From edf5eb33c88d88062e295db466a654ac0a646ded Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期一, 21 四月 2025 11:12:32 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 37 ++++++++++++++++++++++++++++++-------
1 files changed, 30 insertions(+), 7 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 d9ce954..10176d4 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) {
@@ -324,6 +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
@@ -451,6 +451,11 @@
}
@Override
+ public boolean updateLocation(ShuttleCommand param) {
+ return true;//杩樻病绉绘杩囨潵
+ }
+
+ @Override
public boolean isIdle() {
return this.isIdle(null);
}
@@ -551,7 +556,7 @@
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;
}
@@ -613,6 +618,7 @@
@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�
@@ -631,6 +637,18 @@
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;
@@ -777,6 +795,11 @@
return command;
}
+ @Override
+ public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
+ return null;//杩樻病绉绘杩囨潵
+ }
+
//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);
--
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