅懡浠�
- body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
+ body.put("taskId", taskId);
request.setBody(body);
httpStandard.setRequest(request);
@@ -858,6 +902,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+ command.setTaskNo(taskId);
return command;
}
@@ -866,9 +911,10 @@
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+ Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", charge ? "charge" : "stopCharge");//鍏呯數鎴栧仠姝㈠厖鐢�
- body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
+ body.put("taskId", taskId);
request.setBody(body);
httpStandard.setRequest(request);
@@ -877,6 +923,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
+ command.setTaskNo(taskId);
return command;
}
@@ -896,6 +943,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -950,6 +998,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.RESET.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -1033,25 +1082,29 @@
// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
String requestType = null;
+ String taskId = null;
try {
requestType = httpCommand.getRequest().getBody().get("requestType").toString();
+ taskId = httpCommand.getRequest().getBody().get("taskId").toString();
} catch (Exception e) {
- return null;
+// return null;
+ //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
}
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
// 灏濊瘯10娆�
JSONObject result = null;
for (int i = 0; i < 10; i++) {
- result = getRequestBody(requestType);
+ result = getRequestBody(requestType,taskId);
if (result == null) {
try {
Thread.sleep(100);
} catch (Exception e) {
e.printStackTrace();
}
+ }else {
+ break;
}
- break;
}
return result;//杩斿洖Body缁撴灉闆�
}
--
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