From d9505e143cdf452c3a33752b380ee1b3a410601d Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期四, 16 十月 2025 14:48:52 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 1022 +++++++++++++++++++++++++++++++++-----------------------
1 files changed, 607 insertions(+), 415 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 e1ce5cf..30b6c6c 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -5,13 +5,11 @@
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.DeviceDataLog;
+import com.zy.asrs.entity.DeviceConfig;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleService;
-import com.zy.asrs.service.DeviceDataLogService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.ExecuteSupport;
@@ -21,12 +19,16 @@
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.*;
import com.zy.core.model.CommandResponse;
-import com.zy.core.model.ShuttleSlave;
+import com.zy.core.model.DeviceMsgModel;
import com.zy.core.model.command.NyShuttleHttpCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.ShuttleRedisCommand;
@@ -38,11 +40,7 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
-import java.io.BufferedReader;
import java.io.IOException;
-import java.io.InputStreamReader;
-import java.io.OutputStreamWriter;
-import java.net.Socket;
import java.text.MessageFormat;
import java.util.*;
@@ -50,46 +48,40 @@
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {
- private ShuttleSlave slave;
+ private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ShuttleProtocol shuttleProtocol;
- private Socket socket;
+ private ShuttleAction shuttleAction = null;
private static final boolean DEBUG = false;//璋冭瘯妯″紡
- private List<JSONObject> socketResults = new ArrayList<>();
+ 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;
- public NyShuttleThread(ShuttleSlave slave, RedisUtil redisUtil) {
- this.slave = slave;
+ public NyShuttleThread(DeviceConfig deviceConfig, RedisUtil redisUtil) {
+ this.deviceConfig = deviceConfig;
this.redisUtil = redisUtil;
}
@Override
public void run() {
- News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", slave.getId());
- this.connect();
-
- //鐩戝惉娑堟伅骞跺瓨鍌�
- Thread innerThread = new Thread(() -> {
- while (true) {
- try {
- listenSocketMessage();
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- });
- innerThread.start();
+ News.info("{}鍙峰洓鍚戣溅绾跨▼鍚姩", deviceConfig.getDeviceNo());
//璁惧璇诲彇
Thread readThread = new Thread(() -> {
while (true) {
try {
- read();
- Thread.sleep(200);
+ listenMessageFromRedis();
+ listenInit();//鐩戝惉鍒濆鍖栦簨浠�
+ readStatus();
+ Thread.sleep(100);
+
+// //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
+// shuttleAction.moveLoc(deviceConfig.getDeviceNo());
} catch (Exception e) {
log.error("ShuttleThread Fail", e);
}
@@ -97,169 +89,88 @@
});
readThread.start();
- //璁惧鎵ц
- Thread executeThread = new Thread(() -> {
- while (true) {
- try {
- ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
- if (shuttleAction == null) {
- continue;
- }
-
- Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + slave.getId());
- if (object == null) {
- continue;
- }
-
- Integer taskNo = Integer.valueOf(String.valueOf(object));
- if (taskNo != 0) {
- //瀛樺湪浠诲姟闇�瑕佹墽琛�
- boolean result = shuttleAction.executeWork(slave.getId(), taskNo);
- }
-
-// //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();
- }
- }
- });
- executeThread.start();
-
- //鍏朵粬浠诲姟
- Thread otherThread = new Thread(() -> {
- while (true) {
- try {
- listenInit();//鐩戝惉鍒濆鍖栦簨浠�
- saveLog();//淇濆瓨鏁版嵁
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- });
- otherThread.start();
+// //璁惧鎵ц
+// Thread executeThread = new Thread(() -> {
+// while (true) {
+// try {
+// if (shuttleAction == null) {
+// try {
+// shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+// }catch (Exception e){
+// }
+// continue;
+// }
+//
+// Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
+// if (object == null) {
+// continue;
+// }
+//
+// Integer taskNo = Integer.valueOf(String.valueOf(object));
+// if (taskNo != 0) {
+// //瀛樺湪浠诲姟闇�瑕佹墽琛�
+// boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
+// }
+// Thread.sleep(100);
+// } catch (Exception e) {
+// e.printStackTrace();
+// }
+// }
+// });
+// executeThread.start();
}
- private void saveLog() {
- if (shuttleProtocol == null) {
- return;
- }
-
- if (System.currentTimeMillis() - shuttleProtocol.getDeviceDataLog() > 1000 * 5) {
- if (this.originDeviceData != null) {
- //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));
- deviceDataLog.setType(String.valueOf(SlaveType.Shuttle));
- deviceDataLog.setDeviceNo(slave.getId());
- deviceDataLog.setCreateTime(new Date());
- deviceDataLogService.insert(deviceDataLog);
-
- //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()));
- }
- }
- }
-
- private void listenSocketMessage() {
+ private void listenMessageFromRedis() {
try {
- if (this.socket == null) {
+ DeviceMsgUtils deviceMsgUtils = null;
+ try {
+ deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ }catch (Exception e){
+
+ }
+ if (deviceMsgUtils == null) {
+ return;
+ }
+ DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Shuttle, deviceConfig.getDeviceNo());
+ if(deviceMsg == null){
return;
}
- // 鑾峰彇杈撳叆娴�
- BufferedReader reader = new BufferedReader(new InputStreamReader(this.socket.getInputStream()));
- // 璇诲彇鏈嶅姟鍣ㄧ殑鍝嶅簲
- StringBuffer sb = new StringBuffer();
- char[] chars = new char[2048];//缂撳啿鍖�
- while (true) {
- reader.read(chars);
- String trim = new String(chars);
- sb.append(trim);
- if (trim.lastIndexOf("\r\n") != -1) {
- break;
- }
- }
+ JSONObject data = JSON.parseObject(JSON.toJSONString(deviceMsg.getDeviceMsg()));
- JSONObject result = JSON.parseObject(sb.toString());//寰楀埌鍝嶅簲缁撴灉闆�
- if (!socketResults.isEmpty() && socketResults.size() >= 20) {
- socketResults.remove(0);//娓呯悊澶磋妭鐐�
+ if (deviceMsg.getDeviceMsgType().equals("status")) {
+ data.put("originDeviceData", deviceMsg.getDeviceOriginMsg());
+ socketReadResults.add(data);
+ } else {
+ socketResults.add(deviceMsg);//娣诲姞鏁版嵁
}
- socketResults.add(result);//娣诲姞鏁版嵁
} catch (Exception e) {
-// e.printStackTrace();
+ e.printStackTrace();
}
}
- public JSONObject getRequestBody(String type, String taskId) {
+ public JSONObject getRequestBody(String resultKey) {
try {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
- if (type.equals("readState")) {
- type = "state";
- }
-
+ int idx = -1;
for (int i = 0; i < socketResults.size(); i++) {
- JSONObject socketResult = socketResults.get(i);
- if (!socketResult.get("msgType").equals("responseMsg")) {//涓嶆槸鍝嶅簲鍐呭
- continue;
- }
-
- JSONObject resultResponse = JSON.parseObject(socketResult.get("response").toString());
- JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
- String responseType = resultBody.get("responseType").toString();
- if (DEBUG) {
- result = socketResult;
+ DeviceMsgModel deviceMsgModel = socketResults.get(i);
+ if(deviceMsgModel.getResultKey().equals(resultKey)){
+ idx = i;
+ result = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
break;
}
-
- if (!responseType.equals(type)) {
- 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;
- break;
}
if (result == null) {
return null;//鏃犲搷搴旂粨鏋�
}
+ socketResults.remove(idx);
return filterBodyData(result);//杩斿洖Body缁撴灉闆�
} catch (Exception e) {
return null;
- }
- }
-
- private void read() {
- try {
- if (this.socket == null || this.socket.isClosed()) {
- //閾炬帴鏂紑閲嶆柊閾炬帴
- this.connect();
- }
- readStatus();
- } catch (Exception e) {
- e.printStackTrace();
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戣鍙栧洓鍚戠┛姊溅鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
}
}
@@ -267,7 +178,7 @@
try {
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(slave.getId());
+ shuttleProtocol.setShuttleNo(deviceConfig.getDeviceNo());
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
InnerSuhttleExtend extend = new InnerSuhttleExtend();
@@ -275,88 +186,103 @@
}
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
- NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(slave.getId());
- JSONObject data = requestCommand(readStatusCommand);
- if (data == null) {
+ DeviceMsgUtils deviceMsgUtils = null;
+ try {
+ deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ }catch (Exception e){
+
+ }
+ if(deviceMsgUtils == null){
+ return;
+ }
+
+ NyShuttleHttpCommand readStatusCommand = getReadStatusCommand(deviceConfig.getDeviceNo());
+ //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) {
+ if ((System.currentTimeMillis() - requestReadTime) > 500) {
+ requestCommand(readStatusCommand);//璇锋眰鐘舵��
+ requestReadTime = System.currentTimeMillis();
+ }
+ }
+
+ if (this.socketReadResults.isEmpty()) {
if (System.currentTimeMillis() - shuttleProtocol.getLastOnlineTime() > 1000 * 60) {
//鏈�鍚庝竴娆′笂绾挎椂闂磋秴杩�60s锛岃瀹氱绾�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.OFFLINE);
}
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- }else {
-
- //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
- //灏忚溅璁惧鐘舵��
- shuttleProtocol.setDeviceStatus(data.getInteger("free"));
- //灏忚溅妯″紡
- shuttleProtocol.setMode(data.getInteger("workingMode"));
- //褰撳墠浜岀淮鐮�
- shuttleProtocol.setCurrentCode(data.getString("point"));
- //鐢垫睜鐢甸噺
- shuttleProtocol.setBatteryPower(data.getString("powerPercent"));
- //鐢垫睜鐢靛帇
- shuttleProtocol.setBatteryVoltage(data.getInteger("voltage"));
- //鏁呴殰
- shuttleProtocol.setErrorCode(data.getJSONArray("errCode").getString(0));
-
- //鏄惁椤跺崌
- shuttleProtocol.setHasLift(data.getInteger("liftPosition") == 2 ? true : false);
- //鏄惁鏈夋墭鐩�
- shuttleProtocol.setHasPallet(data.getInteger("loadState") == 1 ? true : false);
- //琛岄┒鏂瑰悜
- 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"));
- //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�
- extend.setCountQuantity(data.getInteger("countQuantity"));
- shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
-
- //鏈�杩戜竴娆″湪绾挎椂闂�
- shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
- ///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() == 0) {
- shuttleProtocol.setPakMk(true);
- }
-
- if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 0) {
- //灏忚溅绌洪棽鐘舵�併�佸皬杞︿换鍔＄姸鎬佷负鏈煡锛岃瀹氭浘绂荤嚎杩囷紝闇�瑕佸浣嶆垚绌洪棽
- shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE);
- }
-
- this.originDeviceData = data;
-
- 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()));
+ return;
}
+
+ JSONObject data = this.socketReadResults.get(0);
+ this.socketReadResults.remove(0);
+ //----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
+ //灏忚溅璁惧鐘舵��
+ shuttleProtocol.setDeviceStatus(data.getInteger("deviceStatus"));
+ //灏忚溅妯″紡
+ shuttleProtocol.setMode(data.getInteger("mode"));
+ //褰撳墠浜岀淮鐮�
+ shuttleProtocol.setCurrentCode(data.getString("currentCode"));
+ //鐢垫睜鐢甸噺
+ shuttleProtocol.setBatteryPower(data.getString("batteryPower"));
+ //鐢垫睜鐢靛帇
+ shuttleProtocol.setBatteryVoltage(data.getInteger("batteryVoltage"));
+ //鏁呴殰
+ shuttleProtocol.setErrorCode(data.getString("errorCode"));
+ //鏄惁椤跺崌
+ shuttleProtocol.setHasLift(data.getBoolean("hasLift"));
+ //鏄惁鏈夋墭鐩�
+ shuttleProtocol.setHasPallet(data.getBoolean("hasPallet"));
+ //琛岄┒鏂瑰悜
+ shuttleProtocol.setRunDirection(data.getString("runDirection"));
+ //鏄惁涓哄厖鐢电姸鎬�
+ shuttleProtocol.setHasCharge(data.getBoolean("hasCharge"));
+ //杩愯閫熷害
+ shuttleProtocol.setSpeed(data.getInteger("speed"));
+
+ //*********璇诲彇鎵╁睍瀛楁**********
+ JSONObject extendData = data.getJSONObject("extend");
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) shuttleProtocol.getExtend();
+ //绠″埗鐘舵��
+ extend.setSuspendState(extendData.getInteger("suspendState"));
+ //鏈�楂樼數鑺數鍘�(mV)
+ extend.setMaxCellVoltage(extendData.getInteger("maxCellVoltage"));
+ //鏈�浣庣數鑺數鍘�(mV)
+ extend.setMinCellVoltage(extendData.getInteger("minCellVoltage"));
+ //鐢垫睜鐢靛帇
+ extend.setVoltage(extendData.getInteger("voltage"));
+ //鍏呮斁鐢靛惊鐜鏁�
+ extend.setChargeCycleTimes(extendData.getInteger("chargeCycleTimes"));
+ //鍓╀綑鐢甸噺
+ extend.setSurplusQuantity(extendData.getInteger("surplusQuantity"));
+ //鎬荤數閲�
+ extend.setCountQuantity(extendData.getInteger("countQuantity"));
+ shuttleProtocol.setExtend(extend);//鎵╁睍瀛楁
+
+ //鏈�杩戜竴娆″湪绾挎椂闂�
+ shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());
+ //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() == 0) {
+ shuttleProtocol.setPakMk(true);
+ }
+
+ if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == 1) {
+ //灏忚溅绌洪棽鐘舵�併�佸皬杞︿换鍔＄姸鎬佷负鏈煡锛岃瀹氭浘绂荤嚎杩囷紝闇�瑕佸浣嶆垚绌洪棽
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ }
+
+ if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE) && shuttleProtocol.getDeviceStatus().intValue() == 1) {
+ this.shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ }
+
+ this.originDeviceData = data.getString("originDeviceData");
+
+ 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()), deviceConfig.getDeviceNo()));
} catch (Exception e) {
e.printStackTrace();
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- try {
- this.socket.close();
- this.socket = null;
- Thread.sleep(1000);
- this.connect();
- } catch (IOException | InterruptedException exception) {
- e.printStackTrace();
- }
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), deviceConfig.getDeviceNo(), deviceConfig.getIp(), deviceConfig.getPort()));
}
}
@@ -368,38 +294,38 @@
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
int removeIdx = -1;
+ JSONObject socketResult = null;
for (int i = 0; i < socketResults.size(); i++) {
- JSONObject socketResult = socketResults.get(i);
- if (socketResult == null) {
+ DeviceMsgModel deviceMsgModel = socketResults.get(i);
+ if (!deviceMsgModel.getDeviceMsgType().equals("shuttleInit")) {
continue;
}
- if (!socketResult.get("msgType").equals("requestMsg")) {//涓嶆槸璇锋眰鍐呭
- continue;
- }
-
- JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
- JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
- JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
- String requestType = resultBody.getString("requestType");
- Integer requestId = resultHeader.getInteger("requestId");
- if (requestType.equals("init")) {
- Integer code = resultBody.getInteger("code");
- //灏忚溅澶嶄綅璇锋眰
- ShuttleCommand initCommand = getInitCommand(requestId, code);
- //鍙戝嚭璇锋眰
- NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
- JSONObject requestResult = requestCommand(httpCommand);
-
- removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
-
- log.info(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", slave.getId(), code, slave.getIp(), slave.getPort()));
- break;
- }
+ removeIdx = i;
+ socketResult = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
+ break;
}
- if (removeIdx != -1) {
+ if (socketResult == null) {
+ return;
+ }
+
+ JSONObject resultResponse = JSON.parseObject(socketResult.get("request").toString());
+ JSONObject resultHeader = JSON.parseObject(resultResponse.get("header").toString());
+ JSONObject resultBody = JSON.parseObject(resultResponse.get("body").toString());
+ String requestType = resultBody.getString("requestType");
+ Integer requestId = resultHeader.getInteger("requestId");
+ if (requestType.equals("init")) {
socketResults.remove(removeIdx);
+
+ Integer code = resultBody.getInteger("code");
+ //灏忚溅澶嶄綅璇锋眰
+ ShuttleCommand initCommand = getInitCommand(requestId, code);
+ //鍙戝嚭璇锋眰
+ NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
+ requestCommand(httpCommand);
+
+ log.info(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", deviceConfig.getDeviceNo(), code, deviceConfig.getIp(), deviceConfig.getPort()));
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", deviceConfig.getDeviceNo(), code, deviceConfig.getIp(), deviceConfig.getPort()));
}
} catch (Exception e) {
e.printStackTrace();
@@ -425,58 +351,81 @@
return response;
}
+// @Override
+// public CommandResponse move(ShuttleCommand command) {
+// CommandResponse response = new CommandResponse(false);
+// try {
+// //鍙戝嚭璇锋眰
+// NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
+// Map<String, Object> body = httpCommand.getRequest().getBody();
+// Object pathObj = body.get("path");
+// int taskId = Integer.parseInt(body.get("taskId").toString());
+// List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
+// ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
+// while (!path.isEmpty()) {
+// ArrayList<Map<String, Object>> list = new ArrayList<>();
+// if (path.size() > 10) {
+// List<JSONObject> subList = path.subList(0, 10);
+// list.addAll(subList);
+//
+// List<JSONObject> tmp = new ArrayList<>();
+// for (int i = 10; i < path.size(); i++) {
+// tmp.add(path.get(i));
+// }
+// path = tmp;
+// }else {
+// list.addAll(path);
+// path.clear();
+// }
+//
+// NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
+// JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
+//
+// NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
+// bodyCopy.put("path", list);
+// bodyCopy.put("taskId", taskId++);
+// request.setBody(bodyCopy);
+// httpCommandCopy.setRequest(request);
+//
+// commandList.add(httpCommandCopy);//add copy
+// }
+//
+// for (NyShuttleHttpCommand requestCommand : commandList) {
+// 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;
+// }
+// }
+// return response;
+// } catch (Exception e) {
+// e.printStackTrace();
+// response.setMessage(e.getMessage());
+// return response;
+// }
+// }
+
@Override
public CommandResponse move(ShuttleCommand command) {
CommandResponse response = new CommandResponse(false);
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- Map<String, Object> body = httpCommand.getRequest().getBody();
- Object pathObj = body.get("path");
- int taskId = Integer.parseInt(body.get("taskId").toString());
- List<JSONObject> path = JSON.parseArray(JSON.toJSONString(pathObj), JSONObject.class);
- ArrayList<NyShuttleHttpCommand> commandList = new ArrayList<>();
- while (!path.isEmpty()) {
- ArrayList<Map<String, Object>> list = new ArrayList<>();
- if (path.size() > 10) {
- List<JSONObject> subList = path.subList(0, 10);
- list.addAll(subList);
-
- List<JSONObject> tmp = new ArrayList<>();
- for (int i = 10; i < path.size(); i++) {
- tmp.add(path.get(i));
- }
- path = tmp;
- }else {
- list.addAll(path);
- path.clear();
- }
-
- NyShuttleHttpCommand httpCommandCopy = JSON.parseObject(JSON.toJSONString(httpCommand), NyShuttleHttpCommand.class);
- JSONObject bodyCopy = JSON.parseObject(JSON.toJSONString(body));
-
- NyShuttleHttpCommand.NyRequest request = httpCommandCopy.getRequest();
- bodyCopy.put("path", list);
- bodyCopy.put("taskId", taskId++);
- request.setBody(bodyCopy);
- httpCommandCopy.setRequest(request);
-
- commandList.add(httpCommandCopy);//add copy
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
+ if (result == null) {
+ return response;//璇锋眰澶辫触
}
-
- for (NyShuttleHttpCommand requestCommand : commandList) {
- 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) {
e.printStackTrace();
@@ -491,7 +440,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject result = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -511,7 +462,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject result = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -539,7 +492,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject result = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
+ //鏌ヨ璇锋眰缁撴灉
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -626,7 +581,7 @@
}
@Override
- public boolean isRequireCharge() {
+ public ShuttleRequireChargeType isRequireCharge() {
if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
@@ -634,7 +589,7 @@
|| this.shuttleProtocol.getMode() == null
|| this.shuttleProtocol.getExtend() == null
) {
- return false;
+ return ShuttleRequireChargeType.NONE;
}
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
@@ -647,25 +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", slave.getId()));
+
+ 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;
}
}
}
@@ -696,6 +669,19 @@
}
}
+ //***************鍒ゆ柇鏄惁婊″厖鏍″噯***************
+ Config shuttleMaxPowerVerifyConfig = configService.selectOne(new EntityWrapper<Config>()
+ .eq("code", "shuttleMaxPowerVerify")
+ .eq("status", 1));
+ if (shuttleMaxPowerVerifyConfig != null) {
+ if (shuttleMaxPowerVerifyConfig.getValue().equals("true")) {
+ if (this.shuttleProtocol.getBatteryVoltage() < 5630) {
+ return false;//鐢靛帇涓嶅缁х画鍏呯數
+ }
+ }
+ }
+ //***************鍒ゆ柇鏄惁婊″厖鏍″噯***************
+
if (this.shuttleProtocol.getHasCharge() == null) {
return false;
}
@@ -723,12 +709,21 @@
return false;
}
+ if (this.shuttleProtocol.getMode() == 0) {
+ return true;
+ }
+
+ if (!this.shuttleProtocol.getErrorCode().equals("0")) {
+ return true;
+ }
+
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
- boolean res = this.shuttleProtocol.getMode() == 0
- && !this.shuttleProtocol.getErrorCode().equals("0")
- && extend.getSuspendState() == 1
- ;
- return res;
+
+ if (extend.getSuspendState() == 1) {
+ return true;
+ }
+
+ return false;
}
@Override
@@ -759,7 +754,7 @@
//灏嗚矾寰勯攣涓庡皬杞﹁矾寰勮繘琛屽尮閰�
ArrayList<NavigateNode> tmp = new ArrayList<>();
//妫�娴嬭矾寰勬槸鍚﹁閿佸畾
- int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.DFX.id, null, null);
+ int[][] map = navigateMapData.getDataFromRedis(lev, NavigationMapType.getDfxWithDevice(), null, null);
for (NavigateNode node : path) {
if(map[node.getX()][node.getY()] == -999) {
tmp.add(node);
@@ -779,19 +774,24 @@
@Override
public synchronized boolean setProtocolStatus(ShuttleProtocolStatusType status) {
+ if (status.equals(ShuttleProtocolStatusType.IDLE)) {
+ this.shuttleProtocol.setIdleTime(System.currentTimeMillis());
+ }
this.shuttleProtocol.setProtocolStatus(status);
return true;
}
@Override
public synchronized boolean setTaskNo(Integer taskNo) {
+ redisUtil.set(RedisKeyType.SHUTTLE_FLAG.key + shuttleProtocol.getShuttleNo(), taskNo);
this.shuttleProtocol.setTaskNo(taskNo);
return true;
}
@Override
public synchronized boolean setSyncTaskNo(Integer taskNo) {
- this.shuttleProtocol.setSyncTaskNo(taskNo);
+ redisUtil.setSync(RedisKeyType.SHUTTLE_FLAG.key + shuttleProtocol.getShuttleNo(), taskNo);
+ this.shuttleProtocol.setTaskNo(taskNo);
return true;
}
@@ -848,9 +848,154 @@
}
@Override
- public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
+ public boolean setTrafficControl(boolean enable, List<NavigateNode> nodeList) {
+ shuttleProtocol.setTrafficControl(enable);
+ shuttleProtocol.setTrafficControlNodes(nodeList);
+ return true;
+ }
+
+ @Override
+ public void updateDeviceDataLogTime(long time) {
+ shuttleProtocol.setDeviceDataLog(time);
+ }
+
+ @Override
+ public JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol) {
+ JSONObject result = new JSONObject();
+ result.put("msgType", "responseMsg");
+ result.put("robotId", 5002);
+
+ JSONObject header = new JSONObject();
+ header.put("responseId", 5005631);
+ header.put("version", "RGV-APP-F427-N24036-1112");
+
+ JSONObject body = new JSONObject();
+ body.put("responseType", "state");
+
+ return null;
+ }
+
+ @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);
+
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.TRANSPORT.id) {
+ restartCalcMapTypes.add(NavigationMapType.DFX);
+ }
+
+ 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, Boolean shuttleDirectionReverse) {
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
ArrayList<HashMap<String, Object>> path = new ArrayList<>();
@@ -859,21 +1004,25 @@
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);
+ 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());
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 xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ if (shuttleDirectionReverse) {
+ xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ 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.NONE.id, null, null);
List<MapNode> mapNodes = mapData.get(node.getX());
MapNode mapNode = mapNodes.get(node.getY());
@@ -887,25 +1036,84 @@
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(slave.getId());
+ 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;
+ }
+
+ @Override
+ public ShuttleCommand getMoveLiftCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes, Boolean moveIn, Boolean shuttleDirectionReverse) {
+ 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("requestType", "move");//绉诲姩鍛戒护
+ body.put("taskId", taskId);//TaskID闇�瑕侀殢鏈�
+ body.put("path", path);
+ 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());
+ Map<String, Object> nyNode = navigateNodeToNyPointNode(NavigatePositionConvert.codeToNode(codeNum));
+
+ int xp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ int yp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ if (shuttleDirectionReverse) {
+ xp = Integer.parseInt(String.valueOf(nyNode.get("y")));
+ yp = Integer.parseInt(String.valueOf(nyNode.get("x")));
+ }
+
+ int z = Integer.parseInt(String.valueOf(nyNode.get("z")));
+
+ 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);
+
+ 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(targetLocNo);
command.setTaskNo(taskId);
return command;
}
@Override
public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
@@ -917,7 +1125,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id);
command.setTaskNo(taskId);
@@ -926,7 +1134,7 @@
@Override
public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
Integer taskId = getTaskId();//TaskID闇�瑕侀殢鏈�
@@ -938,7 +1146,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id);
command.setTaskNo(taskId);
@@ -947,7 +1155,7 @@
@Override
public ShuttleCommand getUpdateLocationCommand(Integer taskNo, String locNo) {
- NyShuttleHttpCommand httpStandard = getHttpStandard(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
HashMap<String, Object> body = new HashMap<>();
@@ -958,7 +1166,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.UPDATE_LOCATION.id);
command.setTaskNo(taskNo);
@@ -967,9 +1175,8 @@
//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(slave.getId(), taskNo);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
//code -> {Integer@13781} 1101101
@@ -983,15 +1190,14 @@
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");
- }
- List<List<MapNode>> mapData = navigateMapData.getJsonData(lev, NavigationMapType.NONE.id, null, null);
- List<MapNode> mapNodes = mapData.get(locMast.getRow1());
- MapNode mapNode = mapNodes.get(locMast.getBay1());
+ 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(Utils.getRow(targetLocNo));
+ MapNode mapNode = mapNodes.get(Utils.getBay(targetLocNo));
HashMap<String, Object> location = new HashMap<>();
location.put("xp", row);
@@ -1010,7 +1216,7 @@
httpStandard.setRequest(request);
ShuttleCommand command = new ShuttleCommand();
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(deviceConfig.getDeviceNo());
command.setBody(JSON.toJSONString(httpStandard));
command.setMode(ShuttleCommandModeType.RESET.id);
command.setTaskNo(taskNo);
@@ -1019,17 +1225,6 @@
@Override
public boolean connect() {
- try {
- Socket socket = new Socket(slave.getIp(), slave.getPort());
- socket.setSoTimeout(10000);
- socket.setKeepAlive(true);
- this.socket = socket;
- log.info(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴鎴愬姛 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- } catch (IOException e) {
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅Socket閾炬帴澶辫触 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
- return false;
- }
-
return true;
}
@@ -1083,47 +1278,46 @@
}
//鍙戝嚭璇锋眰
- private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
- if (this.socket == null) {
- return null;
- }
-
- //鍘嬬缉鏁版嵁鍖�
- JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
- data.remove("nodes");
-
- // 鑾峰彇杈撳嚭娴�
- OutputStreamWriter writer = new OutputStreamWriter(this.socket.getOutputStream());
- writer.write(JSON.toJSONString(data) + "\r\n");
- writer.flush();
-// System.out.println("Sent message to server: " + JSON.toJSONString(httpCommand));
-
- String requestType = null;
- String taskId = null;
+ private String requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
try {
- requestType = httpCommand.getRequest().getBody().get("requestType").toString();
- taskId = httpCommand.getRequest().getBody().get("taskId").toString();
- } catch (Exception e) {
-// return null;
- //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
- }
+ DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ if (deviceMsgUtils == null) {
+ return null;
+ }
+ //鍘嬬缉鏁版嵁鍖�
+ JSONObject data = JSON.parseObject(JSON.toJSONString(httpCommand));
+ data.remove("nodes");
+
+ DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel();
+ commandMsgModel.setDeviceId(deviceConfig.getDeviceNo());
+ commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
+ commandMsgModel.setCommand(data);
+ String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), commandMsgModel);
+ return key;
+ }catch (Exception e) {
+ e.printStackTrace();
+ }
+ return null;
+ }
+
+ private JSONObject queryCommandStatus(String resultKey) {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
- // 灏濊瘯100娆�
JSONObject result = null;
- for (int i = 0; i < 100; i++) {
- result = getRequestBody(requestType, taskId);
+ long startTime = System.currentTimeMillis();
+ while (true) {
+ if((System.currentTimeMillis() - startTime) > 1000 * 10) {
+ break;
+ }
+
+ result = getRequestBody(resultKey);
if (result == null) {
- try {
- Thread.sleep(100);
- } catch (Exception e) {
- e.printStackTrace();
- }
+ continue;
}else {
break;
}
}
- return result;//杩斿洖Body缁撴灉闆�
+ return result;
}
private JSONObject filterBodyData(JSONObject data) {
@@ -1153,13 +1347,6 @@
//WCS绯荤粺鍧愭爣杞墰鐪煎潗鏍�
private static int[] WCSXyzToNyXyz(int x, int y, int z) {
-// //WCS绯荤粺Y杞� => 鐗涚溂X杞磋浆鎹㈠叕寮�
-// 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;
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
.eq("row1", x)
@@ -1172,7 +1359,12 @@
String qrCodeValue = locMast.getQrCodeValue();
JSONObject data = JSON.parseObject(qrCodeValue);
- return new int[]{data.getInteger("y"), data.getInteger("x"), z};
+ return new int[]{data.getInteger("x"), data.getInteger("y"), z};
+ }
+
+ @Override
+ public Object getOriginDeviceData() {
+ return this.originDeviceData;
}
@Data
--
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