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/SurayShuttleThread.java | 54 +++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 51 insertions(+), 3 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 32d18d7..c0adf3c 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
@@ -10,6 +10,7 @@
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.NavigateNode;
@@ -45,7 +46,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {
- private static final String API_URL = "http://127.0.0.1:8082";
+ private static String API_URL = "http://127.0.0.1:8082";
private Device device;
private RedisUtil redisUtil;
@@ -54,6 +55,7 @@
public SurayShuttleThread(Device device,RedisUtil redisUtil) {
this.device = device;
this.redisUtil = redisUtil;
+ API_URL = "http://" + device.getIp() + ":" + device.getPort();
}
@Override
@@ -184,6 +186,7 @@
basShuttle.setStatus(1);
basShuttle.setDeleted(0);
basShuttle.setHostId(device.getHostId());
+ basShuttle.setDeviceId(device.getId().intValue());
shuttleService.save(basShuttle);
}
//浠诲姟鍙�
@@ -217,10 +220,15 @@
@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
@@ -231,6 +239,16 @@
@Override
public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
try {
+ //榛樿鍦板浘姣嶈建鏂瑰悜x
+ String mapDirection = "x";
+ DictService dictService = SpringUtils.getBean(DictService.class);
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "direction_map")
+ .eq(Dict::getStatus, 1));
+ if (dict != null) {
+ mapDirection = dict.getValue();
+ }
+
String loginToken = requestLoginToken();
if (loginToken == null) {
return false;
@@ -255,7 +273,7 @@
NavigateNode startPath = sectionNodes.get(0);
//缁撴潫璺緞
NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
- if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
+ if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
|| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
//姣嶈建鏂瑰悜
oper = 5;
@@ -299,7 +317,11 @@
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
Integer code = jsonObject.getInteger("code");
+ System.out.println("璺緞涓嬪彂" + taskNo);
+ System.out.println(JSON.toJSONString(jsonObject));
+ System.out.println(JSON.toJSONString(param));
if (code.equals(200)) {
+ System.out.println("璺緞涓嬪彂" + taskNo);
return true;
}
} catch (Exception e) {
@@ -329,6 +351,7 @@
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
Integer code = jsonObject.getInteger("code");
+ System.out.println(JSON.toJSONString(command.getBody()));
if (code.equals(200)) {
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
return true;
@@ -405,6 +428,7 @@
public synchronized boolean reset(ShuttleCommand command) {
setSyncTaskNo(0);
setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ enableMoveLoc(null, false);
return true;
}
@@ -608,6 +632,30 @@
}
@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) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "runOrder");
--
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