From d9cea3d7757a8d580bb0574d419ba6dd9c2478e7 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期五, 13 十二月 2024 15:11:50 +0800
Subject: [PATCH] #search shuttle
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 725 +++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 586 insertions(+), 139 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
index b90f420..ee3af41 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
@@ -9,22 +9,29 @@
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.action.ShuttleAction;
+import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
+import com.zy.asrs.wcs.core.model.MapNode;
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.MotionCtgType;
+import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
+import com.zy.asrs.wcs.core.utils.NavigateMapData;
import com.zy.asrs.wcs.core.utils.NavigatePositionConvert;
import com.zy.asrs.wcs.core.utils.RedisUtil;
+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.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceDataLog;
+import com.zy.asrs.wcs.rcs.model.CommandResponse;
import com.zy.asrs.wcs.rcs.model.command.NyShuttleHttpCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -53,6 +60,13 @@
private ShuttleProtocol shuttleProtocol;
private Socket socket;
+ private static final boolean DEBUG = false;//璋冭瘯妯″紡
+
+ private List<JSONObject> socketResults = new ArrayList<>();
+
+ //鍘熷璁惧鏁版嵁
+ private Object originDeviceData;
+
public NyShuttleThread(Device device, RedisUtil redisUtil) {
this.device = device;
this.redisUtil = redisUtil;
@@ -62,13 +76,199 @@
public void run() {
News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", device.getDeviceNo());
this.connect();
- while (true) {
- try {
- read();
- Thread.sleep(500);
- } catch (Exception e) {
- log.error("ShuttleThread Fail", e);
+
+ //鐩戝惉娑堟伅骞跺瓨鍌�
+ Thread innerThread = new Thread(() -> {
+ while (true) {
+ try {
+ listenSocketMessage();
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
}
+ });
+ innerThread.start();
+
+ //璁惧璇诲彇
+ Thread readThread = new Thread(() -> {
+ while (true) {
+ try {
+ read();
+ Thread.sleep(50);
+ } catch (Exception e) {
+ log.error("ShuttleThread Fail", e);
+ }
+ }
+ });
+ readThread.start();
+
+ //璁惧鎵ц
+ Thread executeThread = new Thread(() -> {
+ while (true) {
+ try {
+ ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ if (shuttleAction == null) {
+ continue;
+ }
+
+ Object object = redisUtil.get(DeviceRedisConstant.SHUTTLE_FLAG + device.getDeviceNo());
+ if (object == null) {
+ continue;
+ }
+
+ Integer taskNo = Integer.valueOf(String.valueOf(object));
+ if (taskNo != 0) {
+ //瀛樺湪浠诲姟闇�瑕佹墽琛�
+ boolean result = shuttleAction.executeWork(device, taskNo);
+ }
+
+ //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
+ shuttleAction.moveLoc(device);
+
+ Thread.sleep(200);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ });
+ executeThread.start();
+
+ //鍏朵粬浠诲姟
+ Thread otherThread = new Thread(() -> {
+ while (true) {
+ try {
+ listenInit();//鐩戝惉鍒濆鍖栦簨浠�
+ saveLog();//淇濆瓨鏁版嵁
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+ });
+ otherThread.start();
+ }
+
+ private void saveLog() {
+ if (shuttleProtocol == null) {
+ return;
+ }
+
+ if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
+ if (this.originDeviceData != null) {
+ //閲囬泦鏃堕棿瓒呰繃5s锛屼繚瀛樹竴娆℃暟鎹褰�
+ //淇濆瓨鏁版嵁璁板綍
+ DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
+ DeviceDataLog deviceDataLog = new DeviceDataLog();
+ deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
+ deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
+ deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
+ deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
+ deviceDataLog.setCreateTime(new Date());
+ deviceDataLog.setHostId(device.getHostId());
+ deviceDataLogService.save(deviceDataLog);
+
+ //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);
+ }else {
+ Integer shuttleId = basShuttle.getId();
+ basShuttle = new BasShuttle();
+ basShuttle.setId(shuttleId);
+ }
+ //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()));
+ }
+ }
+
+ private void listenSocketMessage() {
+ try {
+ if (this.socket == null) {
+ return;
+ }
+
+ // 鑾峰彇杈撳叆娴�
+ BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
+ // 璇诲彇鏈嶅姟鍣ㄧ殑鍝嶅簲
+ StringBuffer sb = new StringBuffer();
+ char[] chars = new char[2048];//缂撳啿鍖�
+ while (true) {
+ reader.read(chars);
+ String trim = new String(chars);
+ sb.append(trim);
+ if (trim.lastIndexOf("\r\n") != -1) {
+ break;
+ }
+ }
+
+ JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
+ if (!socketResults.isEmpty() && socketResults.size() >= 5) {
+ socketResults.remove(0);//娓呯悊澶磋妭鐐�
+ }
+ socketResults.add(result);//娣诲姞鏁版嵁
+ } catch (Exception e) {
+// e.printStackTrace();
+ }
+ }
+
+ public JSONObject getRequestBody(String type) {
+ try {
+ // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+ JSONObject result = null;
+ if (type.equals("readState")) {
+ type = "state";
+ }
+
+ for (int i = 0; i < socketResults.size(); i++) {
+ JSONObject socketResult = socketResults.get(i);
+ if (!socketResult.get("msgType").equals("responseMsg")) {//涓嶆槸鍝嶅簲鍐呭
+ continue;
+ }
+
+ JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
+ JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
+ String responseType = resultBody.get("responseType").toString();
+ if (DEBUG) {
+ result = socketResult;
+ break;
+ }
+
+ if (!responseType.equals(type)) {
+ continue;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ }
+
+ result = socketResult;
+ break;
+ }
+
+ if (result == null) {
+ return null;//鏃犲搷搴旂粨鏋�
+ }
+
+ return filterBodyData(result);//杩斿洖Body缁撴灉闆�
+ } catch (Exception e) {
+ return null;
}
}
@@ -87,43 +287,47 @@
private void readStatus() {
try {
+ if (null == shuttleProtocol) {
+ shuttleProtocol = new ShuttleProtocol();
+ shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleProtocol.setDevice(device);
+
+ InnerSuhttleExtend extend = new InnerSuhttleExtend();
+ shuttleProtocol.setExtend(extend);
+ }
+
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(Integer.parseInt(device.getDeviceNo()));
JSONObject data = requestCommand(readStatusCommand);
if (data == null) {
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
+ //鏈�鍚庝竴娆′笂绾挎椂闂磋秴杩�60s锛岃瀹氱绾�
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ }
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
}else {
- if (null == shuttleProtocol) {
- shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleProtocol.setDevice(device);
-
- InnerSuhttleExtend extend = new InnerSuhttleExtend();
- shuttleProtocol.setExtend(extend);
- }
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
//灏忚溅璁惧鐘舵��
shuttleProtocol.setDeviceStatus(data.getInteger("free"));
//灏忚溅妯″紡
- shuttleProtocol.setDeviceStatus(data.getInteger("workingMode"));
+ shuttleProtocol.setMode(data.getInteger("workingMode"));
//褰撳墠浜岀淮鐮�
- shuttleProtocol.setCurrentCode(data.getString("coord"));
+ shuttleProtocol.setCurrentCode(data.getString("point"));
//鐢垫睜鐢甸噺
shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
//鐢垫睜鐢靛帇
shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
//鏁呴殰
- shuttleProtocol.setErrorCode(data.getString("errState"));
+ shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));
//鏄惁椤跺崌
- shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? true : false);
+ shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
//鏄惁鏈夋墭鐩�
shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
//琛岄┒鏂瑰悜
- shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("direction"));
+ shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
//鏄惁涓哄厖鐢电姸鎬�
shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
@@ -143,9 +347,9 @@
shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
- //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓篺alse
+ //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
if (shuttleProtocol.getDeviceStatus() == 1) {
- shuttleProtocol.setPakMk(false);
+ shuttleProtocol.setPakMk(true);
}
if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
@@ -153,46 +357,9 @@
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�
- //淇濆瓨鏁版嵁璁板綍
- DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class);
- DeviceDataLog deviceDataLog = new DeviceDataLog();
- deviceDataLog.setOriginData(JSON.toJSONString(data));
- deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
- deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
- deviceDataLog.setDeviceNo(String.valueOf(shuttleProtocol.getShuttleNo()));
- deviceDataLog.setCreateTime(new Date());
- deviceDataLog.setHostId(device.getHostId());
- deviceDataLogService.save(deviceDataLog);
+ this.originDeviceData = data;
- //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()));
- }
+ 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()));
}
} catch (Exception e) {
e.printStackTrace();
@@ -208,12 +375,60 @@
}
}
+ /**
+ * 鐩戝惉灏忚溅澶嶄綅鍒濆鍖栦俊鍙�
+ */
+ public void listenInit() {
+ try {
+ // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+ JSONObject result = null;
+ int removeIdx = -1;
+ for (int i = 0; i < socketResults.size(); i++) {
+ JSONObject socketResult = socketResults.get(i);
+ if (!socketResult.get("msgType").equals("requestMsg")) {//涓嶆槸璇锋眰鍐呭
+ continue;
+ }
+
+ JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
+ JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
+ JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
+ String requestType = resultBody.getString("requestType");
+ Integer requestId = resultHeader.getInteger("requestId");
+ if (requestType.equals("init")) {
+ Integer code = resultBody.getInteger("code");
+ //灏忚溅澶嶄綅璇锋眰
+ ShuttleCommand initCommand = getInitCommand(requestId, code);
+ //鍙戝嚭璇锋眰
+ NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
+ JSONObject requestResult = requestCommand(httpCommand);
+
+ removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
+
+ log.info(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
+ break;
+ }
+ }
+
+ if (removeIdx != -1) {
+ socketResults.remove(removeIdx);
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
@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
@@ -222,61 +437,133 @@
}
@Override
- public boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
- return true;
+ public CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo) {
+ CommandResponse response = new CommandResponse(true);
+ return response;
}
@Override
- public boolean move(ShuttleCommand command) {
+ public CommandResponse move(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
+ try {
+ //鍙戝嚭璇锋眰
+ NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
+ Map<String, Object> body = httpCommand.getRequest().getBody();
+ Object pathObj = body.get("path");
+ int taskId = Integer.parseInt(body.get("taskId").toString());
+ List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
+ ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
+ while (!path.isEmpty()) {
+ ArrayList<Map<String, Object>> list = new ArrayList<>();
+ if (path.size() > 10) {
+ List<JSONObject> subList = path.subList(0, 10);
+ list.addAll(subList);
+
+ List<JSONObject> tmp = new ArrayList<>();
+ for (int i = 10; i < path.size(); i++) {
+ tmp.add(path.get(i));
+ }
+ path = tmp;
+ }else {
+ list.addAll(path);
+ path.clear();
+ }
+
+ NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
+ JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
+
+ NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
+ bodyCopy.put("path", list);
+ bodyCopy.put("taskId", taskId++);
+ request.setBody(bodyCopy);
+ httpCommandCopy.setRequest(request);
+
+ commandList.add(httpCommandCopy);//add copy
+ }
+
+ for (NyShuttleHttpCommand requestCommand : commandList) {
+ JSONObject result = requestCommand(requestCommand);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
+ }
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ }
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ response.setMessage(e.getMessage());
+ return response;
+ }
+ }
+
+ @Override
+ public CommandResponse lift(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
JSONObject result = requestCommand(httpCommand);
if (result == null) {
- return false;//璇锋眰澶辫触
+ return response;//璇锋眰澶辫触
}
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
- } catch (IOException e) {
- return false;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return response;
}
}
@Override
- public boolean lift(ShuttleCommand command) {
+ public CommandResponse charge(ShuttleCommand command) {
+ CommandResponse response = new CommandResponse(false);
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
JSONObject result = requestCommand(httpCommand);
if (result == null) {
- return false;//璇锋眰澶辫触
+ return response;//璇锋眰澶辫触
}
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
- } catch (IOException e) {
- return false;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return response;
}
}
@Override
- public boolean charge(ShuttleCommand command) {
+ public 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 {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
JSONObject result = requestCommand(httpCommand);
if (result == null) {
- return false;//璇锋眰澶辫触
+ return response;//璇锋眰澶辫触
}
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- return true;
- } catch (IOException e) {
- return false;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
+ } catch (Exception e) {
+ e.printStackTrace();
+ return response;
}
- }
-
- @Override
- public boolean reset(ShuttleCommand command) {
- return false;
}
@Override
@@ -287,10 +574,12 @@
@Override
public boolean isIdle(ExecuteSupport support) {
if (null != support) {
- if (!support.judgement()) {
- return false;
+ Boolean judgement = support.judgement();
+ if (judgement != null && !judgement) {
+ return true;
}
}
+
if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
@@ -303,18 +592,31 @@
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
- boolean res = this.shuttleProtocol.getDeviceStatus() == 0
+ boolean res = this.shuttleProtocol.getDeviceStatus() == 1
&& this.shuttleProtocol.getMode() == 1
&& this.shuttleProtocol.getPakMk()
&& this.shuttleProtocol.getErrorCode().equals("0")
- && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id)
- && extend.getSuspendState() == 0
- ;
+ && (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
+ || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
+ || this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id)
+ && extend.getSuspendState() == 0;
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
@@ -326,7 +628,7 @@
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
- boolean res = this.shuttleProtocol.getDeviceStatus() == 0
+ boolean res = this.shuttleProtocol.getDeviceStatus() == 1
&& this.shuttleProtocol.getMode() == 1
&& this.shuttleProtocol.getPakMk()
&& this.shuttleProtocol.getErrorCode().equals("0")
@@ -349,7 +651,7 @@
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
- boolean res = this.shuttleProtocol.getDeviceStatus() == 0
+ boolean res = this.shuttleProtocol.getDeviceStatus() == 1
&& this.shuttleProtocol.getMode() == 1
&& this.shuttleProtocol.getPakMk()
&& this.shuttleProtocol.getErrorCode().equals("0")
@@ -365,7 +667,7 @@
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;
}
@@ -386,7 +688,7 @@
return false;
}
- if (this.shuttleProtocol.getDeviceStatus() == 1 && this.shuttleProtocol.getHasCharge()) {
+ if (this.shuttleProtocol.getDeviceStatus() == 0 && this.shuttleProtocol.getHasCharge()) {
//杩愯涓� && 鍏呯數涓�
return true;
}
@@ -427,6 +729,7 @@
@Override
public List<NavigateNode> getMoveAdvancePath() {
ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
+ NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
ArrayList<NavigateNode> path = new ArrayList<>();
if (shuttleProtocol.getTaskNo() != 0) {
//瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
@@ -445,6 +748,18 @@
if (!nodes.isEmpty()) {
path.addAll(nodes);
}
+
+ //灏嗚矾寰勯攣涓庡皬杞﹁矾寰勮繘琛屽尮閰�
+ ArrayList<NavigateNode> tmp = new ArrayList<>();
+ //妫�娴嬭矾寰勬槸鍚﹁閿佸畾
+ int[][] map = navigateMapData.getDataFromRedis(NavigationMapType.DFX.id, null, null);
+ for (NavigateNode node : path) {
+ if(map[node.getX()][node.getY()] == -999) {
+ tmp.add(node);
+ }
+ }
+
+ path = tmp;
}
}
return path;
@@ -474,16 +789,76 @@
}
@Override
- public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
+ 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) {
+ NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+ ArrayList<HashMap<String, Object>> path = new ArrayList<>();
+
+ Integer taskId = getTaskId();
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", "move");//绉诲姩鍛戒护
- body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
- body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//璧风偣
- body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//缁堢偣
+ body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
+// body.put("start", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(startCodeNum, device.getHostId())));//璧风偣
+// body.put("target", navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(distCodeNum, device.getHostId())));//缁堢偣
+ body.put("path", path);
request.setBody(body);
+
+ NavigateNode startNode = nodes.get(0);
+ navigateMapData.setLev(startNode.getZ());
+ for (NavigateNode node : nodes) {
+ HashMap<String, Object> data = new HashMap<>();
+ String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ(), device.getHostId());
+ Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum, device.getHostId()));
+ int xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
+
+ List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, null, null);
+ List<MapNode> mapNodes = mapData.get(node.getX());
+ MapNode mapNode = mapNodes.get(node.getY());
+
+ data.put("xp", xp);
+ data.put("yp", yp);
+ data.put("z", z);
+ data.put("x", mapNode.getYBase());
+ data.put("y", mapNode.getXBase());
+ path.add(data);
+ }
httpStandard.setRequest(request);
@@ -500,6 +875,7 @@
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.MOVE.id);
command.setTargetLocNo(loc.getLocNo());
+ command.setTaskNo(taskId);
return command;
}
@@ -508,17 +884,19 @@
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+ Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", lift ? "liftUp" : "liftDown");//椤跺崌鎴栦笅闄嶅懡浠�
- body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
+ body.put("taskId", taskId);
request.setBody(body);
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
- command.setBody(JSON.toJSONString(body));
+ command.setBody(JSON.toJSONString(httpStandard));
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+ command.setTaskNo(taskId);
return command;
}
@@ -527,9 +905,10 @@
NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+ Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", charge ? "charge" : "stopCharge");//鍏呯數鎴栧仠姝㈠厖鐢�
- body.put("taskId", getTaskId());//TaskID闇�瑕侀殢鏈�
+ body.put("taskId", taskId);
request.setBody(body);
httpStandard.setRequest(request);
@@ -538,6 +917,82 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
+ command.setTaskNo(taskId);
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
+ NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ HashMap<String, Object> body = new HashMap<>();
+ body.put("requestType", "updateFloor");//鏇存柊灞俍
+ body.put("z", Utils.getLev(locNo));//鍧愭爣Z
+ request.setBody(body);
+
+ httpStandard.setRequest(request);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(httpStandard));
+ command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
+ command.setTaskNo(taskNo);
+ return command;
+ }
+
+ //鑾峰彇灏忚溅澶嶄綅鍝嶅簲鍛戒护
+ public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
+ LocService locService = SpringUtils.getBean(LocService.class);
+ NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ //code -> {Integer@13781} 1101101
+ int lev = code % 100;
+ int bay = code / 100 % 1000;
+ int row = code / 100000;
+
+ HashMap<String, Object> map = new HashMap<>();
+ map.put("x", row);
+ map.put("y", bay);
+ map.put("z", lev);
+
+ String mapStr = JSON.toJSONString(map);
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getCode, mapStr)
+ .eq(Loc::getStatus, 1)
+ .eq(Loc::getHostId, this.device.getHostId()));
+ if (loc == null) {
+ throw new CoolException("鍦板潃鐮佷笉瀛樺湪");
+ }
+
+ navigateMapData.setLev(lev);
+ List<List<MapNode>> mapData = navigateMapData.getJsonData(NavigationMapType.NONE.id, null, null);
+ List<MapNode> mapNodes = mapData.get(loc.getRow());
+ MapNode mapNode = mapNodes.get(loc.getBay());
+
+ HashMap<String, Object> location = new HashMap<>();
+ location.put("xp", row);
+ location.put("yp", bay);
+ location.put("z", lev);
+ location.put("x", mapNode.getYBase());
+ location.put("y", mapNode.getXBase());
+
+ HashMap<String, Object> body = new HashMap<>();
+ body.put("responseType", "init");//澶嶄綅
+ body.put("location", location);//鍒濆鍖栧潗鏍�
+ body.put("devicePoints", new ArrayList<>());//鎻愬崌鏈虹偣浣�
+ body.put("specialPoints", new ArrayList<>());//鐗规畩鏉＄爜鍧愭爣
+ request.setBody(body);
+
+ httpStandard.setRequest(request);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(httpStandard));
+ command.setMode(ShuttleCommandModeType.RESET.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -545,14 +1000,9 @@
public boolean connect() {
try {
Socket socket = new Socket(device.getIp(),device.getPort());
- socket.setSoTimeout(60000);
+ socket.setSoTimeout(10000);
socket.setKeepAlive(true);
this.socket = socket;
- if (null == shuttleProtocol) {
- shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(Integer.parseInt(device.getDeviceNo()));
- }
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
log.info(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
} catch (IOException e) {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
@@ -619,43 +1069,38 @@
JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
data.remove("nodes");
- // 鑾峰彇杈撳叆娴佸拰杈撳嚭娴�
- BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
+ // 鑾峰彇杈撳嚭娴�
OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
writer.write(JSON.toJSONString(data) + "\r\n");
writer.flush();
// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
- // 璇诲彇鏈嶅姟鍣ㄧ殑鍝嶅簲
- StringBuffer sb = new StringBuffer();
- String response = null;
- char[] chars = new char[2048];//缂撳啿鍖�
- do {
- reader.read(chars);
- String trim = new String(chars).trim();
- sb.append(trim);
- if (sb.lastIndexOf("\r\n") != -1) {
- break;
- }
- } while (response != null);
-// System.out.println("Received response from server: " + sb);
-
- JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
- if (!result.get("msgType").equals("responseMsg")) {//涓嶆槸鍝嶅簲鍐呭
+ String requestType = null;
+ try {
+ requestType = httpCommand.getRequest().getBody().get("requestType").toString();
+ } catch (Exception e) {
return null;
}
- JSONObject resultResponse = JSON.parseObject(result.get("response").toString());
- JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
- int responseId = Integer.parseInt(resultHeader.get("responseId").toString());
- if (responseId != httpCommand.getRequest().getHeader().getRequestId()) {
- return null;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+ // 灏濊瘯10娆�
+ JSONObject result = null;
+ for (int i = 0; i < 10; i++) {
+ result = getRequestBody(requestType);
+ if (result == null) {
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }else {
+ break;
+ }
}
-
- return filterBodyData(result);//杩斿洖Body缁撴灉闆�
+ return result;//杩斿洖Body缁撴灉闆�
}
- private static JSONObject filterBodyData(JSONObject data) {
+ private JSONObject filterBodyData(JSONObject data) {
Object response = data.get("response");
if (response == null) {
return null;
@@ -682,11 +1127,13 @@
//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
private static int[] WCSXyzToNyXyz(int x, int y, int z) {
- //WCS绯荤粺Y杞� => 鐗涚溂X杞磋浆鎹㈠叕寮�
- int x1 = Math.abs(y - 61) + 11;
- //WCS绯荤粺X杞� => 鐗涚溂Y杞磋浆鎹㈠叕寮�
- int y1 = x + 10;
- return new int[]{x1, y1, z};
+// //WCS绯荤粺Y杞� => 鐗涚溂X杞磋浆鎹㈠叕寮�
+// int x1 = Math.abs(y - 61) + 11;
+// //WCS绯荤粺X杞� => 鐗涚溂Y杞磋浆鎹㈠叕寮�
+// int y1 = x + 10;
+ int x1 = x + 10;
+ int y1 = y + 10;
+ return new int[]{y1, x1, z};
}
@Data
--
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