From e977a034ff8568e523cea97ca45b0c4473a69685 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 17 四月 2024 16:58:42 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 717 +++++++++++++++++++++++++++++++++++++++++++++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigatePositionConvert.java | 24 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 26 +
zy-asrs-wcs/src/main/resources/application.yml | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java | 15 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/command/NyShuttleHttpCommand.java | 56 ++++
6 files changed, 832 insertions(+), 8 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigatePositionConvert.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigatePositionConvert.java
index fb6fa67..9b2bdad 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigatePositionConvert.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigatePositionConvert.java
@@ -15,14 +15,15 @@
String locNo = Utils.getLocNo(x, y, z);
//搴撲綅鍙疯浆灏忚溅浜岀淮鐮�
- LocService locMastService = SpringUtils.getBean(LocService.class);
- Loc locMast = locMastService.getOne(new LambdaQueryWrapper<Loc>()
+ LocService locService = SpringUtils.getBean(LocService.class);
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
.eq(Loc::getLocNo, locNo)
- .eq(Loc::getHostId, hostId));
- if (locMast == null) {
+ .eq(Loc::getHostId, hostId)
+ .eq(Loc::getStatus, 1));
+ if (loc == null) {
return null;
}
- return locMast.getCode();
+ return loc.getCode();
}
//鍧愭爣缂栧彿杞瑇y杞�
@@ -45,6 +46,19 @@
return node;
}
+ //灏忚溅鏉″舰鐮佽浆璺緞绠楁硶鑺傜偣
+ public static NavigateNode codeToNode(String code, Long hostId) {
+ LocService locService = SpringUtils.getBean(LocService.class);
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getCode, code)
+ .eq(Loc::getHostId, hostId)
+ .eq(Loc::getStatus, 1));
+
+ NavigateNode node = new NavigateNode(loc.getRow(), loc.getBay());
+ node.setZ(loc.getLev());
+ return node;
+ }
+
//璺緞绠楁硶鑺傜偣杞琖CS绯荤粺搴撲綅鍙�
public static String nodeToLocNo(NavigateNode node) {
return xyzToLocNo(node.getX(), node.getY(), node.getZ());
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/command/NyShuttleHttpCommand.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/command/NyShuttleHttpCommand.java
new file mode 100644
index 0000000..6d3c2aa
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/command/NyShuttleHttpCommand.java
@@ -0,0 +1,56 @@
+package com.zy.asrs.wcs.rcs.model.command;
+
+import com.zy.asrs.wcs.core.model.NavigateNode;
+import lombok.Data;
+
+import java.util.List;
+import java.util.Map;
+
+@Data
+public class NyShuttleHttpCommand {
+
+ //娑堟伅绫诲瀷
+ private String msgType;
+
+ //杞﹁締缂栧彿
+ private Integer robotId;
+
+ //璇锋眰娑堟伅
+ private NyRequest request;
+
+ //宸ヤ綔鍙�
+ private Integer taskNo;
+
+ @Data
+ public static class NyRequest {
+
+ //娑堟伅澶�
+ private NyHeader header;
+
+ //娑堟伅浣�
+ private Map<String, Object> body;
+
+ //HTTP璇锋眰澶�
+ @Data
+ public static class NyHeader {
+ //璇锋眰缂栧彿锛屽敮涓�缂栧彿
+ private Integer requestId;
+
+ //鐗堟湰鍙�
+ private String version;
+ }
+
+ }
+
+ /**
+ * 鍛戒护鏄惁瀹屾垚,榛樿false鏈畬鎴�
+ */
+ private Boolean complete = false;
+
+ /**
+ * 琛岃蛋鍛戒护鎵�鍗犵敤鐨勮妭鐐筶ist
+ */
+ private List<NavigateNode> nodes;
+
+
+}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java
index 60395ed..619c409 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java
@@ -58,6 +58,11 @@
private Integer deviceStatus;
/**
+ * 灏忚溅妯″紡锛�0锛氭墜鍔� 1锛氳嚜鍔�
+ */
+ private Integer mode;
+
+ /**
* 褰撳墠浜岀淮鐮�
* 0涓虹┖
*/
@@ -159,6 +164,16 @@
private Long deviceDataLog = System.currentTimeMillis();
/**
+ * 鎸囦护涓嬪彂鏃堕棿
+ */
+ private Long sendTime = 0L;
+
+ /**
+ * 鏈�杩戜竴娆″湪绾挎椂闂�
+ */
+ private Long lastOnlineTime = System.currentTimeMillis();
+
+ /**
* 璁惧淇℃伅
*/
private Device device;
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
new file mode 100644
index 0000000..b90f420
--- /dev/null
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
@@ -0,0 +1,717 @@
+package com.zy.asrs.wcs.rcs.thread.impl;
+
+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.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.MotionCtgType;
+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.NavigatePositionConvert;
+import com.zy.asrs.wcs.core.utils.RedisUtil;
+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.command.NyShuttleHttpCommand;
+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;
+import com.zy.asrs.wcs.rcs.service.DeviceDataLogService;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
+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.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStreamReader;
+import java.io.OutputStreamWriter;
+import java.net.Socket;
+import java.text.MessageFormat;
+import java.util.*;
+
+@Slf4j
+@SuppressWarnings("all")
+public class NyShuttleThread implements ShuttleThread {
+
+ private Device device;
+ private RedisUtil redisUtil;
+ private ShuttleProtocol shuttleProtocol;
+ private Socket socket;
+
+ public NyShuttleThread(Device device, RedisUtil redisUtil) {
+ this.device = device;
+ this.redisUtil = redisUtil;
+ }
+
+ @Override
+ 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);
+ }
+ }
+ }
+
+ private void read() {
+ try {
+ if (this.socket == null || this.socket.isClosed()) {
+ //閾炬帴鏂紑閲嶆柊閾炬帴
+ this.connect();
+ }
+ readStatus();
+ } catch (Exception e) {
+ e.printStackTrace();
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戣鍙栧洓鍚戠┛姊溅鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getId(), device.getIp(), device.getPort()));
+ }
+ }
+
+ private void readStatus() {
+ try {
+ //----------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);
+ 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"));
+ //褰撳墠浜岀淮鐮�
+ shuttleProtocol.setCurrentCode(data.getString("coord"));
+ //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"));
+
+ //鏄惁椤跺崌
+ shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 1 ? 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"));
+ //鏄惁涓哄厖鐢电姸鎬�
+ shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
+
+ //*********璇诲彇鎵╁睍瀛楁**********
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
+ //绠″埗鐘舵��
+ extend.setSuspendState(data.getInteger("suspendState"));
+ //褰撳墠閫熷害
+ extend.setSpeed(data.getInteger("speed"));
+ //鍓╀綑鐢甸噺
+ extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
+ //鎬荤數閲�
+ extend.setCountQuantity(data.getInteger("countQuantity"));
+ 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
+
+ //灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓篺alse
+ if (shuttleProtocol.getDeviceStatus() == 1) {
+ shuttleProtocol.setPakMk(false);
+ }
+
+ if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
+ //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�
+ //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);
+
+ //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()));
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ 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()));
+ try {
+ this.socket.close();
+ this.socket = null;
+ Thread.sleep(1000);
+ this.connect();
+ } catch (IOException | InterruptedException exception) {
+ e.printStackTrace();
+ }
+ }
+ }
+
+ @Override
+ public ShuttleProtocol getStatus() {
+ if (this.shuttleProtocol == null) {
+ return null;
+ }
+ return this.shuttleProtocol.clone();
+ }
+
+ @Override
+ public Device getDevice() {
+ return this.device;
+ }
+
+ @Override
+ public boolean movePath(List<NavigateNode> nodes, Integer taskNo) {
+ return true;
+ }
+
+ @Override
+ public boolean move(ShuttleCommand command) {
+ 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
+ }
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ return true;
+ } catch (IOException e) {
+ return false;
+ }
+ }
+
+ @Override
+ public boolean lift(ShuttleCommand command) {
+ 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
+ }
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ return true;
+ } catch (IOException e) {
+ return false;
+ }
+ }
+
+ @Override
+ public boolean charge(ShuttleCommand command) {
+ 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
+ }
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ return true;
+ } catch (IOException e) {
+ return false;
+ }
+ }
+
+ @Override
+ public boolean reset(ShuttleCommand command) {
+ return false;
+ }
+
+ @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.getDeviceStatus() == null
+ || this.shuttleProtocol.getPakMk() == null
+ || this.shuttleProtocol.getErrorCode() == null
+ || this.shuttleProtocol.getProtocolStatus() == null
+ || this.shuttleProtocol.getMode() == null
+ || this.shuttleProtocol.getExtend() == null
+ ) {
+ return false;
+ }
+
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
+
+ boolean res = this.shuttleProtocol.getDeviceStatus() == 0
+ && 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
+ ;
+ return res;
+ }
+
+ @Override
+ public boolean isDeviceIdle() {
+ if (this.shuttleProtocol.getDeviceStatus() == null
+ || this.shuttleProtocol.getPakMk() == null
+ || this.shuttleProtocol.getErrorCode() == null
+ || this.shuttleProtocol.getMode() == null
+ || this.shuttleProtocol.getExtend() == null
+ ) {
+ return false;
+ }
+
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
+
+ boolean res = this.shuttleProtocol.getDeviceStatus() == 0
+ && this.shuttleProtocol.getMode() == 1
+ && this.shuttleProtocol.getPakMk()
+ && this.shuttleProtocol.getErrorCode().equals("0")
+ && extend.getSuspendState() == 0
+ ;
+ return res;
+ }
+
+ @Override
+ public boolean isRequireCharge() {
+ if (this.shuttleProtocol.getDeviceStatus() == null
+ || this.shuttleProtocol.getPakMk() == null
+ || this.shuttleProtocol.getErrorCode() == null
+ || this.shuttleProtocol.getProtocolStatus() == null
+ || this.shuttleProtocol.getMode() == null
+ || this.shuttleProtocol.getExtend() == null
+ ) {
+ return false;
+ }
+
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
+
+ boolean res = this.shuttleProtocol.getDeviceStatus() == 0
+ && this.shuttleProtocol.getMode() == 1
+ && this.shuttleProtocol.getPakMk()
+ && this.shuttleProtocol.getErrorCode().equals("0")
+ && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
+ && extend.getSuspendState() == 0
+ ;
+ if (!res) {
+ return res;
+ } else {
+ // 鐢甸噺灏忎簬闃堝�奸渶瑕佽繘琛屽厖鐢�
+ try {
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ if (shuttleService == null) {
+ return false;
+ }
+ BasShuttle basShuttle = shuttleService.getById(this.device.getDeviceNo());
+ if (basShuttle == null) {
+ return false;
+ }
+ Integer chargeLine = basShuttle.getChargeLine();
+ if (chargeLine == null) {
+ return false;
+ }
+ return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
+ } catch (Exception e) {
+ return false;
+ }
+ }
+ }
+
+ @Override
+ public boolean isCharging() {
+ if (this.shuttleProtocol.getDeviceStatus() == null || this.shuttleProtocol.getHasCharge() == null) {
+ return false;
+ }
+
+ if (this.shuttleProtocol.getDeviceStatus() == 1 && this.shuttleProtocol.getHasCharge()) {
+ //杩愯涓� && 鍏呯數涓�
+ return true;
+ }
+ return false;
+ }
+
+ @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.getHasCharge() == null) {
+ return false;
+ }
+
+ if (this.shuttleProtocol.getBatteryPower() == null) {
+ return false;
+ }
+
+ if (!this.shuttleProtocol.getHasCharge()) {
+ return false;
+ }
+
+ if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
+ return true;
+ }
+ return false;
+ }
+
+ @Override
+ 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) {
+ 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 ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) {
+ NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ 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
+ request.setBody(body);
+
+ httpStandard.setRequest(request);
+
+ LocService locService = SpringUtils.getBean(LocService.class);
+ Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getCode, distCodeNum)
+ .eq(Loc::getHostId, this.device.getHostId()));
+ if (loc == null) {
+ throw new CoolException("搴撲綅淇℃伅涓嶅瓨鍦�");
+ }
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(httpStandard));
+ command.setMode(ShuttleCommandModeType.MOVE.id);
+ command.setTargetLocNo(loc.getLocNo());
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
+ NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ 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�
+ request.setBody(body);
+
+ httpStandard.setRequest(request);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(body));
+ command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
+ NyShuttleHttpCommand httpStandard = getHttpStandard(Integer.parseInt(device.getDeviceNo()), taskNo);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ 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�
+ request.setBody(body);
+
+ httpStandard.setRequest(request);
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
+ command.setBody(JSON.toJSONString(httpStandard));
+ command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
+ return command;
+ }
+
+ @Override
+ public boolean connect() {
+ try {
+ Socket socket = new Socket(device.getIp(),device.getPort());
+ socket.setSoTimeout(60000);
+ 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()));
+ }
+ return true;
+ }
+
+ @Override
+ public void close() {
+
+ }
+
+ //鑾峰彇HTTP璇锋眰鏍囧噯缁撴瀯浣�
+ private NyShuttleHttpCommand getHttpStandard(Integer shuttleNo, Integer taskNo) {
+ NyShuttleHttpCommand httpStandard = new NyShuttleHttpCommand();
+ httpStandard.setMsgType("requestMsg");//璇锋眰娑堟伅
+ httpStandard.setRobotId(shuttleNo);//杞﹁締缂栧彿
+ httpStandard.setTaskNo(taskNo);//宸ヤ綔鍙�
+
+ //璁剧疆璇锋眰娑堟伅
+ NyShuttleHttpCommand.NyRequest request = new NyShuttleHttpCommand.NyRequest();
+ NyShuttleHttpCommand.NyRequest.NyHeader header = new NyShuttleHttpCommand.NyRequest.NyHeader();
+ header.setVersion("1.0");//鐗堟湰鍙�
+ header.setRequestId(getRequestId());//娑堟伅缂栧彿
+
+ //璁剧疆璇锋眰澶�
+ request.setHeader(header);
+ httpStandard.setRequest(request);
+ return httpStandard;
+ }
+
+ //鑾峰彇璇锋眰缂栧彿
+ private Integer getRequestId() {
+ Random random = new Random();
+ return random.nextInt(9999999);
+ }
+
+ //鑾峰彇TaskId
+ private static Integer getTaskId() {
+ Random random = new Random();
+ return random.nextInt(999999);
+ }
+
+ //鑾峰彇璇籉AS鐘舵�佷俊鎭懡浠�
+ private NyShuttleHttpCommand getReadStatusCommand(Integer shuttleNo) {
+ NyShuttleHttpCommand httpStandard = getHttpStandard(shuttleNo, 9999);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ HashMap<String, Object> body = new HashMap<>();
+ body.put("requestType", "readState");//璇籉AS鐘舵�佷俊鎭�
+ request.setBody(body);
+
+ httpStandard.setRequest(request);
+ return httpStandard;
+ }
+
+ //鍙戝嚭璇锋眰
+ private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
+ if (this.socket == null) {
+ return null;
+ }
+
+ //鍘嬬缉鏁版嵁鍖�
+ 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()));
+ 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
+ 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�
+ }
+
+ return filterBodyData(result);//杩斿洖Body缁撴灉闆�
+ }
+
+ private static JSONObject filterBodyData(JSONObject data) {
+ Object response = data.get("response");
+ if (response == null) {
+ return null;
+ }
+
+ JSONObject result = JSON.parseObject(response.toString());
+ Object body = result.get("body");
+ if (body == null) {
+ return null;
+ }
+ JSONObject jsonBody = JSON.parseObject(body.toString());
+ return jsonBody;
+ }
+
+ //鍦板浘鑺傜偣杞崲鐗涚溂鑺傜偣
+ private static Map<String, Object> navigateNodeToNyPointNode(NavigateNode node) {
+ int[] NyPosition = WCSXyzToNyXyz(node.getX(), node.getY(), node.getZ());//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
+ HashMap<String, Object> point = new HashMap<>();
+ point.put("x", NyPosition[0]);
+ point.put("y", NyPosition[1]);
+ point.put("z", NyPosition[2]);
+ return point;
+ }
+
+ //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};
+ }
+
+ @Data
+ private class InnerSuhttleExtend {
+
+ /**
+ * 绠″埗鐘舵�佷笉鍦ㄧ鍒朵笅/琚鍒朵腑
+ * 0/1
+ */
+ private Integer suspendState;
+
+ /**
+ * 褰撳墠閫熷害锛屽崟浣峬m/s
+ */
+ private Integer speed;
+
+ /**
+ * 鍓╀綑鐢甸噺/10(A)
+ */
+ private Integer surplusQuantity;
+
+ /**
+ * 鎬荤數閲�/10(A)
+ */
+ private Integer countQuantity;
+
+ }
+}
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 461c4e2..e4becd3 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
@@ -31,6 +31,8 @@
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;
@@ -111,6 +113,11 @@
//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"));
@@ -134,6 +141,8 @@
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
@@ -321,6 +330,7 @@
JSONObject jsonObject = JSON.parseObject(response);
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;
}
} catch (Exception e) {
@@ -351,6 +361,7 @@
JSONObject jsonObject = JSON.parseObject(response);
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;
}
} catch (Exception e) {
@@ -381,6 +392,7 @@
JSONObject jsonObject = JSON.parseObject(response);
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;
}
} catch (Exception e) {
@@ -472,7 +484,6 @@
}
return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
} catch (Exception e) {
- News.error("fail", e);
return false;
}
}
@@ -493,11 +504,22 @@
@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()) >= 100) {
+ if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= maxPower) {
return true;
}
return false;
diff --git a/zy-asrs-wcs/src/main/resources/application.yml b/zy-asrs-wcs/src/main/resources/application.yml
index 6c56228..f9f4428 100644
--- a/zy-asrs-wcs/src/main/resources/application.yml
+++ b/zy-asrs-wcs/src/main/resources/application.yml
@@ -18,7 +18,7 @@
# url: jdbc:mysql://47.97.1.152:3306/asrs?useUnicode=trKue&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
# username: root
# password: zy@123
- url: jdbc:mysql://localhost:3306/asrs?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
+ url: jdbc:mysql://192.168.4.15:3306/asrs?useUnicode=true&characterEncoding=UTF-8&useSSL=false&serverTimezone=Asia/Shanghai
username: root
password: xltys1995
# driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
--
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