From 314729da5f6f84a6112344a2210aadfeeb2bac0c Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 21 四月 2025 10:35:43 +0800
Subject: [PATCH] #出库找待机位优化
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 95 ++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 89 insertions(+), 6 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 58a5b44..ddab9df 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
@@ -11,14 +11,17 @@
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
+import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.entity.BasShuttle;
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.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.*;
+import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
+import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.NavigateUtils;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
@@ -46,7 +49,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {
- private static final String API_URL = "http://192.168.7.149:8082";
+ private static String API_URL = "http://127.0.0.1:8082";
private Device device;
private RedisUtil redisUtil;
@@ -55,6 +58,7 @@
public SurayShuttleThread(Device device,RedisUtil redisUtil) {
this.device = device;
this.redisUtil = redisUtil;
+ API_URL = "http://" + device.getIp() + ":" + device.getPort();
}
@Override
@@ -113,6 +117,11 @@
if (deviceStatus == 255) {
//绂荤嚎
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ }else if (deviceStatus == 3) {
+ //灏辩华鐘舵�佷笖绂荤嚎
+ if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE)) {
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ }
}
if(deviceStatus != 4 || deviceStatus != 6 || deviceStatus != 7 || deviceStatus != 8 || deviceStatus != 255 || deviceStatus != -1) {
@@ -123,7 +132,7 @@
//褰撳墠浜岀淮鐮�
shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
//鐢垫睜鐢甸噺
- shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));
+ shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0" : data.getString("battery"));
//鏁呴殰
shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");
@@ -432,6 +441,37 @@
}
@Override
+ public boolean updateLocation(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/changeLocation")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return false;
+ }
+
+ @Override
public boolean isIdle() {
return this.isIdle(null);
}
@@ -514,7 +554,7 @@
if (shuttleService == null) {
return false;
}
- BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
+ BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, this.device.getId()));
if (basShuttle == null) {
return false;
}
@@ -606,6 +646,10 @@
case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
case SHUTTLE_MOVE_TO_LIFT://杩涙彁鍗囨満
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+ case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+ case SHUTTLE_CHARGE_ON://鍏呯數寮�
+ case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
return deviceTaskNo;
default:
return taskNo;
@@ -673,6 +717,17 @@
body.put("nodeY", loc.getBay());
body.put("nodeZ", loc.getLev());
+ //妫�娴嬬洰鏍囩偣鏄惁涓烘彁鍗囨満
+ BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getRow, loc.getRow())
+ .eq(BasLift::getBay, loc.getBay())
+ .eq(BasLift::getHostId, this.device.getHostId()));
+ if (basLift != null) {
+ LiftDispatcher liftDispatcher = SpringUtils.getBean(LiftDispatcher.class);
+ Integer realLev = liftDispatcher.getLiftLevOffset(basLift.getDeviceId().intValue(), loc.getLev());
+ body.put("nodeZ", realLev);
+ }
+
ShuttleCommand command = new ShuttleCommand();
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(body));
@@ -683,11 +738,13 @@
@Override
public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
+ int deviceTaskNo = this.generateDeviceTaskNo(taskNo, lift ? MotionCtgType.SHUTTLE_PALLET_LIFT : MotionCtgType.SHUTTLE_PALLET_DOWN);
+
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("taskId", deviceTaskNo);
body.put("action", lift ? 1 : 2);
ShuttleCommand command = new ShuttleCommand();
@@ -699,11 +756,13 @@
@Override
public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
+ int deviceTaskNo = this.generateDeviceTaskNo(taskNo, charge ? MotionCtgType.SHUTTLE_CHARGE_ON : MotionCtgType.SHUTTLE_CHARGE_OFF);
+
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("taskId", deviceTaskNo);
body.put("action", charge ? 3 : 4);
ShuttleCommand command = new ShuttleCommand();
@@ -713,11 +772,33 @@
return command;
}
+ @Override
+ public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
+ 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()));
+
+ String coord = "(" + Utils.getRow(locNo) + "," + Utils.getBay(locNo) + "," + Utils.getLev(locNo) + ")";
+ body.put("coord", coord);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
+ return command;
+ }
+
//***************璁惧灞傞�氳-涓嶅悓鍘傚晢璁惧閫氳鏂规涓嶄竴鑷�***************
//璇锋眰鐧诲綍
private String requestLoginToken() {
try {
+ Object redisToken = redisUtil.get(DeviceRedisConstant.RDS_LOGIN_TOKEN);
+ if(redisToken != null) {
+ return redisToken.toString();
+ }
+
HashMap<String, Object> param = new HashMap<>();
param.put("username", "admin");
param.put("password", "admin123");
@@ -731,7 +812,9 @@
JSONObject jsonObject = JSON.parseObject(response);
Integer code = jsonObject.getInteger("code");
if (code.equals(200)) {
- return jsonObject.getString("token");
+ String token = jsonObject.getString("token");
+ redisUtil.set(DeviceRedisConstant.RDS_LOGIN_TOKEN, token, 60 * 15);
+ return token;
}
} catch (Exception e) {
e.printStackTrace();
--
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