From 763863395f8c2174cd754ba04d3561d32e29d066 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期日, 07 四月 2024 08:17:50 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 399 +++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 371 insertions(+), 28 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 2780f6e..e97a25f 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
@@ -2,22 +2,36 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.DateUtils;
+import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
+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.enums.ShuttleCommandModeType;
+import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
+import com.zy.asrs.wcs.core.service.BasShuttleService;
+import com.zy.asrs.wcs.core.service.LocService;
+import com.zy.asrs.wcs.core.utils.NavigateUtils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
+import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
+import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
+import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.entity.Device;
+import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
import java.text.SimpleDateFormat;
-import java.util.Date;
-import java.util.HashMap;
+import java.util.*;
@Slf4j
@SuppressWarnings("all")
@@ -76,52 +90,67 @@
if (data != null) {
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(device.getDeviceNo());
+ shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
shuttleProtocol.setDevice(device);
+
+ InnerSuhttleExtend extend = new InnerSuhttleExtend();
+ shuttleProtocol.setExtend(extend);
}
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
- //灏忚溅蹇欑姸鎬佷綅
- shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
+ //灏忚溅璁惧鐘舵��
+ Integer deviceStatus = data.getInteger("deviceStatus");
+ shuttleProtocol.setDeviceStatus(deviceStatus);
//褰撳墠浜岀淮鐮�
- shuttleProtocol.setCurrentCode(data.getString("deviceLocation"));
+ shuttleProtocol.setCurrentCode(data.getString("groundCode") == null ? "0" : data.getString("groundCode"));
//鐢垫睜鐢甸噺
- shuttleProtocol.setBatteryPower(data.getString("battery"));
+ shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0%" : data.getString("battery"));
//鏄惁椤跺崌
shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
+ //鏄惁鏈夋墭鐩�
+ shuttleProtocol.setHasPallet(data.getInteger("hasPallet") == null ? true : data.getInteger("hasPallet") != 2 ? true : false);
//琛岄┒鏂瑰悜
- shuttleProtocol.setRunDirection(data.getString("direction"));
+ shuttleProtocol.setRunDirection(data.getString("direction") == null ? "none" : data.getString("direction"));
+ //鏄惁涓哄厖鐢电姸鎬�
+ shuttleProtocol.setHasCharge((deviceStatus == 5 || deviceStatus == 13) ? true : false);
+
+ //*********璇诲彇鎵╁睍瀛楁**********
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
+ extend.setMapVersion(data.getString("version"));//鍦板浘鐗堟湰
+ extend.setStatusDescription(data.getString("statusDescription"));//鐘舵�佹弿杩�
+ shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
-// //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
-// if (shuttleProtocol.getDeviceStatusType() == ShuttleDeviceStatusType.BUSY) {
-// shuttleProtocol.setPakMk(true);
-// }
-//
+ //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
+ if (!shuttleProtocol.getIdle()) {
+ shuttleProtocol.setPakMk(true);
+ }
+
// if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == ShuttleDeviceStatusType.IDLE.id) {
// //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(Base64.getEncoder().encodeToString(result.Content));
-// deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
-// deviceDataLog.setType("shuttle");
-// deviceDataLog.setDeviceNo(shuttleProtocol.getShuttleNo().intValue());
-// deviceDataLog.setCreateTime(new Date());
-// deviceDataLogService.insert(deviceDataLog);
-//
-// //鏇存柊閲囬泦鏃堕棿
-// shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
-// }
+ 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());
+ }
} else {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆憑1}璇诲彇鍥涘悜绌挎杞︾姸鎬佷俊鎭け璐�", DateUtils.convert(new Date()), device.getDeviceNo()));
throw new CoolException(MessageFormat.format("璇诲彇鍥涘悜绌挎杞︾姸鎬佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", device.getDeviceNo(), device.getIp(), device.getPort()));
@@ -147,6 +176,304 @@
return this.shuttleProtocol;
}
+ @Override
+ public Device getDevice() {
+ return this.device;
+ }
+
+ @Override
+ public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
+ try {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return false;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
+ for (ArrayList<NavigateNode> sectionNodes : data) {
+ boolean flag = true;
+ int oper;
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
+ || ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
+ //姣嶈建鏂瑰悜
+ oper = 5;
+ }else {
+ //瀛愯建鏂瑰悜
+ oper = 6;
+ }
+
+ for (NavigateNode node : sectionNodes) {
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("nodexX", node.getX());
+ map.put("nodexY", node.getY());
+ map.put("nodexZ", node.getZ());
+ if (flag) {
+ map.put("oper", oper);
+ flag = false;
+ }
+ modes.add(map);
+ }
+ }
+
+
+ HashMap<String, Object> param = new HashMap<>();
+ param.put("messageName", "runRoute");
+ param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+ param.put("deviceNo", device.getDeviceNo());
+ param.put("taskId", taskNo);
+ param.put("nodeNum", nodes.size());
+ param.put("modes", modes);
+ String response = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/runRoute")
+ .setHeaders(headers)
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return false;
+ }
+
+ @Override
+ public synchronized boolean move(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/runOrder")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return false;
+ }
+
+ @Override
+ public synchronized boolean lift(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/actionOrder")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return false;
+ }
+
+ @Override
+ public synchronized boolean charge(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/actionOrder")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return false;
+ }
+
+ @Override
+ public synchronized boolean reset(ShuttleCommand command) {
+ return false;
+ }
+
+ @Override
+ public boolean isIdle() {
+ if (this.shuttleProtocol.getIdle() == null
+ || this.shuttleProtocol.getPakMk() == null
+ || this.shuttleProtocol.getErrorCode() == null
+ || this.shuttleProtocol.getProtocolStatus() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.shuttleProtocol.getIdle()
+ && this.shuttleProtocol.getPakMk()
+ && this.shuttleProtocol.getErrorCode().equals("0")
+ && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
+ ;
+ return res;
+ }
+
+ @Override
+ public boolean isRequireCharge() {
+ if (this.shuttleProtocol.getIdle() == null
+ || this.shuttleProtocol.getPakMk() == null
+ || this.shuttleProtocol.getErrorCode() == null
+ || this.shuttleProtocol.getProtocolStatus() == null
+ ) {
+ return false;
+ }
+
+ boolean res = this.shuttleProtocol.getIdle()
+ && this.shuttleProtocol.getPakMk()
+ && this.shuttleProtocol.getErrorCode().equals("0")
+ && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
+ ;
+ if (!res) {
+ return res;
+ } else {
+ // 鐢甸噺灏忎簬闃堝�奸渶瑕佽繘琛屽厖鐢�
+ try {
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ if (shuttleService == null) {
+ return false;
+ }
+ BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
+ if (basShuttle == null) {
+ return false;
+ }
+ Integer chargeLine = basShuttle.getChargeLine();
+ if (chargeLine == null) {
+ return false;
+ }
+ return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
+ } catch (Exception e) {
+ News.error("fail", e);
+ return false;
+ }
+ }
+ }
+
+ @Override
+ public boolean isCharging() {
+ if (this.shuttleProtocol.getDeviceStatus() == null) {
+ return false;
+ }
+
+ if (this.shuttleProtocol.getDeviceStatus() == 5 || this.shuttleProtocol.getDeviceStatus() == 13) {
+ //鍏呯數涓拰鐢垫睜鍧囪 =銆� 鍏呯數
+ return true;
+ }
+ return false;
+ }
+
+ @Override
+ public boolean isChargingCompleted() {
+ return false;
+ }
+
+ @Override
+ public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
+ 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);
+
+ LocService locService = SpringUtils.getBean(LocService.class);
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getCode, distCodeNum)
+ .eq(Loc::getHostId, this.device.getHostId()));
+ if (loc == null) {
+ throw new CoolException("搴撲綅淇℃伅涓嶅瓨鍦�");
+ }
+ body.put("nodeX", loc.getRow());
+ body.put("nodeY", loc.getBay());
+ body.put("nodeZ", loc.getLev());
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(ShuttleCommandModeType.MOVE.id);
+ command.setTargetLocNo(loc.getLocNo());
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
+ 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("action", lift ? 1 : 2);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
+ 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("action", charge ? 3 : 4);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
+ return command;
+ }
//***************璁惧灞傞�氳-涓嶅悓鍘傚晢璁惧閫氳鏂规涓嶄竴鑷�***************
@@ -206,4 +533,20 @@
}
return null;
}
+
+ @Data
+ private class InnerSuhttleExtend {
+
+ /**
+ * 鍦板浘鐗堟湰
+ */
+ private String mapVersion;
+
+ /**
+ * 鐘舵�佹弿杩�
+ */
+ private String statusDescription;
+
+ }
+
}
--
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