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/SurayShuttleThread.java | 436 +++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 383 insertions(+), 53 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 e97a25f..58c11a3 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
@@ -3,22 +3,32 @@
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;
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.enums.ShuttleCommandModeType;
-import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection;
+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;
@@ -26,18 +36,21 @@
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.entity.Device;
+import com.zy.asrs.wcs.system.entity.Dict;
+import com.zy.asrs.wcs.system.service.DictService;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
import java.text.SimpleDateFormat;
import java.util.*;
+import java.util.concurrent.TimeUnit;
@Slf4j
@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;
@@ -46,6 +59,7 @@
public SurayShuttleThread(Device device,RedisUtil redisUtil) {
this.device = device;
this.redisUtil = redisUtil;
+ API_URL = "http://" + device.getIp() + ":" + device.getPort();
}
@Override
@@ -101,12 +115,22 @@
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
//灏忚溅璁惧鐘舵��
Integer deviceStatus = data.getInteger("deviceStatus");
+ if (deviceStatus == 255) {
+ //绂荤嚎
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ }
+
+ if(deviceStatus != 4 || deviceStatus != 6 || deviceStatus != 7 || deviceStatus != 8 || deviceStatus != 255 || deviceStatus != -1) {
+ shuttleProtocol.setMode(1);//鑷姩鐘舵��
+ }
+
shuttleProtocol.setDeviceStatus(deviceStatus);
//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");
//鏄惁椤跺崌
shuttleProtocol.setHasLift(data.getInteger("palletStatus") == 1 ? true : false);
@@ -123,17 +147,19 @@
extend.setStatusDescription(data.getString("statusDescription"));//鐘舵�佹弿杩�
shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
+ //鏈�杩戜竴娆″湪绾挎椂闂�
+ shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
///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);
}
-// 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�
@@ -150,6 +176,31 @@
//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());
+ basShuttle.setDeviceId(device.getId().intValue());
+ 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()));
@@ -173,7 +224,15 @@
@Override
public ShuttleProtocol getStatus() {
- return this.shuttleProtocol;
+ return getStatus(true);
+ }
+
+ @Override
+ public ShuttleProtocol getStatus(boolean clone) {
+ if (this.shuttleProtocol == null) {
+ return null;
+ }
+ return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
}
@Override
@@ -182,11 +241,22 @@
}
@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 {
+ //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<>();
@@ -195,25 +265,37 @@
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);
- if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
+ NavigateNode startPath = sectionNodes.get(0);
+ //缁撴潫璺緞
+ NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
+ if (mapDirection.equals("y") && 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("nodexX", node.getX());
- map.put("nodexY", node.getY());
- map.put("nodexZ", node.getZ());
+ map.put("nodeX", node.getX());
+ map.put("nodeY", node.getY());
+ map.put("nodeZ", node.getZ());
if (flag) {
map.put("oper", oper);
flag = false;
@@ -230,119 +312,191 @@
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)
.setJson(JSON.toJSONString(param))
+ .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)
.setJson(command.getBody())
+ .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)) {
- return true;
+ 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 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)
.setJson(command.getBody())
+ .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)) {
- return true;
+ 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 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)
.setJson(command.getBody())
+ .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)) {
- return true;
+ 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 false;
+ return response;
}
@Override
- public synchronized boolean reset(ShuttleCommand command) {
- return false;
+ public synchronized CommandResponse reset(ShuttleCommand command) {
+ setSyncTaskNo(0);
+ setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ 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
public boolean isIdle() {
- if (this.shuttleProtocol.getIdle() == null
+ return this.isIdle(null);
+ }
+
+ @Override
+ public boolean isIdle(ExecuteSupport support) {
+ if (null != support) {
+ Boolean judgement = support.judgement();
+ if (judgement != null && !judgement) {
+ return true;
+ }
+ }
+
+ if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
|| this.shuttleProtocol.getProtocolStatus() == null
@@ -350,17 +504,46 @@
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
+ || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id);
+ return res;
+ }
+
+ @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;
+ }
+ }
+
+ 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
@@ -368,7 +551,7 @@
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
@@ -382,7 +565,7 @@
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;
}
@@ -392,7 +575,6 @@
}
return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
} catch (Exception e) {
- News.error("fail", e);
return false;
}
}
@@ -413,11 +595,127 @@
@Override
public boolean isChargingCompleted() {
+ Integer maxPower = 100;
+ DictService dictService = SpringUtils.getBean(DictService.class);
+ if (dictService != null) {
+ Dict chargeMaxValue = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "chargeMaxValue")
+ .eq(Dict::getStatus, 1));
+ if (chargeMaxValue != null) {
+ maxPower = Integer.parseInt(chargeMaxValue.getValue());
+ }
+ }
+
+ if (this.shuttleProtocol.getBatteryPower() == null) {
+ return false;
+ }
+
+ if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
+ return true;
+ }
return false;
}
@Override
- public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
+ 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_WORK_FLAG + shuttleProtocol.getTaskNo());
+ if (object != null) {
+ 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 == null) {
+ return path;
+ }
+ if (!nodes.isEmpty()) {
+ path.addAll(nodes);
+ }
+ }
+ }
+ return path;
+ }
+
+ @Override
+ public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) {
+ int deviceTaskNo = taskNo;
+ try {
+ deviceTaskNo = Utils.getTaskNo("SURAY_SHUTTLE");
+ } catch (Exception e) {
+ return taskNo;
+ }
+
+ switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(motionCtgType)))){
+ case SHUTTLE_MOVE://绌挎杞︾Щ鍔�
+ case SHUTTLE_MOVE_LIFT_PALLET://绌挎杞﹂《鍗囧苟绉诲姩
+ case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
+ case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
+ case SHUTTLE_MOVE_TO_LIFT://杩涙彁鍗囨満
+ return deviceTaskNo;
+ default:
+ return taskNo;
+ }
+ }
+
+ @Override
+ public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
+ this.shuttleProtocol.setProtocolStatus(status);
+ return true;
+ }
+
+ @Override
+ public synchronized boolean setSyncTaskNo(Integer taskNo) {
+ this.shuttleProtocol.setSyncTaskNo(taskNo);
+ return true;
+ }
+
+ @Override
+ public synchronized boolean setPakMk(boolean pakMk) {
+ this.shuttleProtocol.setPakMk(pakMk);
+ return true;
+ }
+
+ @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");
body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
@@ -435,11 +733,23 @@
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;
}
@@ -456,6 +766,7 @@
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;
}
@@ -472,6 +783,25 @@
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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