From b757ac18d7aab051f72c8f52c546c7fd715a8196 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 03 十二月 2024 15:53:18 +0800
Subject: [PATCH] #算法优化
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 204 +++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 172 insertions(+), 32 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 32d18d7..aa74579 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
@@ -10,20 +10,25 @@
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.BasLift;
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.*;
+import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
+import com.zy.asrs.wcs.core.utils.LiftDispatcher;
import com.zy.asrs.wcs.core.utils.NavigateUtils;
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.DeviceDataLog;
+import com.zy.asrs.wcs.rcs.model.CommandResponse;
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;
@@ -45,7 +50,7 @@
@SuppressWarnings("all")
public class SurayShuttleThread implements ShuttleThread {
- private static final String API_URL = "http://127.0.0.1:8082";
+ private static String API_URL = "http://127.0.0.1:8082";
private Device device;
private RedisUtil redisUtil;
@@ -54,6 +59,7 @@
public SurayShuttleThread(Device device,RedisUtil redisUtil) {
this.device = device;
this.redisUtil = redisUtil;
+ API_URL = "http://" + device.getIp() + ":" + device.getPort();
}
@Override
@@ -122,7 +128,7 @@
//褰撳墠浜岀淮鐮�
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"));
+ shuttleProtocol.setBatteryPower(data.getString("battery") == null ? "0" : data.getString("battery"));
//鏁呴殰
shuttleProtocol.setErrorCode(deviceStatus == 6 ? "1" : "0");
@@ -184,6 +190,7 @@
basShuttle.setStatus(1);
basShuttle.setDeleted(0);
basShuttle.setHostId(device.getHostId());
+ basShuttle.setDeviceId(device.getId().intValue());
shuttleService.save(basShuttle);
}
//浠诲姟鍙�
@@ -217,10 +224,15 @@
@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
@@ -229,11 +241,23 @@
}
@Override
- public synchronized boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
+ public synchronized CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
+ CommandResponse response = new CommandResponse(false);
try {
+ NavigateUtils navigateUtils = SpringUtils.getBean(NavigateUtils.class);
+ //榛樿鍦板浘姣嶈建鏂瑰悜x
+ String mapDirection = "x";
+ DictService dictService = SpringUtils.getBean(DictService.class);
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "direction_map")
+ .eq(Dict::getStatus, 1));
+ if (dict != null) {
+ mapDirection = dict.getValue();
+ }
+
String loginToken = requestLoginToken();
if (loginToken == null) {
- return false;
+ return response;
}
HashMap<String, Object> headers = new HashMap<>();
@@ -241,7 +265,7 @@
ArrayList<HashMap<String, Object>> modes = new ArrayList<>();
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodes);
+ ArrayList<ArrayList<NavigateNode>> data = navigateUtils.getSectionPath(nodes);
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�
@@ -255,7 +279,7 @@
NavigateNode startPath = sectionNodes.get(0);
//缁撴潫璺緞
NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
- if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
+ if (mapDirection.equals("y") && ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
|| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
//姣嶈建鏂瑰悜
oper = 5;
@@ -289,7 +313,7 @@
param.put("taskId", taskNo);
param.put("nodeNum", nodes.size());
param.put("modes", modes);
- String response = new HttpHandler.Builder()
+ String responseStr = new HttpHandler.Builder()
.setUri(API_URL)
.setPath("/RDS/runRoute")
.setHeaders(headers)
@@ -297,29 +321,36 @@
.setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
- JSONObject jsonObject = JSON.parseObject(response);
+ JSONObject jsonObject = JSON.parseObject(responseStr);
Integer code = jsonObject.getInteger("code");
+ System.out.println("璺緞涓嬪彂" + taskNo);
+ System.out.println(JSON.toJSONString(jsonObject));
+ System.out.println(JSON.toJSONString(param));
if (code.equals(200)) {
- return true;
+ System.out.println("璺緞涓嬪彂" + taskNo);
+ response.setResult(true);
+ response.setMessage(responseStr);
+ return response;
}
} catch (Exception e) {
e.printStackTrace();
}
- return false;
+ return response;
}
@Override
- public synchronized boolean move(ShuttleCommand command) {
+ public synchronized CommandResponse move(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
String loginToken = requestLoginToken();
if (loginToken == null) {
- return false;
+ return response;
}
HashMap<String, Object> headers = new HashMap<>();
headers.put("Authorization", "Bearer " + loginToken);
- String response = new HttpHandler.Builder()
+ String responseStr = new HttpHandler.Builder()
.setUri(API_URL)
.setPath("/RDS/runOrder")
.setHeaders(headers)
@@ -327,30 +358,34 @@
.setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
- JSONObject jsonObject = JSON.parseObject(response);
+ JSONObject jsonObject = JSON.parseObject(responseStr);
Integer code = jsonObject.getInteger("code");
+ System.out.println(JSON.toJSONString(command.getBody()));
if (code.equals(200)) {
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
+ response.setResult(true);
+ response.setMessage(responseStr);
+ return response;
}
} catch (Exception e) {
e.printStackTrace();
}
- return false;
+ return response;
}
@Override
- public synchronized boolean lift(ShuttleCommand command) {
+ public synchronized CommandResponse lift(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
String loginToken = requestLoginToken();
if (loginToken == null) {
- return false;
+ return response;
}
HashMap<String, Object> headers = new HashMap<>();
headers.put("Authorization", "Bearer " + loginToken);
- String response = new HttpHandler.Builder()
+ String responseStr = new HttpHandler.Builder()
.setUri(API_URL)
.setPath("/RDS/actionOrder")
.setHeaders(headers)
@@ -358,30 +393,33 @@
.setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
- JSONObject jsonObject = JSON.parseObject(response);
+ JSONObject jsonObject = JSON.parseObject(responseStr);
Integer code = jsonObject.getInteger("code");
if (code.equals(200)) {
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
+ response.setResult(true);
+ response.setMessage(responseStr);
+ return response;
}
} catch (Exception e) {
e.printStackTrace();
}
- return false;
+ return response;
}
@Override
- public synchronized boolean charge(ShuttleCommand command) {
+ public synchronized CommandResponse charge(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
String loginToken = requestLoginToken();
if (loginToken == null) {
- return false;
+ return response;
}
HashMap<String, Object> headers = new HashMap<>();
headers.put("Authorization", "Bearer " + loginToken);
- String response = new HttpHandler.Builder()
+ String responseStr = new HttpHandler.Builder()
.setUri(API_URL)
.setPath("/RDS/actionOrder")
.setHeaders(headers)
@@ -389,23 +427,60 @@
.setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
- JSONObject jsonObject = JSON.parseObject(response);
+ JSONObject jsonObject = JSON.parseObject(responseStr);
Integer code = jsonObject.getInteger("code");
if (code.equals(200)) {
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
+ response.setResult(true);
+ response.setMessage(responseStr);
+ return response;
}
} catch (Exception e) {
e.printStackTrace();
}
- return false;
+ return response;
}
@Override
- public synchronized boolean reset(ShuttleCommand command) {
+ public synchronized 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 {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return response;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ String responseStr = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/changeLocation")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(responseStr);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ response.setResult(true);
+ response.setMessage(responseStr);
+ return response;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return response;
}
@Override
@@ -491,7 +566,7 @@
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;
}
@@ -608,6 +683,39 @@
}
@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 boolean requestWaiting() {
+ if (this.shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ return true;
+ }
+ return false;
+ }
+
+ @Override
public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "runOrder");
@@ -626,11 +734,23 @@
body.put("nodeY", loc.getBay());
body.put("nodeZ", loc.getLev());
+ //妫�娴嬬洰鏍囩偣鏄惁涓烘彁鍗囨満
+ BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>().eq(BasLift::getRow, loc.getRow())
+ .eq(BasLift::getBay, loc.getBay())
+ .eq(BasLift::getHostId, this.device.getHostId()));
+ if (basLift != null) {
+ LiftDispatcher liftDispatcher = SpringUtils.getBean(LiftDispatcher.class);
+ Integer realLev = liftDispatcher.getLiftLevOffset(basLift.getDeviceId().intValue(), loc.getLev());
+ body.put("nodeZ", realLev);
+ }
+
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());
+ command.setTaskNo(taskNo);
return command;
}
@@ -647,6 +767,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(body));
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -663,6 +784,25 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(body));
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
+ command.setTaskNo(taskNo);
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
+ 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()));
+
+ String coord = "(" + Utils.getRow(locNo) + "," + Utils.getBay(locNo) + "," + Utils.getLev(locNo) + ")";
+ body.put("coord", coord);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
+ command.setTaskNo(taskNo);
return command;
}
--
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