From efbd157c0d810c39d04cd86752e769a3f3a1a1fc Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 11 九月 2025 16:57:03 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 186 ++++++++++++++++++++++++++++++++--------------
1 files changed, 128 insertions(+), 58 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 312b527..e124f84 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;
@@ -89,35 +88,35 @@
});
readThread.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();
+// //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 listenMessageFromRedis() {
@@ -578,7 +577,7 @@
}
@Override
- public boolean isRequireCharge() {
+ public ShuttleRequireChargeType isRequireCharge() {
if (this.shuttleProtocol.getDeviceStatus() == null
|| this.shuttleProtocol.getPakMk() == null
|| this.shuttleProtocol.getErrorCode() == null
@@ -586,7 +585,7 @@
|| this.shuttleProtocol.getMode() == null
|| this.shuttleProtocol.getExtend() == null
) {
- return false;
+ return ShuttleRequireChargeType.NONE;
}
InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
@@ -599,25 +598,43 @@
&& 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;
}
}
}
@@ -762,13 +779,15 @@
@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;
}
@@ -927,8 +946,11 @@
return false;
}
+ List<NavigationMapType> restartCalcMapTypes = new ArrayList<>(mapTypes);
+ restartCalcMapTypes.add(NavigationMapType.SHUTTLE);
+
String currentLocNo = shuttleProtocol.getCurrentLocNo();
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, mapTypes, assignCommand, this);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(currentLocNo, locNo, restartCalcMapTypes, assignCommand, this);
if (commands == null) {
return false;
}
@@ -974,12 +996,11 @@
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());
@@ -988,7 +1009,6 @@
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());
@@ -1002,18 +1022,70 @@
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;
+ }
+
+ @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);
+
+ 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 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;
}
@@ -1082,7 +1154,6 @@
//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();
@@ -1098,15 +1169,14 @@
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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