From d56b8093dc9e3e75f8efe1a0f1aa6d821c9c3dfb Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 15 四月 2025 13:30:35 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 155 +++++++++++++++++++++++++++++++++++++++------------
1 files changed, 117 insertions(+), 38 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 705c89c..e6fa940 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
@@ -31,6 +31,7 @@
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;
@@ -61,6 +62,7 @@
private static final boolean DEBUG = false;//璋冭瘯妯″紡
+ private List<JSONObject> socketReadResults = new ArrayList<>();
private List<JSONObject> socketResults = new ArrayList<>();
//鍘熷璁惧鏁版嵁
@@ -81,6 +83,7 @@
while (true) {
try {
listenSocketMessage();
+ listenInit();//鐩戝惉鍒濆鍖栦簨浠�
} catch (Exception e) {
e.printStackTrace();
}
@@ -123,6 +126,8 @@
//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();
}
@@ -134,7 +139,6 @@
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();
@@ -220,7 +224,19 @@
}
JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
- if (!socketResults.isEmpty() && socketResults.size() >= 5) {
+
+ String msgType = result.getString("msgType");
+ if ("responseMsg".equals(msgType)) {
+ JSONObject response = result.getJSONObject("response");
+ JSONObject body = response.getJSONObject("body");
+ if (body.containsKey("workingMode")) {
+ //read
+ socketReadResults.add(body);
+ return;
+ }
+ }
+
+ if (!socketResults.isEmpty() && socketResults.size() >= 20) {
socketResults.remove(0);//娓呯悊澶磋妭鐐�
}
socketResults.add(result);//娣诲姞鏁版嵁
@@ -229,7 +245,7 @@
}
}
- public JSONObject getRequestBody(String type) {
+ public JSONObject getRequestBody(String type, String taskId) {
try {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
@@ -252,7 +268,14 @@
}
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�
+ continue;//鍝嶅簲绫诲瀷涓庤姹傜被鍨嬩笉涓�鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ }
+
+ if (taskId != null) {
+ String responseTaskId = resultBody.get("taskId").toString();
+ if (!responseTaskId.equals(taskId)) {
+ 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;
@@ -276,6 +299,7 @@
this.connect();
}
readStatus();
+ Thread.sleep(200);
} 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()));
@@ -296,7 +320,18 @@
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(Integer.parseInt(device.getDeviceNo()));
- JSONObject data = requestCommand(readStatusCommand);
+ requestCommandAsync(readStatusCommand);//璇锋眰鐘舵��
+
+ if (this.socketReadResults.isEmpty()) {
+ 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�
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ }
+ return;
+ }
+
+ JSONObject data = this.socketReadResults.get(0);
+ this.socketReadResults.remove(0);
if (data == null) {
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�
@@ -345,13 +380,17 @@
///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簍rue
- if (shuttleProtocol.getDeviceStatus() == 1) {
+ if (shuttleProtocol.getDeviceStatus() == 0) {
shuttleProtocol.setPakMk(true);
}
- if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
+ if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 1) {
//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().equals(ShuttleProtocolStatusType.OFFLINE) && shuttleProtocol.getDeviceStatus().intValue() == 1) {
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
}
this.originDeviceData = data;
@@ -392,6 +431,9 @@
String requestType = resultBody.getString("requestType");
Integer requestId = resultHeader.getInteger("requestId");
if (requestType.equals("init")) {
+ removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
+ socketResults.remove(removeIdx);
+
Integer code = resultBody.getInteger("code");
//灏忚溅澶嶄綅璇锋眰
ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -399,16 +441,11 @@
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();
@@ -434,12 +471,14 @@
}
@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);
@@ -479,73 +518,85 @@
for (NyShuttleHttpCommand requestCommand : commandList) {
JSONObject result = requestCommand(requestCommand);
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
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
}
- return true;
+ return response;
} catch (Exception e) {
e.printStackTrace();
- return false;
+ response.setMessage(e.getMessage());
+ return response;
}
}
@Override
- public boolean lift(ShuttleCommand command) {
+ 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;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
} catch (Exception e) {
e.printStackTrace();
- return false;
+ return response;
}
}
@Override
- public boolean charge(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;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
} catch (Exception e) {
e.printStackTrace();
- return false;
+ return response;
}
}
@Override
- public boolean reset(ShuttleCommand command) {
+ public CommandResponse reset(ShuttleCommand command) {
setSyncTaskNo(0);
setProtocolStatus(ShuttleProtocolStatusType.IDLE);
enableMoveLoc(null, false);
- return true;
+ return new CommandResponse(true, JSON.toJSONString(command));
}
@Override
- public boolean updateLocation(ShuttleCommand command) {
+ 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;
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ return response;
} catch (Exception e) {
e.printStackTrace();
- return false;
+ return response;
}
}
@@ -812,9 +863,10 @@
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("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);
@@ -857,6 +909,7 @@
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.MOVE.id);
command.setTargetLocNo(loc.getLocNo());
+ command.setTaskNo(taskId);
return command;
}
@@ -865,9 +918,10 @@
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", 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);
@@ -876,6 +930,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
+ command.setTaskNo(taskId);
return command;
}
@@ -884,9 +939,10 @@
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);
@@ -895,6 +951,7 @@
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;
}
@@ -914,6 +971,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -968,6 +1026,7 @@
command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo()));
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.RESET.id);
+ command.setTaskNo(taskNo);
return command;
}
@@ -1051,29 +1110,49 @@
// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
String requestType = null;
+ String taskId = null;
try {
requestType = httpCommand.getRequest().getBody().get("requestType").toString();
+ taskId = httpCommand.getRequest().getBody().get("taskId").toString();
} catch (Exception e) {
- return null;
+// return null;
+ //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
}
// 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);
+ result = getRequestBody(requestType,taskId);
if (result == null) {
try {
Thread.sleep(100);
} catch (Exception e) {
e.printStackTrace();
}
+ }else {
+ break;
}
- break;
}
return result;//杩斿洖Body缁撴灉闆�
}
+ private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
+ if (this.socket == null) {
+ return;
+ }
+
+ //鍘嬬缉鏁版嵁鍖�
+ JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
+ data.remove("nodes");
+
+ // 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));
+ }
+
private JSONObject filterBodyData(JSONObject data) {
Object response = data.get("response");
if (response == null) {
--
Gitblit v1.9.1