From a18215c69379bbdaecd95e25812e0796c32f9a57 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 16 四月 2024 14:46:20 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 60 ++++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 48 insertions(+), 12 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 9e59b6c..91a9a72 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
@@ -3,6 +3,8 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.DateUtils;
import com.zy.asrs.framework.common.SpringUtils;
@@ -135,7 +137,7 @@
///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);
}
@@ -228,21 +230,33 @@
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("nodeX", node.getX());
map.put("nodeY", node.getY());
@@ -389,7 +403,7 @@
return false;
}
}
- if (this.shuttleProtocol.getIdle() == null
+ if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
|| this.shuttleProtocol.getProtocolStatus() == null
@@ -397,17 +411,33 @@
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
+ && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id)
+ ;
+ return res;
+ }
+
+ @Override
+ public boolean isDeviceIdle() {
+ if (this.shuttleProtocol.getDeviceStatus() == null
+ || this.shuttleProtocol.getPakMk() == null
+ || this.shuttleProtocol.getErrorCode() == null
+ ) {
+ return false;
+ }
+
+ boolean res = (this.shuttleProtocol.getDeviceStatus() == 3 || this.shuttleProtocol.getDeviceStatus() == 11)
+ && this.shuttleProtocol.getPakMk()
+ && this.shuttleProtocol.getErrorCode().equals("0")
;
return res;
}
@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
@@ -415,7 +445,7 @@
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
@@ -472,12 +502,18 @@
@Override
public List<NavigateNode> getMoveAdvancePath() {
+ ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
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_FLAG + shuttleProtocol.getTaskNo());
+ Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_WORK_FLAG + shuttleProtocol.getTaskNo());
if (object != null) {
- ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
+ ShuttleRedisCommand redisCommand = null;
+ try {
+ redisCommand = objectMapper.readValue(String.valueOf(object), ShuttleRedisCommand.class);
+ } catch (JsonProcessingException e) {
+ return path;
+ }
List<NavigateNode> nodes = redisCommand.getAssignCommand().getNodes();//绌挎杞﹂璁¤矾寰�
if (!nodes.isEmpty()) {
path.addAll(nodes);
--
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