From 5ea8ebb2dc63183018f74ef87de0bea90c87e74c Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 22 九月 2025 17:43:07 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 81 +++++++++++++++++++++++-----------------
1 files changed, 47 insertions(+), 34 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 e167988..5e2e26c 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -5,7 +5,6 @@
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
-import com.core.exception.CoolException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.DeviceConfig;
@@ -59,6 +58,7 @@
private List<JSONObject> socketReadResults = new ArrayList<>();
private List<DeviceMsgModel> socketResults = new ArrayList<>();
+ private Long requestReadTime = System.currentTimeMillis();
//鍘熷璁惧鏁版嵁
private Object originDeviceData;
@@ -200,7 +200,10 @@
//鎸囦护瓒呰繃2鏉★紝涓嶅啀涓嬪彂浠诲姟鐘舵�佽姹�
TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, deviceConfig.getDeviceNo());
if (deviceCommandMsgListKey.size() < 2) {
- requestCommand(readStatusCommand);//璇锋眰鐘舵��
+ if ((System.currentTimeMillis() - requestReadTime) > 500) {
+ requestCommand(readStatusCommand);//璇锋眰鐘舵��
+ requestReadTime = System.currentTimeMillis();
+ }
}
if (this.socketReadResults.isEmpty()) {
@@ -578,7 +581,7 @@
}
@Override
- public boolean isRequireCharge() {
+ public ShuttleRequireChargeType isRequireCharge() {
if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
@@ -586,7 +589,7 @@
|| this.shuttleProtocol.getMode() == null
|| this.shuttleProtocol.getExtend() == null
) {
- return false;
+ return ShuttleRequireChargeType.NONE;
}
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
@@ -599,25 +602,43 @@
&& extend.getSuspendState() == 0
;
if (!res) {
- return res;
+ return ShuttleRequireChargeType.NONE;
} else {
// 鐢甸噺灏忎簬闃堝�奸渶瑕佽繘琛屽厖鐢�
try {
BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
if (shuttleService == null) {
- return false;
+ return ShuttleRequireChargeType.NONE;
}
+
BasShuttle basShuttle = shuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", deviceConfig.getDeviceNo()));
if (basShuttle == null) {
- return false;
+ return ShuttleRequireChargeType.NONE;
}
+
Integer chargeLine = basShuttle.getChargeLine();
if (chargeLine == null) {
- return false;
+ return ShuttleRequireChargeType.NONE;
}
- return Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
+
+ boolean chargeResult = Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < chargeLine;
+ if (chargeResult) {
+ return ShuttleRequireChargeType.FORCE_CHARGE;//闇�瑕佸己鍒跺厖鐢�
+ }
+
+ Integer suggestChargeLine = basShuttle.getSuggestChargeLine();
+ if (suggestChargeLine == null) {
+ return ShuttleRequireChargeType.NONE;
+ }
+
+ boolean suggestChargeResult = Integer.valueOf(this.shuttleProtocol.getBatteryPower()) < suggestChargeLine;
+ if (suggestChargeResult) {
+ return ShuttleRequireChargeType.SUGGEST_CHARGE;//寤鸿鍏呯數
+ }
+
+ return ShuttleRequireChargeType.NONE;
} catch (Exception e) {
- return false;
+ return ShuttleRequireChargeType.NONE;
}
}
}
@@ -983,6 +1004,7 @@
request.setBody(body);
NavigateNode startNode = nodes.get(0);
+ List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
for (NavigateNode node : nodes) {
HashMap<String, Object> data = new HashMap<>();
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
@@ -991,7 +1013,6 @@
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());
@@ -1005,18 +1026,15 @@
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�");
- }
+ Object object = redisUtil.get(RedisKeyType.LOC_MAP.key);
+ HashMap<String, String> locMap = (HashMap<String, String>) object;
+ String targetLocNo = locMap.get(distCodeNum);
ShuttleCommand command = new ShuttleCommand();
command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.MOVE.id);
- command.setTargetLocNo(locMast.getLocNo());
+ command.setTargetLocNo(targetLocNo);
command.setTaskNo(taskId);
return command;
}
@@ -1041,6 +1059,7 @@
request.setBody(body);
NavigateNode startNode = nodes.get(0);
+ List<List<MapNode>> mapData = navigateMapData.getJsonData(startNode.getZ(), NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
for (NavigateNode node : nodes) {
HashMap<String, Object> data = new HashMap<>();
String codeNum = NavigatePositionConvert.xyToPosition(node.getX(), node.getY(), node.getZ());
@@ -1049,7 +1068,6 @@
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());
@@ -1063,18 +1081,15 @@
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�");
- }
+ Object object = redisUtil.get(RedisKeyType.LOC_MAP.key);
+ HashMap<String, String> locMap = (HashMap<String, String>) object;
+ String targetLocNo = locMap.get(distCodeNum);
ShuttleCommand command = new ShuttleCommand();
command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.MOVE.id);
- command.setTargetLocNo(locMast.getLocNo());
+ command.setTargetLocNo(targetLocNo);
command.setTaskNo(taskId);
return command;
}
@@ -1143,7 +1158,6 @@
//鑾峰彇灏忚溅澶嶄綅鍝嶅簲鍛戒护
public ShuttleCommand getInitCommand(Integer taskNo, Integer code) {
- LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
@@ -1159,15 +1173,14 @@
map.put("z", lev);
String mapStr = JSON.toJSONString(map);
- LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
- .eq("qr_code_value", mapStr));
- if (locMast == null) {
- throw new CoolException("鍦板潃鐮佷笉瀛樺湪");
- }
+
+ Object object = redisUtil.get(RedisKeyType.LOC_MAP.key);
+ HashMap<String, String> locMap = (HashMap<String, String>) object;
+ String targetLocNo = locMap.get(mapStr);
List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);
- List<MapNode> mapNodes = mapData.get(locMast.getRow1());
- MapNode mapNode = mapNodes.get(locMast.getBay1());
+ List<MapNode> mapNodes = mapData.get(Utils.getRow(targetLocNo));
+ MapNode mapNode = mapNodes.get(Utils.getBay(targetLocNo));
HashMap<String, Object> location = new HashMap<>();
location.put("xp", row);
--
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