From 9c4da646aaefcd8476eb7a23a889b6af6cffab4e Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期三, 09 十月 2024 10:45:06 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 131 ++++++++++++++++++++++++++++++++++++-------
1 files changed, 109 insertions(+), 22 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 b0ff86f..19e3251 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) {
@@ -209,14 +209,14 @@
//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);
@@ -275,6 +275,7 @@
basShuttle.setStatus(1);
basShuttle.setDeleted(0);
basShuttle.setHostId(device.getHostId());
+ basShuttle.setDeviceId(device.getId().intValue());
shuttleService.save(basShuttle);
}
//浠诲姟鍙�
@@ -322,6 +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
@@ -343,10 +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
@@ -366,6 +373,7 @@
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()) {
@@ -373,7 +381,12 @@
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();
@@ -384,6 +397,7 @@
NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
bodyCopy.put("path", list);
+ bodyCopy.put("taskId", taskId++);
request.setBody(bodyCopy);
httpCommandCopy.setRequest(request);
@@ -392,9 +406,9 @@
for (NyShuttleHttpCommand requestCommand : commandList) {
JSONObject result = requestCommand(requestCommand);
- if (result == null) {
- return false;//璇锋眰澶辫触
- }
+// 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;
@@ -439,7 +453,24 @@
public boolean reset(ShuttleCommand command) {
setSyncTaskNo(0);
setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ enableMoveLoc(null, false);
return true;
+ }
+
+ @Override
+ public boolean updateLocation(ShuttleCommand command) {
+ 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
+ }
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ return true;
+ } catch (IOException e) {
+ return false;
+ }
}
@Override
@@ -543,7 +574,7 @@
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;
}
@@ -564,7 +595,7 @@
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;
}
@@ -605,6 +636,7 @@
@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�
@@ -623,6 +655,18 @@
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;
@@ -652,6 +696,30 @@
}
@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);
@@ -673,8 +741,8 @@
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);
@@ -684,8 +752,8 @@
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);
}
@@ -745,6 +813,25 @@
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);
+ return command;
+ }
+
//鑾峰彇灏忚溅澶嶄綅鍝嶅簲鍛戒护
public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
LocService locService = SpringUtils.getBean(LocService.class);
@@ -780,8 +867,8 @@
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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