From 94e8a0258a696ecd8a9a1400eabb802bf8628397 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 14 十月 2025 13:47:05 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 565 +++++---------------------------------------------------
1 files changed, 50 insertions(+), 515 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 73613c9..861cbb1 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -1,559 +1,94 @@
package com.zy.core.thread;
-import HslCommunication.Core.Transfer.DataFormat;
-import HslCommunication.Core.Types.OperateResult;
-import HslCommunication.Core.Types.OperateResultExOne;
-import HslCommunication.ModBus.ModbusTcpNet;
-import com.alibaba.fastjson.JSON;
-import com.core.common.DateUtils;
-import com.core.common.SpringUtils;
-import com.core.exception.CoolException;
-import com.zy.asrs.entity.BasShuttle;
-import com.zy.asrs.entity.BasShuttleOpt;
-import com.zy.asrs.service.BasShuttleOptService;
-import com.zy.asrs.service.BasShuttleService;
-import com.zy.common.model.NavigateNode;
-import com.zy.common.utils.CommonUtils;
-import com.zy.common.utils.NavigatePositionConvert;
-import com.zy.common.utils.NavigateUtils;
-import com.zy.common.utils.RedisUtil;
-import com.zy.core.News;
-import com.zy.core.ThreadHandler;
-import com.zy.core.cache.MessageQueue;
-import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.*;
-import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.Task;
-import com.zy.core.model.command.ShuttleAssignCommand;
-import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.protocol.ShuttleProtocol;
-import lombok.Data;
-import lombok.extern.slf4j.Slf4j;
-import java.text.MessageFormat;
-import java.util.ArrayList;
-import java.util.Date;
-import java.util.HashMap;
+import com.alibaba.fastjson.JSONObject;
+import com.zy.common.ExecuteSupport;
+import com.zy.common.model.NavigateNode;
+import com.zy.core.ThreadHandler;
+import com.zy.core.enums.ShuttleProtocolStatusType;
+import com.zy.core.enums.ShuttleRequireChargeType;
+import com.zy.core.enums.ShuttleTaskNoType;
+import com.zy.core.model.CommandResponse;
+import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.param.ShuttleMoveLocParam;
+import com.zy.core.model.protocol.ShuttleProtocol;
+
import java.util.List;
-/**
- * 鍥涘悜绌挎杞︾嚎绋�
- */
-@Data
-@Slf4j
-public class ShuttleThread implements Runnable, ThreadHandler {
+public interface ShuttleThread extends ThreadHandler {
- private ModbusTcpNet modbusTcpNet;
- private ShuttleSlave slave;
- private ShuttleProtocol shuttleProtocol;
- private RedisUtil redisUtil;
+ ShuttleProtocol getStatus(boolean clone);//鑾峰彇鍥涘悜绌挎杞︾姸鎬�
- public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
- this.slave = slave;
- this.redisUtil = redisUtil;
- }
+ ShuttleProtocol getStatus();//鑾峰彇鍥涘悜绌挎杞︾姸鎬�-榛樿clone
- @Override
- public void run() {
- this.connect();
- while (true) {
- try {
- int step = 1;
- Task task = MessageQueue.poll(SlaveType.Shuttle, slave.getId());
- if (task != null) {
- step = task.getStep();
- }
- switch (step) {
- // 璇绘暟鎹�
- case 1:
- readStatus();
- break;
- // 鍐欏叆鏁版嵁
- case 2:
- write((ShuttleCommand) task.getData());
- break;
- //涓嬪彂浠诲姟
- case 3:
- assignWork((ShuttleAssignCommand) task.getData());
- break;
- default:
- break;
- }
- Thread.sleep(500);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- }
+ Object getOriginDeviceData();
- @Override
- public boolean connect() {
- boolean result = false;
- //-------------------------鍥涘悜绌挎杞﹁繛鎺ユ柟娉�------------------------//
- modbusTcpNet = new ModbusTcpNet(slave.getIp(), slave.getPort(), (byte) 0x01);
- // 褰撲綘闇�瑕佹寚瀹氭牸寮忕殑鏁版嵁瑙ｆ瀽鏃讹紝灏遍渶瑕佽缃笅闈㈢殑杩欎釜淇℃伅
- modbusTcpNet.setDataFormat(DataFormat.ABCD);
- OperateResult connect = modbusTcpNet.ConnectServer();
- if(connect.IsSuccess){
- result = true;
- OutputQueue.CRN.offer(MessageFormat.format( "銆恵0}銆戝洓鍚戠┛姊溅plc杩炴帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.info("鍥涘悜绌挎杞lc杩炴帴鎴愬姛 ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- } else {
- OutputQueue.CRN.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc杩炴帴澶辫触锛侊紒锛� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- log.error("鍥涘悜绌挎杞lc杩炴帴澶辫触锛侊紒锛� ===>> [id:{}] [ip:{}] [port:{}] ", slave.getId(), slave.getIp(), slave.getPort());
- }
- modbusTcpNet.ConnectClose();
- //-------------------------鍥涘悜绌挎杞﹁繛鎺ユ柟娉�------------------------//
- return result;
- }
+ CommandResponse movePath(List<NavigateNode> nodes, Integer taskNo);//璺緞涓嬪彂
- @Override
- public void close() {
- modbusTcpNet.ConnectClose();
- }
+ CommandResponse move(ShuttleCommand command);//绉诲姩
- private void readStatus() {
- try {
- OperateResultExOne<byte[]> result = modbusTcpNet.Read("200", (short) 17);
- if (result.IsSuccess) {
- if (null == shuttleProtocol) {
- shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(slave.getId().shortValue());
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- }
+ CommandResponse lift(ShuttleCommand command);//椤跺崌
- //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
- //鑾峰彇鏁版嵁
- byte[] content = result.Content;
- //灏忚溅蹇欑姸鎬佷綅
- shuttleProtocol.setBusyStatus(modbusTcpNet.getByteTransform().TransInt16(content,0));
- //褰撳墠浜岀淮鐮�
- shuttleProtocol.setCurrentCode(modbusTcpNet.getByteTransform().TransInt16(content,2));
- //鐢垫睜鐢甸噺鐧惧垎姣�
- shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
- //鐢垫睜娓╁害
- shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
- //閿欒缂栧彿
- shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
- //Plc杈撳嚭鐘舵�両O
- shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
- //閿欒淇℃伅鐮�
- shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
- //PLC杈撳叆鐘舵��
- shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
- //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
- shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
- //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
- shuttleProtocol.setCodeOffsetX(modbusTcpNet.getByteTransform().TransInt16(content,18));
- //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
- shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
- //褰撳墠鐨勭數鍘嬪��
- shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
- //褰撳墠鐨勬ā鎷熼噺鍊�
- shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
- //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
- shuttleProtocol.setCurrentLiftServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,26));
- //褰撳墠鐨勮璧颁己鏈嶉�熷害
- shuttleProtocol.setCurrentMoveServoSpeed(modbusTcpNet.getByteTransform().TransInt16(content,28));
- //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
- shuttleProtocol.setCurrentLiftServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,30));
- //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
- shuttleProtocol.setCurrentMoveServoLoad(modbusTcpNet.getByteTransform().TransInt16(content,32));
+ CommandResponse charge(ShuttleCommand command);//鍏呯數寮�鍏�
- ///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
+ CommandResponse reset(ShuttleCommand command);//澶嶄綅寮�鍏�
- //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
- if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
- shuttleProtocol.setPakMk(true);
- }
+ CommandResponse updateLocation(ShuttleCommand command);//鏇存柊鍧愭爣
- //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
- if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
- && shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getPakMk()
- && shuttleProtocol.getAssignCommand() != null) {
- //鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getAssignCommand());
- }
+ boolean isIdle();
- //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
- BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
- BasShuttle basShuttle = shuttleService.selectById(shuttleProtocol.getShuttleNo());
- if (basShuttle == null) {
- basShuttle = new BasShuttle();
- //鍥涘悜绌挎杞﹀彿
- basShuttle.setShuttleNo(slave.getId());
- shuttleService.insert(basShuttle);
- }
- //灏忚溅蹇欑姸鎬佷綅
- basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
- //褰撳墠浜岀淮鐮�
- basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
- //鐢垫睜鐢甸噺鐧惧垎姣�
- basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
- //鐢垫睜娓╁害
- basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
- //閿欒缂栧彿
- basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
- //Plc杈撳嚭鐘舵�両O
- basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
- //閿欒淇℃伅鐮�
- basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
- //PLC杈撳叆鐘舵��
- basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
- //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
- basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
- //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
- basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
- //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
- basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
- //褰撳墠鐨勭數鍘嬪��
- basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
- //褰撳墠鐨勬ā鎷熼噺鍊�
- basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
- //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
- basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
- //褰撳墠鐨勮璧颁己鏈嶉�熷害
- basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
- //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
- basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
- //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
- basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
- //褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
- basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
- //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());
- 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()));
- }
+ boolean isIdle(ExecuteSupport support);//鏄惁绌洪棽
- }else {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆憑1}鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
- throw new CoolException(MessageFormat.format( "鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
- }
- } catch (Exception e) {
- e.printStackTrace();
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- initShuttle();
- }
- }
+ boolean isDeviceIdle();//璁惧鏄惁绌洪棽
- private boolean write(ShuttleCommand command){
- if (null == command) {
- News.error("鍥涘悜绌挎杞﹀啓鍏ュ懡浠や负绌�");
- return false;
- }
+ boolean isDeviceIdle(ExecuteSupport support);//璁惧鏄惁绌洪棽
- command.setShuttleNo(slave.getId().shortValue());
- // 寮�濮嬩换鍔�
- short[] array = new short[17];
- //鎺у埗鎸囦护瀛�
- array[0] = command.getCommandWord();
- if (command.getStartCodeNum() != null) {
- //鍚浜岀淮缂栧彿
- array[1] = command.getStartCodeNum();
- }
+ ShuttleRequireChargeType isRequireCharge();//鏄惁婊¤冻鍏呯數鐘舵��
- if (command.getMiddleCodeNum() != null) {
- //涓棿浜岀淮缂栧彿
- array[2] = command.getMiddleCodeNum();
- }
+ boolean isCharging();//鏄惁鍏呯數涓�
- if (command.getDistCodeNum() != null) {
- //鐩爣浜岀淮缂栧彿
- array[3] = command.getDistCodeNum();
- }
+ boolean isChargingCompleted();//鏄惁鍏呯數瀹屾垚
- if (command.getStartToDistDistance() != null) {
- //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴︼紝鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
- array[4] = startToDistDistances[0];
- array[5] = startToDistDistances[1];
- }
+ boolean isFault();//鏄惁鏁呴殰
- if (command.getMiddleToDistDistance() != null) {
- //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
- array[6] = middleToDistDistances[0];
- array[7] = middleToDistDistances[1];
- }
+ List<NavigateNode> getMoveAdvancePath();//鑾峰彇绌挎杞︿换鍔¤矾寰�
- if (command.getRunDirection() != null) {
- //灏忚溅杩愯鏂瑰悜
- array[8] = command.getRunDirection();
- }
+ int generateDeviceTaskNo(int taskNo, ShuttleTaskNoType type);//鐢熸垚纭欢璁惧宸ヤ綔鍙�
- if (command.getPalletLift() != null) {
- //鎵樼洏椤跺崌
- array[9] = command.getPalletLift();
- }
+ boolean setProtocolStatus(ShuttleProtocolStatusType status);//璁剧疆宸ヤ綔鐘舵��
- if (command.getForceMoveDistance() != null) {
- //灏忚溅寮哄埗绉诲姩璺濈锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
- array[10] = forceMoveDistances[0];
- array[11] = forceMoveDistances[1];
- }
+ boolean setTaskNo(Integer taskNo);//璁剧疆宸ヤ綔鍙�
- if (command.getChargeSwitch() != null) {
- //鍏呯數寮�鍏�
- array[12] = command.getChargeSwitch();
- }
+ boolean setSyncTaskNo(Integer taskNo);//璁剧疆宸ヤ綔鍙�
- if (command.getIOControl() != null) {
- //灏忚溅IO鎺у埗
- array[13] = command.getIOControl();
- }
+ boolean setPakMk(boolean pakMk);//璁剧疆鏍囪
- if (command.getRunSpeed() != null) {
- //灏忚溅杩愯閫熷害
- array[14] = command.getRunSpeed();
- }
+ boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable);
- if (command.getRadarTmp() != null) {
- //灏忚溅闆疯揪澶囩敤
- array[15] = command.getRadarTmp();
- }
+ boolean requestWaiting();
- //鎸囦护缁撴潫浣�
- array[16] = command.getCommandEnd();
+ boolean enableDemo(boolean enable);//婕旂ず妯″紡
- OperateResult result = modbusTcpNet.Write("0", array);;
- if (result != null && result.IsSuccess) {
- News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
- return true;
- } else {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝啓鍏ュ洓鍚戠┛姊溅plc鏁版嵁澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- News.error("鍐欏叆鍥涘悜绌挎杞lc鏁版嵁澶辫触 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
- return false;
- }
- }
+ boolean offerSystemMsg(String format, Object... arguments);
- /**
- * 鍒濆鍖栧洓鍚戠┛姊溅
- */
- private void initShuttle() {
- if (null == shuttleProtocol) {
- shuttleProtocol = new ShuttleProtocol();
- }
- }
+ boolean setTrafficControl(boolean enable, List<NavigateNode> nodeList);
- //鍒嗛厤浠诲姟
- private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
- //灏嗘map瀛樺叆redis涓�
- HashMap<String, Object> map = new HashMap<>();
+ void updateDeviceDataLogTime(long time);
- if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
- || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
- //鍏ュ簱鎴栧嚭搴撴ā寮忥紝璁＄畻璺緞
- //璁＄畻璺緞
- List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), assignCommand.getTaskMode().intValue());
- if (calc != null) {
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //璺緞鏁版嵁
- map.put("path", data);
- //璺緞娆℃暟
- map.put("pathSize", data.size());
- }else {
- if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
- //灞炰簬鍏ュ簱鍑哄簱锛屽繀椤昏璁＄畻璺緞锛屽垯鎶涘嚭寮傚父
- throw new Exception("鏈兘鎵惧埌杩愯璺緞");
- }
- }
- }
+ JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol);
- //鍥涘悜绌挎杞﹀彿
- map.put("shuttle_no", assignCommand.getShuttleNo());
- //宸ヤ綔鍙�
- map.put("wrk_no", assignCommand.getTaskNo());
- //鍛戒护鎵ц姝ュ簭
- map.put("commandStep", 0);
- //鍛戒护
- map.put("assignCommand", assignCommand);
- shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
- shuttleProtocol.setAssignCommand(assignCommand);
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
- //鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand);
- }
+ boolean restartCalcPath();//閲嶆柊瑙勫垝璺緞
- //鎵ц涓嬪彂鐨勬寚浠�
- private boolean executeWork(ShuttleAssignCommand assignCommand) {
- //璇诲彇redis鏁版嵁
- if (assignCommand == null) {
- return false;
- }
+ //***************鑾峰彇鍛戒护*****************
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- shuttleProtocol.setPakMk(false);
+ ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean shuttleDirectionReverse);//鑾峰彇绉诲姩鍛戒护
- Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
- if (o == null) {
- return false;
- }
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
- //褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
- //path璺緞鏁扮洰
- int size = 0;
- //涓嬪彂鍛戒护
- ShuttleCommand command = new ShuttleCommand();
- switch (assignCommand.getTaskMode()) {
- case 1://鍏ュ簱
- case 2://鍑哄簱
- //褰撳墠璺緞鏁版嵁
- Object data = map.get("path");
- ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
- //鍙栫涓�鏉¤矾寰�
- Object o1 = pathList.get(commandStep);
- ArrayList objectPath = JSON.parseObject(o1.toString(), ArrayList.class);
- ArrayList<NavigateNode> path = new ArrayList<>();
- for (Object o2 : objectPath) {
- NavigateNode navigateNode = JSON.parseObject(o2.toString(), NavigateNode.class);
- path.add(navigateNode);
- }
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(path);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn, Boolean shuttleDirectionReverse);//鑾峰彇绉诲姩鍛戒护
- size = Integer.parseInt(map.get("pathSize").toString());
- //寮�濮嬭矾寰�
- NavigateNode startPath = path.get(0);
- //鐩爣璺緞
- NavigateNode endPath = path.get(path.size() - 1);
+ ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//椤跺崌鍛戒护 true=>椤跺崌 false=>涓嬮檷
- command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRunSpeed((short) 1000);
- command.setRadarTmp((short) 0);
+ ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//鍏呯數寮�鍏冲懡浠� true=>寮� false=>鍏�
- break;
- case 3://鎵樼洏椤跺崌
- case 4://鎵樼洏涓嬮檷
- command.setCommandWord((short) 2);
- command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
- command.setCommandEnd((short) 1);
- break;
- case 5://寮哄埗宸︾Щ
- case 6://寮哄埗鍙崇Щ
- case 7://寮哄埗涓婄Щ
- case 8://寮哄埗涓嬬Щ
- command.setCommandWord((short) 3);
- command.setForceMoveDistance(1000);
- command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
- command.setCommandEnd((short) 1);
- break;
- case 9://鐘舵�佸浣�
- command.setCommandWord((short) 0);
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- shuttleProtocol.setAssignCommand(null);
- break;
- default:
- }
+ ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo);//鑾峰彇鏇存柊鍧愭爣鍛戒护
- command.setCommandEnd((short) 1);
- //涓嬪彂鍛戒护
- if (!write(command)) {
- News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
- return false;
- } else {
- News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
-
- //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < size - 1) {
- //鏇存柊redis鏁版嵁
- //姝ュ簭澧炲姞
- commandStep++;
- map.put("commandStep", commandStep);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
- }else {
- //宸叉墽琛屽畬鎴�
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
- if (shuttleOptService != null) {
- BasShuttleOpt opt = new BasShuttleOpt(
- assignCommand.getTaskNo().intValue(),
- assignCommand.getShuttleNo().intValue(),
- new Date(),
- ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
- assignCommand.getSourceLocNo(),
- assignCommand.getLocNo(),
- null,
- null,
- null,
- JSON.toJSONString(assignCommand)
- );
- shuttleOptService.insert(opt);
- }
- //鍒犻櫎redis
- redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
-
- if (!assignCommand.getAuto()) {
- //鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬侊紝鐩存帴澶嶄綅
- News.info("鍥涘悜绌挎杞︽墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
- }else {
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
- News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
- }
-
- }
-
- }
- return true;
- }
-
- /******************************************************************************************/
- /**************************************** 娴嬭瘯涓撶敤 *****************************************/
- /*****************************************************************************************/
- public static void main(String[] args) throws InterruptedException {
- ShuttleSlave slave = new ShuttleSlave();
- slave.setId(1);
- slave.setIp("192.168.4.24");
- slave.setPort(502);
-// ShuttleThread thread = new ShuttleThread(slave);
-// thread.connect();
-// thread.readStatus();
-//
-// ShuttleCommand command = new ShuttleCommand();
-// command.setCommandWord((short) 0);
-// command.setStartCodeNum((short) 12323);
-// command.setMiddleCodeNum((short) 22323);
-// command.setDistCodeNum((short) 29999);
-// command.setStartToDistDistance(109999);
-// command.setMiddleToDistDistance(5000);
-// command.setRunDirection((short) 1);
-// command.setPalletLift((short) 2);
-// command.setForceMoveDistance(3000);
-// command.setChargeSwitch((short) 2);
-// command.setIOControl((short) 0);
-// command.setRunSpeed((short) 0);
-// command.setRadarTmp((short) 0);
-// command.setCommandEnd((short) 1);
-// thread.write(command);
-
- }
}
--
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