From 89e6e823e4eeed9c08ac612d8089678ad24b4ef2 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期五, 12 四月 2024 22:18:54 +0800
Subject: [PATCH] #取放货动作
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 91 ++++++++++++++++++++++++++++++++++++++-------
1 files changed, 76 insertions(+), 15 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 b7fbef2..9dedf44 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
@@ -7,10 +7,12 @@
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.common.ExecuteSupport;
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.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
import com.zy.asrs.wcs.core.service.BasShuttleService;
@@ -18,6 +20,7 @@
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.constant.DeviceRedisConstant;
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;
@@ -32,6 +35,7 @@
import java.text.MessageFormat;
import java.text.SimpleDateFormat;
import java.util.*;
+import java.util.concurrent.TimeUnit;
@Slf4j
@SuppressWarnings("all")
@@ -110,7 +114,8 @@
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"));
-
+ //鏁呴殰
+ shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");
//鏄惁椤跺崌
shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
@@ -130,7 +135,7 @@
///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.getIdle()) {
+ if (deviceStatus == 1 || deviceStatus == 2 || deviceStatus == 5) {
shuttleProtocol.setPakMk(true);
}
@@ -223,25 +228,37 @@
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) {
+ for (int idx = 0; idx < data.size(); idx++) {
+ ArrayList<NavigateNode> sectionNodes = data.get(idx);
+ boolean isRemoveFooterNode = false;//鏄惁鍓旈櫎灏捐妭鐐�
+ if (idx != data.size() - 1) {
+ isRemoveFooterNode = true;//鍓旈櫎灏捐妭鐐�
+ }
+
boolean flag = true;
int oper;
//寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
+ NavigateNode startPath = sectionNodes.get(0);
+ //缁撴潫璺緞
+ NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
|| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
//姣嶈建鏂瑰悜
oper = 5;
- }else {
+ } else {
//瀛愯建鏂瑰悜
oper = 6;
}
- for (NavigateNode node : sectionNodes) {
+ for (int i = 0; i < sectionNodes.size(); i++) {
+ if (isRemoveFooterNode && i == sectionNodes.size() - 1) {
+ continue;
+ }
+ NavigateNode node = sectionNodes.get(i);
HashMap<String, Object> map = new HashMap<>();
- map.put("nodexX", node.getX());
- map.put("nodexY", node.getY());
- map.put("nodexZ", node.getZ());
+ map.put("nodeX", node.getX());
+ map.put("nodeY", node.getY());
+ map.put("nodeZ", node.getZ());
if (flag) {
map.put("oper", oper);
flag = false;
@@ -255,7 +272,7 @@
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("taskId", generateDeviceTaskNo(taskNo));
param.put("nodeNum", nodes.size());
param.put("modes", modes);
String response = new HttpHandler.Builder()
@@ -263,6 +280,7 @@
.setPath("/RDS/runRoute")
.setHeaders(headers)
.setJson(JSON.toJSONString(param))
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -292,6 +310,7 @@
.setPath("/RDS/runOrder")
.setHeaders(headers)
.setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -321,6 +340,7 @@
.setPath("/RDS/actionOrder")
.setHeaders(headers)
.setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -350,6 +370,7 @@
.setPath("/RDS/actionOrder")
.setHeaders(headers)
.setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -370,7 +391,17 @@
@Override
public boolean isIdle() {
- if (this.shuttleProtocol.getIdle() == null
+ return this.isIdle(null);
+ }
+
+ @Override
+ public boolean isIdle(ExecuteSupport support) {
+ if (null != support) {
+ if (!support.judgement()) {
+ return false;
+ }
+ }
+ if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
|| this.shuttleProtocol.getProtocolStatus() == null
@@ -378,7 +409,7 @@
return false;
}
- boolean res = this.shuttleProtocol.getIdle()
+ boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
&& this.shuttleProtocol.getPakMk()
&& this.shuttleProtocol.getErrorCode().equals("0")
&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
@@ -388,7 +419,7 @@
@Override
public boolean isRequireCharge() {
- if (this.shuttleProtocol.getIdle() == null
+ if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
|| this.shuttleProtocol.getProtocolStatus() == null
@@ -396,7 +427,7 @@
return false;
}
- boolean res = this.shuttleProtocol.getIdle()
+ boolean res = (this.shuttleProtocol.getDeviceStatus() == 3)
&& this.shuttleProtocol.getPakMk()
&& this.shuttleProtocol.getErrorCode().equals("0")
&& this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
@@ -441,10 +472,40 @@
@Override
public boolean isChargingCompleted() {
+ if (this.shuttleProtocol.getBatteryPower() == null) {
+ return false;
+ }
+
if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= 100) {
return true;
}
return false;
+ }
+
+ @Override
+ public List<NavigateNode> getMoveAdvancePath() {
+ ArrayList<NavigateNode> path = new ArrayList<>();
+ if (shuttleProtocol.getTaskNo() != 0) {
+ //瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
+ Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
+ if (object != null) {
+ ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
+ List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//绌挎杞﹂璁¤矾寰�
+ if (!nodes.isEmpty()) {
+ path.addAll(nodes);
+ }
+ }
+ }
+ return path;
+ }
+
+ @Override
+ public int generateDeviceTaskNo(int taskNo) {
+ int no = taskNo % 255;
+ if (no <= 1) {
+ no = 2;
+ }
+ return no;
}
@Override
@@ -453,7 +514,7 @@
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", generateDeviceTaskNo(taskNo));
LocService locService = SpringUtils.getBean(LocService.class);
Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
--
Gitblit v1.9.1