From c8ca14407cd83d0e03fb017ad97c0464bd0c42c4 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 18 三月 2025 10:46:28 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 151 +++++++++++++++++++++++++++++++++----------------
1 files changed, 101 insertions(+), 50 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 dd31655..d7dfba6 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -120,6 +120,9 @@
// //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
// shuttleAction.moveLoc(slave.getId());
+ //婕旂ず妯″紡
+ shuttleAction.demo(slave.getId());
+
Thread.sleep(200);
} catch (Exception e) {
e.printStackTrace();
@@ -152,6 +155,9 @@
//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);
+ if (deviceDataLogService == null) {
+ return;
+ }
DeviceDataLog deviceDataLog = new DeviceDataLog();
deviceDataLog.setOriginData(JSON.toJSONString(this.originDeviceData));
deviceDataLog.setWcsData(JSON.toJSONString(shuttleProtocol));
@@ -162,29 +168,8 @@
//鏇存柊閲囬泦鏃堕棿
shuttleProtocol.setDeviceDataLog(System.currentTimeMillis());
+ 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()));
}
- }
-
- //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.selectOne(new EntityWrapper<BasShuttle>()
- .eq("shuttle_no", slave.getId()));
-
- if (basShuttle == null) {
- basShuttle = new BasShuttle();
- //鍥涘悜绌挎杞﹀彿
- basShuttle.setShuttleNo(slave.getId());
- basShuttle.setStatus(1);
- shuttleService.insert(basShuttle);
- }
- //浠诲姟鍙�
- basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
- //淇敼鏃堕棿
- basShuttle.setUpdateTime(new Date());
- //璁惧鐘舵��
- basShuttle.setDeviceStatus(JSON.toJSONString(shuttleProtocol));
- 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()));
}
}
@@ -218,7 +203,7 @@
}
}
- public JSONObject getRequestBody(String type) {
+ public JSONObject getRequestBody(String type, String taskId) {
try {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
@@ -241,7 +226,14 @@
}
if (!responseType.equals(type)) {
- continue;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ continue;//鍝嶅簲绫诲瀷涓庤姹傜被鍨嬩笉涓�鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ }
+
+ if (taskId != null) {
+ String responseTaskId = resultBody.get("taskId").toString();
+ if (!responseTaskId.equals(taskId)) {
+ continue;//鍝嶅簲ID涓庤姹侷D涓嶄竴鑷达紝涓嶅湪璋冭瘯妯″紡涓�
+ }
}
result = socketResult;
@@ -315,13 +307,21 @@
shuttleProtocol.setRunDirection(data.getString("runDir") == null ? "none" : data.getString("runDir"));
//鏄惁涓哄厖鐢电姸鎬�
shuttleProtocol.setHasCharge(data.getInteger("chargState") == 1 ? true : false);
+ //杩愯閫熷害
+ shuttleProtocol.setSpeed(data.getInteger("speed"));
//*********璇诲彇鎵╁睍瀛楁**********
InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
//绠″埗鐘舵��
extend.setSuspendState(data.getInteger("suspendState"));
- //褰撳墠閫熷害
- extend.setSpeed(data.getInteger("speed"));
+ //鏈�楂樼數鑺數鍘�(mV)
+ extend.setMaxCellVoltage(data.getInteger("maxCellVoltage"));
+ //鏈�浣庣數鑺數鍘�(mV)
+ extend.setMinCellVoltage(data.getInteger("minCellVoltage"));
+ //鐢垫睜鐢靛帇
+ extend.setVoltage(data.getInteger("voltage"));
+ //鍏呮斁鐢靛惊鐜鏁�
+ extend.setChargeCycleTimes(data.getInteger("chargeCycleTimes"));
//鍓╀綑鐢甸噺
extend.setSurplusQuantity(data.getInteger("surplusQuantity"));
//鎬荤數閲�
@@ -333,7 +333,7 @@
///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
//灏忚溅澶勪簬杩愯涓紝灏嗘爣璁扮疆涓簍rue
- if (shuttleProtocol.getDeviceStatus() == 1) {
+ if (shuttleProtocol.getDeviceStatus() == 0) {
shuttleProtocol.setPakMk(true);
}
@@ -370,6 +370,9 @@
int removeIdx = -1;
for (int i = 0; i < socketResults.size(); i++) {
JSONObject socketResult = socketResults.get(i);
+ if (socketResult == null) {
+ continue;
+ }
if (!socketResult.get("msgType").equals("requestMsg")) {//涓嶆槸璇锋眰鍐呭
continue;
}
@@ -399,7 +402,7 @@
socketResults.remove(removeIdx);
}
} catch (Exception e) {
- e.printStackTrace();
+// e.printStackTrace();
}
}
@@ -462,13 +465,17 @@
}
for (NyShuttleHttpCommand requestCommand : commandList) {
- JSONObject result = requestCommand(requestCommand);
- if (result == null) {
- return response;//璇锋眰澶辫触
+ while (true) {
+ JSONObject result = requestCommand(requestCommand);
+ if (result == null) {
+// return response;//璇锋眰澶辫触
+ continue;//璇锋眰澶辫触灏濊瘯閲嶆柊璇锋眰
+ }
+ this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
+ response.setMessage(JSON.toJSONString(result));
+ response.setResult(true);
+ break;
}
- this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
- response.setMessage(JSON.toJSONString(result));
- response.setResult(true);
}
return response;
} catch (Exception e) {
@@ -576,6 +583,7 @@
&& this.shuttleProtocol.getMode() == 1
&& this.shuttleProtocol.getPakMk()
&& this.shuttleProtocol.getErrorCode().equals("0")
+ && this.shuttleProtocol.getTaskNo() == 0
&& (this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id
|| this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id
|| this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id)
@@ -810,6 +818,19 @@
}
@Override
+ public boolean enableDemo(boolean enable) {
+ shuttleProtocol.setDemo(enable);
+ return true;
+ }
+
+ @Override
+ public boolean offerSystemMsg(String format, Object... arguments) {
+ String msg = News.replace(format, arguments);
+ shuttleProtocol.setSystemMsg(msg);
+ 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(slave.getId(), taskNo);
@@ -842,8 +863,8 @@
data.put("xp", xp);
data.put("yp", yp);
data.put("z", z);
- data.put("x", mapNode.getYBase());
- data.put("y", mapNode.getXBase());
+ data.put("x", mapNode.getXBase());
+ data.put("y", mapNode.getYBase());
path.add(data);
}
@@ -851,7 +872,7 @@
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
- .eq("code", distCodeNum));
+ .eq("qr_code_value", distCodeNum));
if (locMast == null) {
throw new CoolException("搴撲綅淇℃伅涓嶅瓨鍦�");
}
@@ -946,8 +967,7 @@
String mapStr = JSON.toJSONString(map);
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
- .eq("code", mapStr)
- .eq("status", 1));
+ .eq("qr_code_value", mapStr));
if (locMast == null) {
throw new CoolException("鍦板潃鐮佷笉瀛樺湪");
}
@@ -960,8 +980,8 @@
location.put("xp", row);
location.put("yp", bay);
location.put("z", lev);
- location.put("x", mapNode.getYBase());
- location.put("y", mapNode.getXBase());
+ location.put("x", mapNode.getXBase());
+ location.put("y", mapNode.getYBase());
HashMap<String, Object> body = new HashMap<>();
body.put("responseType", "init");//澶嶄綅
@@ -1062,17 +1082,20 @@
// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
String requestType = null;
+ String taskId = null;
try {
requestType = httpCommand.getRequest().getBody().get("requestType").toString();
+ taskId = httpCommand.getRequest().getBody().get("taskId").toString();
} catch (Exception e) {
- return null;
+// return null;
+ //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
}
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
- // 灏濊瘯10娆�
+ // 灏濊瘯100娆�
JSONObject result = null;
- for (int i = 0; i < 10; i++) {
- result = getRequestBody(requestType);
+ for (int i = 0; i < 100; i++) {
+ result = getRequestBody(requestType, taskId);
if (result == null) {
try {
Thread.sleep(100);
@@ -1117,9 +1140,22 @@
// int x1 = Math.abs(y - 61) + 11;
// //WCS绯荤粺X杞� => 鐗涚溂Y杞磋浆鎹㈠叕寮�
// int y1 = x + 10;
- int x1 = x + 10;
- int y1 = y + 10;
- return new int[]{y1, x1, z};
+
+// int x1 = x + 10;
+// int y1 = y + 10;
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
+ .eq("row1", x)
+ .eq("bay1", y)
+ .eq("lev1", z)
+ .eq("status", 1));
+ if (locMast == null) {
+ return null;
+ }
+
+ String qrCodeValue = locMast.getQrCodeValue();
+ JSONObject data = JSON.parseObject(qrCodeValue);
+ return new int[]{data.getInteger("y"), data.getInteger("x"), z};
}
@Data
@@ -1132,9 +1168,24 @@
private Integer suspendState;
/**
- * 褰撳墠閫熷害锛屽崟浣峬m/s
+ * 鏈�楂樼數鑺數鍘�(mV)
*/
- private Integer speed;
+ private Integer maxCellVoltage;
+
+ /**
+ * 鏈�浣庣數鑺數鍘�(mV)锛屼綆浜�2900mv闇�瑕佺珛鍗冲厖鐢�
+ */
+ private Integer minCellVoltage;
+
+ /**
+ * 鐢垫睜鐢靛帇锛坢V锛�
+ */
+ private Integer voltage;
+
+ /**
+ * 鍏呮斁鐢靛惊鐜鏁�
+ */
+ private Integer chargeCycleTimes;
/**
* 鍓╀綑鐢甸噺/10(A)
--
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