From d835d1b51f832889929cdf69010034a30ef44d02 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 17 十月 2024 13:57:29 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java | 299 ++++++++++++++++++++++++++++++++++++++++++++++++-----------
1 files changed, 241 insertions(+), 58 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java
index 63ba78d..f1c4e9e 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java
@@ -2,13 +2,18 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.alibaba.fastjson.serializer.SerializerFeature;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.common.utils.HttpHandler;
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.BasLift;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.LiftCommandModeType;
+import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
+import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.OutputQueue;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
@@ -23,14 +28,13 @@
import java.text.MessageFormat;
import java.text.SimpleDateFormat;
-import java.util.Date;
-import java.util.HashMap;
+import java.util.*;
@Slf4j
@SuppressWarnings("all")
public class SurayLiftThread implements LiftThread {
- 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;
@@ -39,6 +43,7 @@
public SurayLiftThread(Device device,RedisUtil redisUtil) {
this.device = device;
this.redisUtil = redisUtil;
+ API_URL = "http://" + device.getIp() + ":" + device.getPort();
}
@Override
@@ -59,9 +64,9 @@
try {
readStatus();
- //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓篺alse
+ //鎻愬崌鏈哄浜庤繍琛岀姸鎬侊紝灏嗘爣璁扮疆涓簍rue
if (liftProtocol.getRun()) {
- liftProtocol.setPakMk(false);
+ liftProtocol.setPakMk(true);
}
} catch (Exception e) {
OutputQueue.LIFT.offer(MessageFormat.format("銆恵0}銆戣鍙栨彁鍗囨満鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
@@ -87,22 +92,29 @@
//----------璇诲彇鎻愬崌鏈虹姸鎬�-----------
//妯″紡
liftProtocol.setModel(true);
+
+ boolean runningState = data.getInteger("runningState") == 1;
+ if (!data.getInteger("completeTaskNo").equals(data.getInteger("taskNo"))) {
+ runningState = true;//宸ヤ綔鍙蜂笉涓�鑷达紝璁や负澶勪簬杩愯涓�
+ }
//杩愯鐘舵��
- liftProtocol.setRun(data.getInteger("runningstate") == 1);
+ liftProtocol.setRun(runningState);
//灏辩华鐘舵��
liftProtocol.setReady(data.getInteger("readyState") == 1);
//鏈夋墭鐩�
liftProtocol.setHasTray(data.getString("haveCargo").equals("Y"));
//鏈夊皬杞�
- liftProtocol.setHasCar(data.getString("haveCar").equals("Y"));
+ liftProtocol.setHasCar(data.getInteger("haveCar") == 1);
//鏁呴殰鐮�
- liftProtocol.setErrorCode("");
+ liftProtocol.setErrorCode("0");
//灞�
liftProtocol.setLev(data.getInteger("curFloor"));
+ //宸插畬鎴愮殑浠诲姟鍙�
+ liftProtocol.setCompleteTaskNo(data.getString("completeTaskNo"));
//************琛ュ厖鎵╁睍瀛楁*************
- InnerLiftExtend liftExtend = JSON.parseObject(JSON.toJSONString(liftProtocol.getExtend()), InnerLiftExtend.class);
+ InnerLiftExtend liftExtend = (InnerLiftExtend) liftProtocol.getExtend();
liftExtend.setLock(data.getInteger("lockStatus") == 1 ? true : false);
liftProtocol.setExtend(liftExtend);
@@ -147,6 +159,31 @@
//鏇存柊閲囬泦鏃堕棿
liftProtocol.setDeviceDataLog(System.currentTimeMillis());
+ }
+
+ //灏嗘彁鍗囨満鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class);
+ BasLift basLift = basLiftService.getOne(new LambdaQueryWrapper<BasLift>()
+ .eq(BasLift::getLiftNo, device.getDeviceNo())
+ .eq(BasLift::getHostId, device.getHostId()));
+ if (basLift == null) {
+ basLift = new BasLift();
+ //鎻愬崌鏈哄彿
+ basLift.setLiftNo(Integer.valueOf(device.getDeviceNo()));
+ basLift.setStatus(1);
+ basLift.setDeleted(0);
+ basLift.setHostId(device.getHostId());
+ basLift.setDeviceId(device.getId());
+ basLiftService.save(basLift);
+ }
+ //浠诲姟鍙�
+ basLift.setTaskNo(liftProtocol.getTaskNo().intValue());
+ //淇敼鏃堕棿
+ basLift.setUpdateTime(new Date());
+ //璁惧鐘舵��
+ basLift.setProtocol(JSON.toJSONString(liftProtocol));
+ if (basLiftService.updateById(basLift)) {
+ OutputQueue.LIFT.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 {
@@ -297,6 +334,30 @@
@Override
public synchronized boolean reset(LiftCommand command) {
+ try {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return false;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ String response = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/lifterOperation")
+ .setHeaders(headers)
+ .setJson(command.getBody())
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return true;
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
return false;
}
@@ -306,22 +367,99 @@
}
@Override
- public boolean isIdle(ExecuteSupport support) {
- if (null != support) {
- if (!support.judgement()) {
- return false;
+ public boolean isIdle(MotionCtgType flag) {
+ if (flag == null) {
+ InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//鑾峰彇鎵╁睍瀛楁
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佸氨缁�佺┖闂层�佹湭閿佸畾
+ if (this.liftProtocol.getModel()
+ && !this.liftProtocol.getRun()
+ && this.liftProtocol.getPakMk()
+ && this.liftProtocol.getReady()
+ && this.liftProtocol.getErrorCode().equals("0")
+ && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
+ || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
+ && !extend.getLock()
+ ) {
+ return true;
}
+ return false;
}
+
+ switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(flag)))){
+ case SHUTTLE_MOVE_FROM_LIFT://绌挎杞﹀嚭鎻愬崌鏈�
+ case SHUTTLE_MOVE_TO_LIFT://绌挎杞﹁繘鎻愬崌鏈�
+ case LIFT_SHUTTLE_ARRIVAL://鎻愬崌鏈鸿В閿�
+ return isIdleShuttleMoveToLift();
+ case LIFT_LOCK://鎻愬崌鏈洪攣瀹�
+ case LIFT_UNLOCK://鎻愬崌鏈鸿В閿�
+ return isIdleLiftLock();
+ }
+
+ return false;
+ }
+
+ //绌挎杞﹁繘鎻愬崌鏈烘椂-鎻愬崌鏈虹姸鎬佸垽鏂�
+ private boolean isIdleShuttleMoveToLift() {
InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();//鑾峰彇鎵╁睍瀛楁
- // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佸氨缁�佺┖闂层�佹湭閿佸畾
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佸氨缁�佺┖闂�
if (this.liftProtocol.getModel()
&& !this.liftProtocol.getRun()
- && this.liftProtocol.getReady()
&& this.liftProtocol.getPakMk()
&& this.liftProtocol.getErrorCode().equals("0")
- && this.liftProtocol.getProtocolStatus().equals(LiftProtocolStatusType.IDLE)
- && !extend.getLock()
+ && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
+ || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
) {
+ if (!extend.getLock()) {
+ //鎻愬崌鏈烘湭閿佸畾锛岄渶瑕佸垽鏂槸鍚﹀氨缁�
+ if (!this.liftProtocol.getReady()) {
+ return false;
+ }
+ }
+ return true;
+ }
+ return false;
+ }
+
+ //鎻愬崌鏈洪攣瀹�-鎻愬崌鏈虹姸鎬佸垽鏂�
+ private boolean isIdleLiftLock() {
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佸氨缁�佺┖闂�
+ if (this.liftProtocol.getModel()
+ && !this.liftProtocol.getRun()
+ && this.liftProtocol.getPakMk()
+ && this.liftProtocol.getErrorCode().equals("0")
+ && (this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.IDLE)
+ || this.liftProtocol.getProtocolStatusType().equals(LiftProtocolStatusType.WAITING))
+ ) {
+ return true;
+ }
+ return false;
+ }
+
+ @Override
+ public boolean isDeviceIdle() {
+ return isDeviceIdle(null);
+ }
+
+ @Override
+ public boolean isDeviceIdle(ExecuteSupport support) {
+ if (null != support) {
+ Boolean judgement = support.judgement();
+ if (judgement != null && !judgement) {
+ return true;
+ }
+ }
+
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佸氨缁�佺┖闂�
+ if (this.liftProtocol.getModel()
+ && !this.liftProtocol.getRun()
+ && this.liftProtocol.getErrorCode().equals("0")
+ ) {
+ if (this.liftProtocol.getTaskNo() == 0) {
+ //鏃犱换鍔℃儏鍐典笅妫�娴嬫槸鍚﹀氨缁�
+ if (!this.liftProtocol.getReady()) {
+ return false;
+ }
+ }
return true;
}
return false;
@@ -343,6 +481,11 @@
public boolean isLock(ExecuteSupport support) {
InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend();
return extend.getLock();
+ }
+
+ @Override
+ public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
+ return taskNo;
}
//***************璁惧灞傞�氳-涓嶅悓鍘傚晢璁惧閫氳鏂规涓嶄竴鑷�***************
@@ -374,42 +517,42 @@
//鑾峰彇璁惧鐘舵��
private JSONObject requestDeviceStatus() {
//妯℃嫙鏁版嵁
- String data = "[{\"taskNo\":1244,\"curFloor\":2,\"readyState\":1,\"haveCar\":'N',\"completeTaskNo\":0,\"haveCargo\":\"Y\",\"runningstate\":0,\"floors\":[{\"floor\":1,\"location\":1,\"run\":1,\"error\":1,\"cargoState\":\"Y\"},{\"floor\":1,\"location\":2,\"run\":0,\"error\":0,\"cargoState\":\"N\"}]}]";
- return JSON.parseArray(data).getJSONObject(0);
-// try {
-// String loginToken = requestLoginToken();
-// if (loginToken == null) {
-// return null;
-// }
-//
-// HashMap<String, Object> headers = new HashMap<>();
-// headers.put("Authorization", "Bearer " + loginToken);
-//
-// HashMap<String, Object> param = new HashMap<>();
-// param.put("messageName", "deviceRgvStatus");
-// param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
-// param.put("deviceNo", device.getDeviceNo());
-// String response = new HttpHandler.Builder()
-// .setUri(API_URL)
-// .setPath("/RDS/deviceLifterStatus")
-// .setHeaders(headers)
-// .setJson(JSON.toJSONString(param))
-// .build()
-// .doPost();
-// JSONObject jsonObject = JSON.parseObject(response);
-// Integer code = jsonObject.getInteger("code");
-// if (code.equals(200)) {
-// return jsonObject.getJSONArray("data").getJSONObject(0);
-// }
-// } catch (Exception e) {
-// e.printStackTrace();
-// }
-// return null;
+// String data = "[{\"taskNo\":1244,\"curFloor\":2,\"readyState\":1,\"haveCar\":'N',\"completeTaskNo\":0,\"haveCargo\":\"Y\",\"runningstate\":0,\"floors\":[{\"floor\":1,\"location\":1,\"run\":1,\"error\":1,\"cargoState\":\"Y\"},{\"floor\":1,\"location\":2,\"run\":0,\"error\":0,\"cargoState\":\"N\"}]}]";
+// return JSON.parseArray(data).getJSONObject(0);
+ try {
+ String loginToken = requestLoginToken();
+ if (loginToken == null) {
+ return null;
+ }
+
+ HashMap<String, Object> headers = new HashMap<>();
+ headers.put("Authorization", "Bearer " + loginToken);
+
+ HashMap<String, Object> param = new HashMap<>();
+ param.put("messageName", "deviceRgvStatus");
+ param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+ param.put("deviceNo", device.getDeviceNo());
+ String response = new HttpHandler.Builder()
+ .setUri(API_URL)
+ .setPath("/RDS/deviceLifterStatus")
+ .setHeaders(headers)
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ return jsonObject.getJSONArray("data").getJSONObject(0);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ return null;
}
//绌鸿浇绉诲姩
@Override
- public LiftCommand getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
+ public List<LiftCommand> getMoveCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
int taskMode = 3;//绌鸿浇绉诲姩
HashMap<String, Object> body = new HashMap<>();
@@ -419,6 +562,8 @@
body.put("taskId", taskNo);
body.put("startLayer", 0);
body.put("endLayer", targetLev);
+ body.put("startLocation", 0);
+ body.put("endLocation", 0);
body.put("model", taskMode);
LiftCommand command = new LiftCommand();
@@ -427,12 +572,16 @@
command.setMode(LiftCommandModeType.MOVE.id);
command.setOriginLev(0);
command.setTargetLev(targetLev);
- return command;
+
+ ArrayList<LiftCommand> list = new ArrayList<>();
+ list.add(command);
+ list.addAll(getTaskClearCommand());
+ return list;
}
//杞借溅绉诲姩
@Override
- public LiftCommand getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
+ public List<LiftCommand> getMoveWithShuttleCommand(Integer taskNo, Integer sourceLev, Integer targetLev, LiftCommandModeType mode) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "lifterTask");
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -440,6 +589,8 @@
body.put("taskId", taskNo);
body.put("startLayer", sourceLev);
body.put("endLayer", targetLev);
+ body.put("startLocation", 0);
+ body.put("endLocation", 0);
body.put("model", 2);//杞借溅绉诲姩
LiftCommand command = new LiftCommand();
@@ -448,12 +599,16 @@
command.setMode(LiftCommandModeType.MOVE.id);
command.setOriginLev(sourceLev);
command.setTargetLev(targetLev);
- return command;
+
+ ArrayList<LiftCommand> list = new ArrayList<>();
+ list.add(command);
+ list.addAll(getTaskClearCommand());
+ return list;
}
//鎵樼洏鍑哄叆
@Override
- public LiftCommand getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
+ public List<LiftCommand> getPalletInOutCommand(Integer taskNo, Integer sourceLev, Integer targetLev, Integer originSta, Integer targetSta, LiftCommandModeType mode) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "lifterTask");
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -473,12 +628,16 @@
command.setTargetLev(targetLev);
command.setOriginSta(originSta);
command.setTargetSta(targetSta);
- return command;
+
+ ArrayList<LiftCommand> list = new ArrayList<>();
+ list.add(command);
+ list.addAll(getTaskClearCommand());
+ return list;
}
//閿佸畾/瑙ｉ攣鎻愬崌鏈�
@Override
- public LiftCommand getLockCommand(Integer taskNo, Boolean lock) {
+ public List<LiftCommand> getLockCommand(Integer taskNo, Boolean lock) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "lifterOperation");
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -491,12 +650,15 @@
command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(body));
command.setMode(lock ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);
- return command;
+
+ ArrayList<LiftCommand> list = new ArrayList<>();
+ list.add(command);
+ return list;
}
//灏忚溅宸插埌浣�/宸查┒绂讳俊鍙�
@Override
- public LiftCommand getShuttleSignalCommand(Integer taskNo, Boolean signal) {
+ public List<LiftCommand> getShuttleSignalCommand(Integer taskNo, Boolean signal) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "lifterOperation");
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -508,7 +670,28 @@
command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(body));
command.setMode(signal ? LiftCommandModeType.LOCK.id : LiftCommandModeType.UNLOCK.id);
- return command;
+
+ ArrayList<LiftCommand> list = new ArrayList<>();
+ list.add(command);
+ return list;
+ }
+
+ //鑾峰彇鎻愬崌鏈轰换鍔℃竻闄ゅ懡浠�
+ private List<LiftCommand> getTaskClearCommand() {
+ HashMap<String, Object> body = new HashMap<>();
+ body.put("messageName", "lifterOperation");
+ body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
+ body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo()));
+ body.put("operation", 1);
+
+ LiftCommand command = new LiftCommand();
+ command.setLiftNo(Integer.valueOf(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(LiftCommandModeType.RESET.id);
+
+ ArrayList<LiftCommand> list = new ArrayList<>();
+ list.add(command);
+ return list;
}
/**
--
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