From d7a88293d5e823a3752e5ea4f8b9e9b11906e6bc Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期五, 12 四月 2024 17:23:45 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 77 ++++++++++++++++++++++++++++++++++++--
1 files changed, 72 insertions(+), 5 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 852ca7c..600cd12 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);
@@ -134,10 +139,10 @@
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 (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 3) {
+ //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�
@@ -154,6 +159,30 @@
//鏇存柊閲囬泦鏃堕棿
shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ BasShuttle basShuttle = shuttleService.getOne(new LambdaQueryWrapper<BasShuttle>()
+ .eq(BasShuttle::getShuttleNo, device.getDeviceNo())
+ .eq(BasShuttle::getHostId, device.getHostId()));
+ if (basShuttle == null) {
+ basShuttle = new BasShuttle();
+ //鍥涘悜绌挎杞﹀彿
+ basShuttle.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+ basShuttle.setStatus(1);
+ basShuttle.setDeleted(0);
+ basShuttle.setHostId(device.getHostId());
+ shuttleService.save(basShuttle);
+ }
+ //浠诲姟鍙�
+ basShuttle.setTaskNo(shuttleProtocol.getTaskNo().intValue());
+ //淇敼鏃堕棿
+ basShuttle.setUpdateTime(new Date());
+ //璁惧鐘舵��
+ basShuttle.setProtocol(JSON.toJSONString(shuttleProtocol));
+ if (shuttleService.updateById(basShuttle)) {
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), device.getDeviceNo()));
}
} 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()));
@@ -239,6 +268,7 @@
.setPath("/RDS/runRoute")
.setHeaders(headers)
.setJson(JSON.toJSONString(param))
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -268,6 +298,7 @@
.setPath("/RDS/runOrder")
.setHeaders(headers)
.setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -297,6 +328,7 @@
.setPath("/RDS/actionOrder")
.setHeaders(headers)
.setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -326,6 +358,7 @@
.setPath("/RDS/actionOrder")
.setHeaders(headers)
.setJson(command.getBody())
+ .setTimeout(60, TimeUnit.SECONDS)
.build()
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
@@ -346,6 +379,16 @@
@Override
public boolean isIdle() {
+ return this.isIdle(null);
+ }
+
+ @Override
+ public boolean isIdle(ExecuteSupport support) {
+ if (null != support) {
+ if (!support.judgement()) {
+ return false;
+ }
+ }
if (this.shuttleProtocol.getIdle() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
@@ -417,10 +460,34 @@
@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_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 ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "runOrder");
--
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