From 37733cc39c04b863a0b997c7fa3d9ac6a24e08be Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期三, 19 六月 2024 15:58:19 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 114 +++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 95 insertions(+), 19 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 1233ccd..a8f70d1 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
@@ -9,6 +9,7 @@
import com.zy.asrs.framework.common.SpringUtils;
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.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.MapNode;
@@ -23,6 +24,7 @@
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.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -98,17 +100,15 @@
BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
// 璇诲彇鏈嶅姟鍣ㄧ殑鍝嶅簲
StringBuffer sb = new StringBuffer();
- String response = null;
char[] chars = new char[2048];//缂撳啿鍖�
- do {
+ while (true) {
reader.read(chars);
- String trim = new String(chars).trim();
+ String trim = new String(chars);
sb.append(trim);
- if (sb.lastIndexOf("\r\n") != -1) {
+ if (trim.lastIndexOf("\r\n") != -1) {
break;
}
- } while (response != null);
-// System.out.println("Received response from server: " + sb);
+ }
JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
if (!socketResults.isEmpty() && socketResults.size() >= 5) {
@@ -190,7 +190,10 @@
NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(Integer.parseInt(device.getDeviceNo()));
JSONObject data = requestCommand(readStatusCommand);
if (data == null) {
-// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
+ //鏈�鍚庝竴娆′笂绾挎椂闂磋秴杩�60s锛岃瀹氱绾�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ }
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
}else {
@@ -206,7 +209,7 @@
//鐢垫睜鐢靛帇
shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
//鏁呴殰
- shuttleProtocol.setErrorCode(data.getString("errState"));
+ shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));
//鏄惁椤跺崌
shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? true : false);
@@ -272,6 +275,7 @@
basShuttle.setStatus(1);
basShuttle.setDeleted(0);
basShuttle.setHostId(device.getHostId());
+ basShuttle.setDeviceId(device.getId().intValue());
shuttleService.save(basShuttle);
}
//浠诲姟鍙�
@@ -319,6 +323,7 @@
Integer requestId = resultHeader.getInteger("requestId");
if (requestType.equals("init")) {
Integer code = resultBody.getInteger("code");
+ 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}]", code, device.getId(), device.getIp(), device.getPort()));
//灏忚溅澶嶄綅璇锋眰
ShuttleCommand initCommand = getInitCommand(requestId, code);
//鍙戝嚭璇锋眰
@@ -340,10 +345,15 @@
@Override
public ShuttleProtocol getStatus() {
+ return getStatus(true);
+ }
+
+ @Override
+ public ShuttleProtocol getStatus(boolean clone) {
if (this.shuttleProtocol == null) {
return null;
}
- return this.shuttleProtocol.clone();
+ return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
}
@Override
@@ -361,11 +371,39 @@
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
+ Map<String, Object> body = httpCommand.getRequest().getBody();
+ Object pathObj = body.get("path");
+ List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
+ ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
+ while (!path.isEmpty()) {
+ ArrayList<Map<String, Object>> list = new ArrayList<>();
+ if (path.size() > 10) {
+ List<JSONObject> subList = path.subList(0, 10);
+ list.addAll(subList);
+ subList.clear();
+ }else {
+ list.addAll(path);
+ path.clear();
+ }
+
+ NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
+ JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
+
+ NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
+ bodyCopy.put("path", list);
+ request.setBody(bodyCopy);
+ httpCommandCopy.setRequest(request);
+
+ commandList.add(httpCommandCopy);//add copy
}
- this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+
+ for (NyShuttleHttpCommand requestCommand : commandList) {
+ JSONObject result = requestCommand(requestCommand);
+ if (result == null) {
+ return false;//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;
@@ -408,6 +446,7 @@
public boolean reset(ShuttleCommand command) {
setSyncTaskNo(0);
setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ enableMoveLoc(null, false);
return true;
}
@@ -574,6 +613,7 @@
@Override
public List<NavigateNode> getMoveAdvancePath() {
ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
+ NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
ArrayList<NavigateNode> path = new ArrayList<>();
if (shuttleProtocol.getTaskNo() != 0) {
//瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
@@ -592,6 +632,18 @@
if (!nodes.isEmpty()) {
path.addAll(nodes);
}
+
+ //灏嗚矾寰勯攣涓庡皬杞﹁矾寰勮繘琛屽尮閰�
+ ArrayList<NavigateNode> tmp = new ArrayList<>();
+ //妫�娴嬭矾寰勬槸鍚﹁閿佸畾
+ int[][] map = navigateMapData.getDataFromRedis(NavigationMapType.DFX.id, null, null);
+ for (NavigateNode node : path) {
+ if(map[node.getX()][node.getY()] == -999) {
+ tmp.add(node);
+ }
+ }
+
+ path = tmp;
}
}
return path;
@@ -621,6 +673,30 @@
}
@Override
+ public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
+ if (enable) {
+ shuttleProtocol.setMoveLoc(true);//寮�鍚窇搴�
+ shuttleProtocol.setMoveType(param.getMoveType());
+ shuttleProtocol.setXStart(param.getStartX());
+ shuttleProtocol.setXTarget(param.getTargetX());
+ shuttleProtocol.setXCurrent(param.getStartX());
+ shuttleProtocol.setYStart(param.getStartY());
+ shuttleProtocol.setYTarget(param.getTargetY());
+ shuttleProtocol.setYCurrent(param.getStartY());
+ }else {
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ }
+ return true;
+ }
+
+ @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);
@@ -642,8 +718,8 @@
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 xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, null, null);
@@ -653,8 +729,8 @@
data.put("xp", xp);
data.put("yp", yp);
data.put("z", z);
- data.put("x", mapNode.getXBase());
- data.put("y", mapNode.getYBase());
+ data.put("x", mapNode.getYBase());
+ data.put("y", mapNode.getXBase());
path.add(data);
}
@@ -749,8 +825,8 @@
location.put("xp", row);
location.put("yp", bay);
location.put("z", lev);
- location.put("x", mapNode.getXBase());
- location.put("y", mapNode.getYBase());
+ location.put("x", mapNode.getYBase());
+ location.put("y", mapNode.getXBase());
HashMap<String, Object> body = new HashMap<>();
body.put("responseType", "init");//澶嶄綅
--
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