From b6428016edf3de843020bc95fd1708d3bb1961e5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 07 七月 2025 16:41:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/impl/NyShuttleThread.java | 603 ++++++++++++++++++++++++++++++++---------------------
1 files changed, 362 insertions(+), 241 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 b70f987..c375106 100644
--- a/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/impl/NyShuttleThread.java
@@ -8,6 +8,7 @@
import com.core.exception.CoolException;
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;
@@ -22,11 +23,13 @@
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.RedisUtil;
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;
-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 +41,7 @@
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 +49,35 @@
@SuppressWarnings("all")
public class NyShuttleThread implements ShuttleThread {
- private ShuttleSlave slave;
+ private DeviceConfig deviceConfig;
private RedisUtil redisUtil;
private ShuttleProtocol shuttleProtocol;
- private Socket socket;
private static final boolean DEBUG = false;//璋冭瘯妯″紡
+ private List<JSONObject> socketReadResults = new ArrayList<>();
private List<JSONObject> socketResults = new ArrayList<>();
//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(50);
+ listenMessageFromRedis();
+ listenInit();//鐩戝惉鍒濆鍖栦簨浠�
+ readStatus();
+ Thread.sleep(100);
} catch (Exception e) {
log.error("ShuttleThread Fail", e);
}
@@ -101,12 +89,18 @@
Thread executeThread = new Thread(() -> {
while (true) {
try {
- ShuttleAction shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ ShuttleAction shuttleAction = null;
+ try {
+ shuttleAction = SpringUtils.getBean(ShuttleAction.class);
+ }catch (Exception e){
+ continue;
+ }
+
if (shuttleAction == null) {
continue;
}
- Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + slave.getId());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_FLAG.key + deviceConfig.getDeviceNo());
if (object == null) {
continue;
}
@@ -114,11 +108,14 @@
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);
+ boolean result = shuttleAction.executeWork(deviceConfig.getDeviceNo(), taskNo);
}
// //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
-// shuttleAction.moveLoc(slave.getId());
+// shuttleAction.moveLoc(deviceConfig.getDeviceNo());
+
+ //婕旂ず妯″紡
+ shuttleAction.demo(deviceConfig.getDeviceNo());
Thread.sleep(200);
} catch (Exception e) {
@@ -132,7 +129,6 @@
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();
@@ -152,73 +148,54 @@
//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.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()));
}
- }
-
- //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()));
}
}
- 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() >= 5) {
- 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(data);//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) {
+ public JSONObject getRequestBody(String type, String taskId) {
try {
// 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
JSONObject result = null;
@@ -241,7 +218,14 @@
}
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;
@@ -258,24 +242,11 @@
}
}
- 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()));
- }
- }
-
private void readStatus() {
try {
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
- shuttleProtocol.setShuttleNo(slave.getId());
+ shuttleProtocol.setShuttleNo(deviceConfig.getDeviceNo());
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
InnerSuhttleExtend extend = new InnerSuhttleExtend();
@@ -283,80 +254,100 @@
}
//----------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());
+ //鎸囦护瓒呰繃浜旀潯锛屼笉鍐嶄笅鍙戜换鍔＄姸鎬佽姹�
+ TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Shuttle, deviceConfig.getDeviceNo());
+ if (deviceCommandMsgListKey.size() < 5) {
+ requestCommandAsync(readStatusCommand);//璇锋眰鐘舵��
+ }
+
+ 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);
-
- //*********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"));
- //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() == 1) {
- 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()));
}
}
@@ -370,6 +361,9 @@
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;
}
@@ -380,6 +374,9 @@
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);
+
Integer code = resultBody.getInteger("code");
//灏忚溅澶嶄綅璇锋眰
ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -387,16 +384,10 @@
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()));
+ 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;
}
- }
-
- if (removeIdx != -1) {
- socketResults.remove(removeIdx);
}
} catch (Exception e) {
e.printStackTrace();
@@ -462,13 +453,17 @@
}
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 +571,7 @@
&& 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)
@@ -647,7 +643,7 @@
if (shuttleService == null) {
return false;
}
- 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;
}
@@ -688,6 +684,19 @@
}
}
+ //***************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;
}
@@ -707,13 +716,39 @@
}
@Override
+ public boolean isFault() {
+ if (this.shuttleProtocol.getErrorCode() == null
+ || this.shuttleProtocol.getMode() == null
+ || this.shuttleProtocol.getExtend() == null
+ ) {
+ return false;
+ }
+
+ if (this.shuttleProtocol.getMode() == 0) {
+ return true;
+ }
+
+ if (!this.shuttleProtocol.getErrorCode().equals("0")) {
+ return true;
+ }
+
+ InnerSuhttleExtend extend = (InnerSuhttleExtend) this.shuttleProtocol.getExtend();
+
+ if (extend.getSuspendState() == 1) {
+ return true;
+ }
+
+ return false;
+ }
+
+ @Override
public List<NavigateNode> getMoveAdvancePath() {
ObjectMapper objectMapper = SpringUtils.getBean(ObjectMapper.class);
NavigateMapData navigateMapData = SpringUtils.getBean(NavigateMapData.class);
ArrayList<NavigateNode> path = new ArrayList<>();
if (shuttleProtocol.getTaskNo() != 0) {
//瀛樺湪浠诲姟锛岃幏鍙栨寚浠�
- Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo());
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
if (object != null) {
ShuttleRedisCommand redisCommand = null;
try {
@@ -810,9 +845,38 @@
}
@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 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 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);
+ NyShuttleHttpCommand httpStandard = getHttpStandard(deviceConfig.getDeviceNo(), taskNo);
NyShuttleHttpCommand.NyRequest request = httpStandard.getRequest();
ArrayList<HashMap<String, Object>> path = new ArrayList<>();
@@ -842,8 +906,8 @@
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);
}
@@ -851,13 +915,13 @@
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�");
}
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());
@@ -867,7 +931,7 @@
@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�
@@ -879,7 +943,7 @@
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);
@@ -888,7 +952,7 @@
@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�
@@ -900,7 +964,7 @@
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);
@@ -909,7 +973,7 @@
@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<>();
@@ -920,7 +984,7 @@
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);
@@ -931,7 +995,7 @@
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
@@ -946,8 +1010,7 @@
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 +1023,8 @@
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
@@ -973,7 +1036,7 @@
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);
@@ -982,17 +1045,6 @@
@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;
}
@@ -1045,45 +1097,86 @@
return httpStandard;
}
- //鍙戝嚭璇锋眰
+ //鍙戝嚭璇锋眰-鍚屾
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;
try {
- requestType = httpCommand.getRequest().getBody().get("requestType").toString();
- } catch (Exception e) {
- return null;
- }
-
- // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
- // 灏濊瘯10娆�
- JSONObject result = null;
- for (int i = 0; i < 10; i++) {
- result = getRequestBody(requestType);
- if (result == null) {
- try {
- Thread.sleep(100);
- } catch (Exception e) {
- e.printStackTrace();
- }
- }else {
- break;
+ 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);
+
+ 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�
+ }
+
+ // 鑾峰彇鏈嶅姟鍣ㄥ搷搴�
+ // 灏濊瘯30娆�
+ JSONObject result = null;
+ for (int i = 0; i < 30; i++) {
+ result = getRequestBody(requestType, taskId);
+ if (result == null) {
+ try {
+ Thread.sleep(100);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }else {
+ break;
+ }
+ }
+ return result;//杩斿洖Body缁撴灉闆�
+ }catch (Exception e) {
+ e.printStackTrace();
}
- return result;//杩斿洖Body缁撴灉闆�
+ return null;
+ }
+
+ //鍙戝嚭璇锋眰-绉绘
+ private void requestCommandAsync(NyShuttleHttpCommand httpCommand) throws IOException {
+ try {
+ DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class);
+ if (deviceMsgUtils == null) {
+ return;
+ }
+
+ //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);
+
+ 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�
+ }
+ }catch (Exception e) {
+ e.printStackTrace();
+ }
}
private JSONObject filterBodyData(JSONObject data) {
@@ -1117,9 +1210,22 @@
// 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 +1238,24 @@
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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