From ebdfec3e9db0977bccca0527be7d2226fbbd0229 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 12 六月 2024 11:02:16 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 70 ++++++++++++++++++++++++-----------
1 files changed, 48 insertions(+), 22 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 4e4122d..a8f70d1 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
@@ -24,6 +24,7 @@
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;
@@ -99,17 +100,15 @@
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();
- String response = null;
char[] chars = new char[2048];//缂撳啿鍖�
- do {
+ while (true) {
reader.read(chars);
- String trim = new String(chars).trim();
+ String trim = new String(chars);
sb.append(trim);
- if (sb.lastIndexOf("\r\n") != -1) {
+ if (trim.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 (!socketResults.isEmpty() && socketResults.size() >= 5) {
@@ -210,7 +209,7 @@
//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);
@@ -276,6 +275,7 @@
basShuttle.setStatus(1);
basShuttle.setDeleted(0);
basShuttle.setHostId(device.getHostId());
+ basShuttle.setDeviceId(device.getId().intValue());
shuttleService.save(basShuttle);
}
//浠诲姟鍙�
@@ -323,6 +323,7 @@
Integer requestId = resultHeader.getInteger("requestId");
if (requestType.equals("init")) {
Integer code = resultBody.getInteger("code");
+ 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}]", code, device.getId(), device.getIp(), device.getPort()));
//灏忚溅澶嶄綅璇锋眰
ShuttleCommand initCommand = getInitCommand(requestId, code);
//鍙戝嚭璇锋眰
@@ -445,6 +446,7 @@
public boolean reset(ShuttleCommand command) {
setSyncTaskNo(0);
setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ enableMoveLoc(null, false);
return true;
}
@@ -611,6 +613,7 @@
@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�
@@ -629,6 +632,18 @@
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;
@@ -658,15 +673,26 @@
}
@Override
- public boolean enableMoveLoc(ShuttleMoveLocParam param) {
- 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());
+ 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;
}
@@ -692,8 +718,8 @@
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("x")));
- int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ 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);
@@ -703,8 +729,8 @@
data.put("xp", xp);
data.put("yp", yp);
data.put("z", z);
- data.put("x", mapNode.getXBase());
- data.put("y", mapNode.getYBase());
+ data.put("x", mapNode.getYBase());
+ data.put("y", mapNode.getXBase());
path.add(data);
}
@@ -799,8 +825,8 @@
location.put("xp", row);
location.put("yp", bay);
location.put("z", lev);
- location.put("x", mapNode.getXBase());
- location.put("y", mapNode.getYBase());
+ location.put("x", mapNode.getYBase());
+ location.put("y", mapNode.getXBase());
HashMap<String, Object> body = new HashMap<>();
body.put("responseType", "init");//澶嶄綅
--
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