From ff3b5df7015b2f2c5e24d9973a7b443309d8e579 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期六, 19 七月 2025 18:07:29 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 260 +++++++++++++++++++---------------------------------
1 files changed, 95 insertions(+), 165 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 166c711..05d895e 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -9,10 +9,8 @@
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.DeviceConfig;
-import com.zy.asrs.entity.DeviceDataLog;
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;
@@ -25,7 +23,6 @@
import com.zy.core.News;
import com.zy.core.model.DeviceCommandMsgModel;
import com.zy.core.utils.DeviceMsgUtils;
-import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.*;
import com.zy.core.model.CommandResponse;
@@ -56,7 +53,7 @@
private static final boolean DEBUG = false;//璋冭瘯妯″紡
private List<JSONObject> socketReadResults = new ArrayList<>();
- private List<JSONObject> socketResults = new ArrayList<>();
+ private List<DeviceMsgModel> socketResults = new ArrayList<>();
//鍘熷璁惧鏁版嵁
private Object originDeviceData;
@@ -78,6 +75,9 @@
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);
}
@@ -85,85 +85,38 @@
});
readThread.start();
- //璁惧鎵ц
- Thread executeThread = new Thread(() -> {
- while (true) {
- try {
- ShuttleAction shuttleAction = null;
- try {
- shuttleAction = SpringUtils.getBean(ShuttleAction.class);
- }catch (Exception e){
- continue;
- }
-
- if (shuttleAction == null) {
- 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);
- }
-
-// //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
-// shuttleAction.moveLoc(deviceConfig.getDeviceNo());
-
- //婕旂ず妯″紡
- shuttleAction.demo(deviceConfig.getDeviceNo());
-
- Thread.sleep(200);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- });
- executeThread.start();
-
- //鍏朵粬浠诲姟
- Thread otherThread = new Thread(() -> {
- while (true) {
- try {
- saveLog();//淇濆瓨鏁版嵁
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
- });
- otherThread.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(deviceConfig.getDeviceNo());
- 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()), deviceConfig.getDeviceNo()));
- }
- }
+// //璁惧鎵ц
+// Thread executeThread = new Thread(() -> {
+// while (true) {
+// try {
+// ShuttleAction shuttleAction = null;
+// try {
+// shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+// }catch (Exception e){
+// continue;
+// }
+//
+// if (shuttleAction == null) {
+// 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() {
@@ -188,54 +141,32 @@
data.put("originDeviceData", deviceMsg.getDeviceOriginMsg());
socketReadResults.add(data);
} else {
- socketResults.add(data);//娣诲姞鏁版嵁
+ socketResults.add(deviceMsg);//娣诲姞鏁版嵁
}
} catch (Exception e) {
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;
@@ -359,35 +290,38 @@
// 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;
- }
+ removeIdx = i;
+ socketResult = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg()));
+ break;
+ }
- 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")) {
- removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
- socketResults.remove(removeIdx);
+ if (socketResult == null) {
+ return;
+ }
- 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);
+ 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);
- 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()));
- break;
- }
+ 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();
@@ -479,9 +413,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject requestToken = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
//鏌ヨ璇锋眰缁撴灉
- JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId"));
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -502,9 +436,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject requestToken = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
//鏌ヨ璇锋眰缁撴灉
- JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId"));
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -524,9 +458,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject requestToken = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
//鏌ヨ璇锋眰缁撴灉
- JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId"));
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -554,9 +488,9 @@
try {
//鍙戝嚭璇锋眰
NyShuttleHttpCommand httpCommand = JSON.parseObject(command.getBody(), NyShuttleHttpCommand.class);
- JSONObject requestToken = requestCommand(httpCommand);
+ String resultKey = requestCommand(httpCommand);
//鏌ヨ璇锋眰缁撴灉
- JSONObject result = queryCommandStatus(requestToken.getString("requestType"), requestToken.getString("taskId"));
+ JSONObject result = queryCommandStatus(resultKey);
if (result == null) {
return response;//璇锋眰澶辫触
}
@@ -798,7 +732,7 @@
//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);
@@ -887,6 +821,11 @@
}
@Override
+ public void updateDeviceDataLogTime(long time) {
+ shuttleProtocol.setDeviceDataLog(time);
+ }
+
+ @Override
public JSONObject parseStatusToMsg(ShuttleProtocol shuttleProtocol) {
JSONObject result = new JSONObject();
result.put("msgType", "responseMsg");
@@ -928,7 +867,7 @@
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.NONE.id, null, null);
+ 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());
@@ -1044,7 +983,7 @@
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<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());
@@ -1127,7 +1066,7 @@
}
//鍙戝嚭璇锋眰
- private JSONObject requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
+ private String requestCommand(NyShuttleHttpCommand httpCommand) throws IOException {
try {
DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
if (deviceMsgUtils == null) {
@@ -1143,33 +1082,19 @@
commandMsgModel.setDeviceType(String.valueOf(SlaveType.Shuttle));
commandMsgModel.setCommand(data);
String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Shuttle, deviceConfig.getDeviceNo(), commandMsgModel);
-
- 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;
- //taskId鍙兘鍙栫┖锛屼笉鎶ラ敊锛屾甯告儏鍐�
- }
-
- JSONObject result = new JSONObject();
- result.put("requestType", requestType);
- result.put("taskId", taskId);
- return result;
+ return key;
}catch (Exception e) {
e.printStackTrace();
}
return null;
}
- private JSONObject queryCommandStatus(String requestType, String taskId) {
+ 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++) {
- result = getRequestBody(requestType, taskId);
+ result = getRequestBody(resultKey);
if (result == null) {
try {
Thread.sleep(500);
@@ -1232,6 +1157,11 @@
return new int[]{data.getInteger("y"), data.getInteger("x"), z};
}
+ @Override
+ public Object getOriginDeviceData() {
+ return this.originDeviceData;
+ }
+
@Data
private class InnerSuhttleExtend {
--
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