From 50435a81915932eda06b7f1afd48f9ff1ae84f19 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期四, 10 四月 2025 17:50:28 +0800
Subject: [PATCH] 1
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 450 ++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 341 insertions(+), 109 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 4e4122d..e6fa940 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.action.ShuttleAction;
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;
@@ -24,11 +25,13 @@
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;
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;
@@ -59,7 +62,11 @@
private static final boolean DEBUG = false;//璋冭瘯妯″紡
+ private List<JSONObject> socketReadResults = new ArrayList<>();
private List<JSONObject> socketResults = new ArrayList<>();
+
+ //鍘熷璁惧鏁版嵁
+ private Object originDeviceData;
public NyShuttleThread(Device device, RedisUtil redisUtil) {
this.device = device;
@@ -74,18 +81,125 @@
//鐩戝惉娑堟伅骞跺瓨鍌�
Thread innerThread = new Thread(() -> {
while (true) {
- listenSocketMessage();
+ try {
+ listenSocketMessage();
+ listenInit();//鐩戝惉鍒濆鍖栦簨浠�
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
}
});
innerThread.start();
- while (true) {
- try {
- read();
- Thread.sleep(500);
- } catch (Exception e) {
- log.error("ShuttleThread Fail", e);
+ //璁惧璇诲彇
+ Thread readThread = new Thread(() -> {
+ while (true) {
+ try {
+ read();
+ Thread.sleep(50);
+ } catch (Exception e) {
+ log.error("ShuttleThread Fail", e);
+ }
}
+ });
+ readThread.start();
+
+ //璁惧鎵ц
+ Thread executeThread = new Thread(() -> {
+ while (true) {
+ try {
+ ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ if (shuttleAction == null) {
+ continue;
+ }
+
+ Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_FLAG + device.getDeviceNo());
+ if (object == null) {
+ continue;
+ }
+
+ Integer taskNo = Integer.valueOf(String.valueOf(object));
+ if (taskNo != 0) {
+ //瀛樺湪浠诲姟闇�瑕佹墽琛�
+ boolean result = shuttleAction.executeWork(device, taskNo);
+ }
+
+ //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();
+ }
+ }
+ });
+ executeThread.start();
+
+ //鍏朵粬浠诲姟
+ Thread otherThread = new Thread(() -> {
+ while (true) {
+ try {
+ saveLog();//淇濆瓨鏁版嵁
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ });
+ otherThread.start();
+ }
+
+ private void saveLog() {
+ if (shuttleProtocol == null) {
+ return;
+ }
+
+ if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
+ if (this.originDeviceData != null) {
+ //閲囬泦鏃堕棿瓒呰繃5s锛屼繚瀛樹竴娆℃暟鎹褰�
+ //淇濆瓨鏁版嵁璁板綍
+ DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
+ deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
+ deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
+ deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
+ deviceDataLog.setCreateTime(new Date());
+ deviceDataLog.setHostId(device.getHostId());
+ deviceDataLogService.save(deviceDataLog);
+
+ //鏇存柊閲囬泦鏃堕棿
+ shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+ }
+
+ //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ 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
+ basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+ basShuttle.setStatus(1);
+ basShuttle.setDeleted(0);
+ 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());
+ //淇敼鏃堕棿
+ basShuttle.setUpdateTime(new Date());
+ //璁惧鐘舵��
+ basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
+ if (shuttleService.updateById(basShuttle)) {
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), device.getDeviceNo()));
}
}
@@ -99,20 +213,30 @@
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) {
+
+ String msgType = result.getString("msgType");
+ if ("responseMsg".equals(msgType)) {
+ JSONObject response = result.getJSONObject("response");
+ JSONObject body = response.getJSONObject("body");
+ if (body.containsKey("workingMode")) {
+ //read
+ socketReadResults.add(body);
+ return;
+ }
+ }
+
+ if (!socketResults.isEmpty() && socketResults.size() >= 20) {
socketResults.remove(0);//娓呯悊澶磋妭鐐�
}
socketResults.add(result);//娣诲姞鏁版嵁
@@ -121,7 +245,7 @@
}
}
- 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;
@@ -144,7 +268,14 @@
}
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;
@@ -168,7 +299,7 @@
this.connect();
}
readStatus();
- listenInit();//鐩戝惉鍒濆鍖栦簨浠�
+ 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()));
@@ -189,7 +320,18 @@
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(Integer.parseInt(device.getDeviceNo()));
- JSONObject data = requestCommand(readStatusCommand);
+ requestCommandAsync(readStatusCommand);//璇锋眰鐘舵��
+
+ if (this.socketReadResults.isEmpty()) {
+ 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�
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ }
+ return;
+ }
+
+ JSONObject data = this.socketReadResults.get(0);
+ this.socketReadResults.remove(0);
if (data == null) {
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�
@@ -210,14 +352,14 @@
//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);
+ shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
//鏄惁鏈夋墭鐩�
shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
//琛岄┒鏂瑰悜
- shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("direction"));
+ shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
//鏄惁涓哄厖鐢电姸鎬�
shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
@@ -238,55 +380,22 @@
///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
//灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
- if (shuttleProtocol.getDeviceStatus() == 1) {
+ if (shuttleProtocol.getDeviceStatus() == 0) {
shuttleProtocol.setPakMk(true);
}
- if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
+ if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 1) {
//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);
}
- if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
- //閲囬泦鏃堕棿瓒呰繃5s锛屼繚瀛樹竴娆℃暟鎹褰�
- //淇濆瓨鏁版嵁璁板綍
- DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
- DeviceDataLog deviceDataLog = new DeviceDataLog();
- deviceDataLog.setOriginData(JSON.toJSONString(data));
- deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
- deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
- deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
- deviceDataLog.setCreateTime(new Date());
- deviceDataLog.setHostId(device.getHostId());
- deviceDataLogService.save(deviceDataLog);
-
- //鏇存柊閲囬泦鏃堕棿
- shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
+ if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE) && shuttleProtocol.getDeviceStatus().intValue() == 1) {
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
}
- //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
- BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
- 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
- basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
- basShuttle.setStatus(1);
- basShuttle.setDeleted(0);
- basShuttle.setHostId(device.getHostId());
- shuttleService.save(basShuttle);
- }
- //浠诲姟鍙�
- basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
- //淇敼鏃堕棿
- basShuttle.setUpdateTime(new Date());
- //璁惧鐘舵��
- basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
- if (shuttleService.updateById(basShuttle)) {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), device.getDeviceNo()));
- }
+ this.originDeviceData = data;
+
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), device.getDeviceNo()));
}
} catch (Exception e) {
e.printStackTrace();
@@ -322,6 +431,9 @@
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);
@@ -329,13 +441,11 @@
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();
@@ -361,17 +471,20 @@
}
@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);
Map<String, Object> body = httpCommand.getRequest().getBody();
Object pathObj = body.get("path");
+ int taskId = Integer.parseInt(body.get("taskId").toString());
List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
while (!path.isEmpty()) {
@@ -379,7 +492,12 @@
if (path.size() > 10) {
List<JSONObject> subList = path.subList(0, 10);
list.addAll(subList);
- subList.clear();
+
+ List<JSONObject> tmp = new ArrayList<>();
+ for (int i = 10; i < path.size(); i++) {
+ tmp.add(path.get(i));
+ }
+ path = tmp;
}else {
list.addAll(path);
path.clear();
@@ -390,6 +508,7 @@
NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
bodyCopy.put("path", list);
+ bodyCopy.put("taskId", taskId++);
request.setBody(bodyCopy);
httpCommandCopy.setRequest(request);
@@ -399,53 +518,86 @@
for (NyShuttleHttpCommand requestCommand : commandList) {
JSONObject result = requestCommand(requestCommand);
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
+ 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);
- return true;
+ enableMoveLoc(null, false);
+ return new CommandResponse(true, JSON.toJSONString(command));
+ }
+
+ @Override
+ 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 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 response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return response;
+ }
}
@Override
@@ -549,7 +701,7 @@
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;
}
@@ -570,7 +722,7 @@
return false;
}
- if (this.shuttleProtocol.getDeviceStatus() == 1 && this.shuttleProtocol.getHasCharge()) {
+ if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
//杩愯涓� && 鍏呯數涓�
return true;
}
@@ -611,6 +763,7 @@
@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�
@@ -629,6 +782,18 @@
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;
@@ -658,16 +823,36 @@
}
@Override
- public boolean enableMoveLoc(ShuttleMoveLocParam param) {
- 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());
+ 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 boolean requestWaiting() {
+ if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ return true;
+ }
+ return false;
}
@Override
@@ -678,9 +863,10 @@
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);
@@ -692,8 +878,8 @@
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);
@@ -703,8 +889,8 @@
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);
}
@@ -723,6 +909,7 @@
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.MOVE.id);
command.setTargetLocNo(loc.getLocNo());
+ command.setTaskNo(taskId);
return command;
}
@@ -731,9 +918,10 @@
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);
@@ -742,6 +930,7 @@
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;
}
@@ -750,9 +939,10 @@
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);
@@ -761,6 +951,27 @@
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;
+ }
+
+ @Override
+ public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
+ NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ HashMap<String, Object> body = new HashMap<>();
+ body.put("requestType", "updateFloor");//鏇存柊灞俍
+ body.put("z", Utils.getLev(locNo));//鍧愭爣Z
+ request.setBody(body);
+
+ httpStandard.setRequest(request);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(httpStandard));
+ command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -799,8 +1010,8 @@
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
@@ -815,6 +1026,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.RESET.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -898,29 +1110,49 @@
// 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�
}
+ private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
+ if (this.socket == null) {
+ return;
+ }
+
+ //鍘嬬缉鏁版嵁鍖�
+ JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
+ data.remove("nodes");
+
+ // 鑾峰彇杈撳嚭娴�
+ OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
+ writer.write(JSON.toJSONString(data) + "\r\n");
+ writer.flush();
+// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
+ }
+
private JSONObject filterBodyData(JSONObject data) {
Object response = data.get("response");
if (response == null) {
--
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