From 5bd42df0ef1bcdbc3911381274b4f3f267d0203b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 13 八月 2025 09:45:59 +0800
Subject: [PATCH] Merge remote-tracking branch 'origin/shuttle_rcs_dev' into shuttle_rcs_dev
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 113 ++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 96 insertions(+), 17 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
index 58ecf5e..aba6db6 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -52,6 +52,7 @@
private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ShuttleProtocol shuttleProtocol;
+ private ShuttleAction shuttleAction = null;
private static final boolean DEBUG = false;//璋冭瘯妯″紡
@@ -92,14 +93,11 @@
// Thread executeThread = new Thread(() -> {
// while (true) {
// try {
-// ShuttleAction shuttleAction = null;
-// try {
-// shuttleAction = SpringUtils.getBean(ShuttleAction.class);
-// }catch (Exception e){
-// continue;
-// }
-//
// if (shuttleAction == null) {
+// try {
+// shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+// }catch (Exception e){
+// }
// continue;
// }
//
@@ -929,11 +927,36 @@
return false;
}
+ List<NavigationMapType> restartCalcMapTypes = new ArrayList<>(mapTypes);
+ restartCalcMapTypes.add(NavigationMapType.SHUTTLE);
+
String currentLocNo = shuttleProtocol.getCurrentLocNo();
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, mapTypes, assignCommand, this);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, restartCalcMapTypes, assignCommand, this);
if (commands == null) {
return false;
}
+
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
+ List<ShuttleCommand> originCommands = assignCommand.getCommands();
+ if (originCommands == null) {
+ return false;
+ }
+
+ ShuttleCommand firstCommand = originCommands.get(0);
+ ShuttleCommand endCommand = originCommands.get(originCommands.size() - 1);
+
+ if (firstCommand.getMode() != ShuttleCommandModeType.PALLET_LIFT.id) {
+ return false;
+ }
+
+ if (endCommand.getMode() != ShuttleCommandModeType.PALLET_DOWN.id) {
+ return false;
+ }
+
+ commands.add(0, firstCommand);
+ commands.add(endCommand);
+ }
+
assignCommand.setCommands(commands);
//涓嬪彂浠诲姟
@@ -954,8 +977,64 @@
HashMap<String, Object> body = new HashMap<>();
body.put("requestType", "move");//绉诲姩鍛戒护
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);
+ request.setBody(body);
+
+ NavigateNode startNode = nodes.get(0);
+ for (NavigateNode node : nodes) {
+ HashMap<String, Object> data = new HashMap<>();
+ String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
+ Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
+ 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(startNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
+ List<MapNode> mapNodes = mapData.get(node.getX());
+ MapNode mapNode = mapNodes.get(node.getY());
+
+ data.put("xp", xp);
+ data.put("yp", yp);
+ data.put("z", z);
+ data.put("x", mapNode.getXBase());
+ data.put("y", mapNode.getYBase());
+ path.add(data);
+ }
+
+ httpStandard.setRequest(request);
+
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("qr_code_value", distCodeNum));
+ if (locMast == null) {
+ throw new CoolException("搴撲綅淇℃伅涓嶅瓨鍦�");
+ }
+
+ ShuttleCommand command = new ShuttleCommand();
+ command.setShuttleNo(deviceConfig.getDeviceNo());
+ command.setBody(JSON.toJSONString(httpStandard));
+ command.setMode(ShuttleCommandModeType.MOVE.id);
+ command.setTargetLocNo(locMast.getLocNo());
+ command.setTaskNo(taskId);
+ return command;
+ }
+
+ @Override
+ public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn) {
+ NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
+ NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
+
+ ArrayList<HashMap<String, Object>> path = new ArrayList<>();
+
+ Integer taskId = getTaskId();
+ HashMap<String, Object> body = new HashMap<>();
+ if (moveIn) {
+ body.put("requestType", "intoLift");//杩涙彁鍗囨満
+ }else {
+ body.put("requestType", "outLift");//鍑烘彁鍗囨満
+ }
+ body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
body.put("path", path);
request.setBody(body);
@@ -1192,16 +1271,16 @@
private JSONObject queryCommandStatus(String resultKey) {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
- // 灏濊瘯50娆�
JSONObject result = null;
- for (int i = 0; i < 50; i++) {
+ long startTime = System.currentTimeMillis();
+ while (true) {
+ if((System.currentTimeMillis() - startTime) > 1000 * 10) {
+ break;
+ }
+
result = getRequestBody(resultKey);
if (result == null) {
- try {
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
- }
+ continue;
}else {
break;
}
--
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