From 629959675a97b4d41c1c36eaa60ee1671c224e93 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 13 八月 2025 09:12:35 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 202 ++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 186 insertions(+), 16 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 2542703..aba6db6 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -20,8 +20,11 @@
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
+import com.zy.common.utils.ShuttleOperaUtils;
import com.zy.core.News;
+import com.zy.core.action.ShuttleAction;
import com.zy.core.model.DeviceCommandMsgModel;
+import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.utils.DeviceMsgUtils;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
@@ -49,6 +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
@@ -89,14 +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;
// }
//
@@ -852,6 +853,119 @@
}
@Override
+ public boolean restartCalcPath() {
+ ConfigService configService = SpringUtils.getBean(ConfigService.class);
+ if (configService == null) {
+ return false;
+ }
+
+ ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ if (shuttleAction == null) {
+ return false;
+ }
+
+ ShuttleOperaUtils shuttleOperaUtils = SpringUtils.getBean(ShuttleOperaUtils.class);
+ if (shuttleOperaUtils == null) {
+ return false;
+ }
+
+ ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
+ if (objectMapper == null) {
+ return false;
+ }
+
+ boolean trafficControlRestartCalcPath = false;
+ Config trafficControlRestartCalcPathConfig = configService.selectOne(new EntityWrapper<Config>()
+ .eq("code", "trafficControlRestartCalcPath")
+ );
+ if(trafficControlRestartCalcPathConfig != null) {
+ trafficControlRestartCalcPath = trafficControlRestartCalcPathConfig.getValue().equals("Y") ? true : false;
+ }
+
+ if (!trafficControlRestartCalcPath) {
+ return false;
+ }
+
+ if (shuttleProtocol.getTaskNo() == 0) {
+ return false;
+ }
+
+ if (!this.isDeviceIdle()) {
+ return false;
+ }
+
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo());
+ if (object != null) {
+ return false;
+ }
+
+ Integer taskNo = shuttleProtocol.getTaskNo();
+ Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
+ if (obj == null) {
+ return false;
+ }
+
+ ShuttleRedisCommand redisCommand = null;
+ try {
+ redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
+ } catch (IOException e) {
+ throw new RuntimeException(e);
+ }
+
+ if (redisCommand == null) {
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ String locNo = assignCommand.getLocNo();
+ List<NavigationMapType> mapTypes = assignCommand.getMapTypes();
+ if (locNo == null) {
+ return false;
+ }
+
+ if (mapTypes == null) {
+ return false;
+ }
+
+ List<NavigationMapType> restartCalcMapTypes = new ArrayList<>(mapTypes);
+ restartCalcMapTypes.add(NavigationMapType.SHUTTLE);
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ 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
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ redisUtil.set(RedisKeyType.SHUTTLE_RESTART_CALC_PATH.key + shuttleProtocol.getShuttleNo(), true, 60);
+ return true;
+ }
+
+ @Override
public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
@@ -863,8 +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);
@@ -1101,16 +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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