From 0df6e7bb33c9f6a18f026a500776b00cbf2ae62c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 24 十二月 2024 09:48:06 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 130 +++++++++++++++++++++++++------------------
1 files changed, 76 insertions(+), 54 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index 6d381d2..f7dc6fe 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -113,12 +113,6 @@
private void readStatus() {
try {
- if (null == shuttleProtocol) {
- shuttleProtocol = new NyShuttleProtocol();
- shuttleProtocol.setShuttleNo(slave.getId().shortValue());
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- }
-
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
NyShuttleHttpCommand readStatusCommand = NyHttpUtils.getReadStatusCommand(slave.getId());
JSONObject jsonObject = NyHttpUtils.requestCommand(socket, readStatusCommand);
@@ -178,6 +172,8 @@
shuttleProtocol.setStatusSum(jsonObject.getObject("statusSum", NyShuttleProtocol.StatusSumClass.class));
//闈炶嚜鍔ㄧ姸鎬佹椂闂磋鏃�
shuttleProtocol.setErrTime(jsonObject.getInteger("errTime"));
+ //鏈�杩戜竴娆″湪绾挎椂闂�
+ shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
//灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓篺alse
if (shuttleProtocol.getFree() == 0) {
@@ -193,59 +189,33 @@
basShuttle.setShuttleNo(slave.getId());
shuttleService.insert(basShuttle);
}
- //宸ヤ綔妯″紡
- basShuttle.setWorkingMode(shuttleProtocol.getWorkingMode());
- //杩愯鐘舵��
- basShuttle.setFree(shuttleProtocol.getFree());
- //褰撳墠閫熷害
- basShuttle.setSpeed(shuttleProtocol.getSpeed());
- //璐熻浇鐘舵��
- basShuttle.setLoadState(shuttleProtocol.getLoadState());
- //绠″埗鐘舵��
- basShuttle.setSuspendState(shuttleProtocol.getSuspendState());
- //椤跺崌浣嶇疆
- basShuttle.setLiftPosition(shuttleProtocol.getLiftPosition());
- //杩愯鏂瑰悜
- basShuttle.setRunDir(shuttleProtocol.getRunDir());
- //杩愯鏂瑰悜
- basShuttle.setRunDir2(shuttleProtocol.getRunDir2());
- //鍏呯數鐘舵��
- basShuttle.setChargState(shuttleProtocol.getChargState());
- //鐢垫睜鐢甸噺
- basShuttle.setPowerPercent(shuttleProtocol.getPowerPercent());
- //鏈�楂樼數鑺數鍘�
- basShuttle.setMaxCellVoltage(shuttleProtocol.getMaxCellVoltage());
- //鐢垫睜鐢靛帇
- basShuttle.setVoltage(shuttleProtocol.getVoltage());
- //鍏呮斁鐢靛惊鐜鏁�
- basShuttle.setChargeCycleTimes(shuttleProtocol.getChargeCycleTimes());
- //鍓╀綑鐢甸噺
- basShuttle.setSurplusQuantity(shuttleProtocol.getSurplusQuantity());
- //鎬荤數閲�
- basShuttle.setCountQuantity(shuttleProtocol.getCountQuantity());
- //瀹為檯搴撲綅
- basShuttle.setPoint(JSONObject.toJSONString(shuttleProtocol.getPoint()));
- //瀹為檯鍧愭爣
- basShuttle.setCoord(JSONObject.toJSONString(shuttleProtocol.getCoord()));
- //浠诲姟鐩殑搴撲綅
- basShuttle.setTask(JSONObject.toJSONString(shuttleProtocol.getTask()));
- //浠诲姟鐘舵��
- basShuttle.setTaskState(shuttleProtocol.getTaskState());
- //鏁呴殰鐘舵��
- basShuttle.setErrState(shuttleProtocol.getErrState());
- //鎬婚噷绋嬫暟
- basShuttle.setStatusSum(JSONObject.toJSONString(shuttleProtocol.getStatusSum()));
- //闈炶嚜鍔ㄧ姸鎬佹椂闂磋鏃�
- basShuttle.setErrTime(shuttleProtocol.getErrTime());
//浠诲姟鍙�
basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
//淇敼鏃堕棿
basShuttle.setUpdateTime(new Date());
//浣滀笟鏍囪
basShuttle.setPakMk(shuttleProtocol.getPakMk());
+ basShuttle.setDeviceStatus(JSON.toJSONString(basShuttle));
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()), slave.getId()));
// log.info(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()), slave.getId()));
+ }
+// log.warn(JSON.toJSONString(shuttleProtocol));//杈撳嚭灏忚溅鐘舵��
+
+ 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(jsonObject));
+ deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
+ deviceDataLog.setType("shuttle");
+ deviceDataLog.setDeviceNo(shuttleProtocol.getShuttleNo().intValue());
+ deviceDataLog.setCreateTime(new Date());
+ deviceDataLogService.insert(deviceDataLog);
+
+ //鏇存柊閲囬泦鏃堕棿
+ shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
}
}
} catch (Exception e) {
@@ -269,6 +239,11 @@
socket.setSoTimeout(60000);
socket.setKeepAlive(true);
this.socket = socket;
+ if (null == shuttleProtocol) {
+ shuttleProtocol = new NyShuttleProtocol();
+ shuttleProtocol.setShuttleNo(slave.getId().shortValue());
+ }
+ 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()), slave.getId(), slave.getIp(), slave.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()), slave.getId(), slave.getIp(), slave.getPort()));
@@ -342,6 +317,9 @@
if (result == null) {
return false;//璇锋眰澶辫触
}
+
+ shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+
return true;
}
@@ -405,7 +383,7 @@
//涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
lastCommand.setComplete(true);
//瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰�
- List<NavigateNode> nodes = lastCommand.getNodes();
+ List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(lastCommand.getNodes()), NavigateNode.class);//杩涜娣卞害copy
// //瑙ｉ攣褰撳墠璺緞
// if (command != null && command.getNodes() != null) {
// nodes.addAll(command.getNodes());
@@ -416,7 +394,7 @@
if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
nodes.remove(nodes.size() - 1);//鍓旈櫎灏捐妭鐐�
}
- boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, false);//瑙ｉ攣璺緞
+ boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo().intValue(), nodes, false);//瑙ｉ攣璺緞
if (!result) {
return false;//瑙ｉ攣澶辫触
}
@@ -781,7 +759,7 @@
}
}
}
- }else {//璺戝簱浣�
+ } else if (shuttleProtocol.getMoveType() == 1) {//璺戝簱浣�
Integer xCurrent = shuttleProtocol.getXCurrent();
if (xCurrent > shuttleProtocol.getXTarget()) {//褰揦鍊煎ぇ浜嶺鐩爣鍊硷紝杩涜褰掗浂涓擸鏂瑰悜+1
shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
@@ -805,12 +783,56 @@
//璋冨害鍘荤洰鏍囦綅缃�
if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
- }else {
+ } else {
boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
if (result) {//璋冨害鎴愬姛
shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
}
}
+ } else if (shuttleProtocol.getMoveType() == 2) {//姣嶈建閬撳惊鐜窇
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
+ if (yCurrent.equals(shuttleProtocol.getYStart())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }
+ } else {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
+ if (result) {//璋冨害鎴愬姛
+ if (yCurrent.equals(shuttleProtocol.getYStart())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//鍒囨崲搴撲綅
+ }
+ }
+ }
+ } else if (shuttleProtocol.getMoveType() == 3) {//瀛愯建閬撳惊鐜窇
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
+ if (xCurrent.equals(shuttleProtocol.getXStart())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }
+ } else {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
+ if (result) {//璋冨害鎴愬姛
+ if (xCurrent.equals(shuttleProtocol.getXStart())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//鍒囨崲搴撲綅
+ }else {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//鍒囨崲搴撲綅
+ }
+ }
+ }
}
}
--
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