From 30eddbbe92c7717f38f67d641db9021e208e6cd9 Mon Sep 17 00:00:00 2001 From: yuliang <398780299@qq.com> Date: Wed, 25 Jun 2025 19:08:19 +0800 Subject: [PATCH] =?UTF-8?q?cl2=20=E5=9F=BA=E4=BA=8E=E8=AE=BE=E5=A4=87?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E5=92=8C=E4=BB=BB=E5=8A=A1=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E5=88=86=E6=AD=A5=E7=94=9F=E6=88=90=E8=AE=BE=E5=A4=87=E4=BB=BB?= =?UTF-8?q?=E5=8A=A1=E6=B6=88=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- servo/src/main/java/com/galaxis/rcs/RCS.java | 2 +- .../galaxis/rcs/communication/JacksonUtils.java | 4 +- .../amrCommunication/AmrMessageHandler.java | 12 +++- .../connector/cl2/sendEntity/AmrTaskMessage.java | 38 ++++++------ .../yvan/logisticsModel/PtrAgvConnectorThread.java | 15 +++-- .../com/yvan/logisticsModel/PtrAgvDeviceTask.java | 7 +++ .../java/com/yvan/logisticsModel/PtrAgvItem.java | 72 +++++++++++++++++++++- 7 files changed, 119 insertions(+), 31 deletions(-) diff --git a/servo/src/main/java/com/galaxis/rcs/RCS.java b/servo/src/main/java/com/galaxis/rcs/RCS.java index 26a2d73..81c9f75 100644 --- a/servo/src/main/java/com/galaxis/rcs/RCS.java +++ b/servo/src/main/java/com/galaxis/rcs/RCS.java @@ -188,7 +188,7 @@ public class RCS { planSequence.addMoveTo("22"); planSequence.addMoveTo("21"); planSequence.addMoveTo("20"); - planSequence.addUnload("gst_01", 0, 0, 0); + planSequence.addUnload("54", 0, 0, 0); planSequence.addFinish(); planner.appendSequence(planSequence); diff --git a/servo/src/main/java/com/galaxis/rcs/communication/JacksonUtils.java b/servo/src/main/java/com/galaxis/rcs/communication/JacksonUtils.java index 6a7bf32..3652d70 100644 --- a/servo/src/main/java/com/galaxis/rcs/communication/JacksonUtils.java +++ b/servo/src/main/java/com/galaxis/rcs/communication/JacksonUtils.java @@ -1,5 +1,6 @@ package com.galaxis.rcs.communication; +import com.fasterxml.jackson.annotation.JsonInclude; import com.fasterxml.jackson.core.JsonProcessingException; import com.fasterxml.jackson.core.type.TypeReference; import com.fasterxml.jackson.databind.JavaType; @@ -12,7 +13,8 @@ import java.util.concurrent.ConcurrentHashMap; @Slf4j public class JacksonUtils { - private static final ObjectMapper mapper = new ObjectMapper(); + private static final ObjectMapper mapper = new ObjectMapper().setSerializationInclusion(JsonInclude.Include.NON_NULL); + private static final Map typeCache = new ConcurrentHashMap<>(); // 解析泛型对象（TypeReference方式） diff --git a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java index 6251d4c..7a8a364 100644 --- a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java +++ b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java @@ -53,7 +53,7 @@ public class AmrMessageHandler { private static final Redis redis = AppContextHolder.getBean("defaultRedis", Redis.class, true); - public static void handleAgvRobotStatusMessage(MqttMessage message) { + public static void handleAgvRobotStatusMessage(MqttMessage message) throws MqttException, JsonProcessingException { byte[] messageData = message.getPayload(); String json = new String(messageData, StandardCharsets.UTF_8); JsonWrapper jw = new JsonWrapper(json); @@ -161,11 +161,12 @@ public class AmrMessageHandler { break; case 20100: AmrMessage heartbeatMessage = JacksonUtils.parse(json, typeRef20100Message); + sendxt(heartbeatMessage.content.VehicleId + "", heartbeatMessage.content.SeqNo + ""); // if (amrMessage.content instanceof AmrHeartbeatMessage) { // AmrHeartbeatMessage msg = (AmrHeartbeatMessage) amrMessage.content; // if (msg.VehicleId == 102) { -// log.info("Received message: " + json); + log.info("Received message: " + json); // } // } @@ -200,7 +201,7 @@ public class AmrMessageHandler { public static PtrAgvItem getPtrAgvItem(String vehicleId) { var runtime = LogisticsRuntimeService.INSTANCE.findByEnvCode(1L); - var executorItem = runtime.executorItemMap.get(vehicleId); + var executorItem = runtime.executorItemMap.get("10"); return (PtrAgvItem) executorItem; } public static void sendCmd10010(String vehicleId, AmrTaskMessage amrTaskMessage) throws JsonProcessingException, MqttException { @@ -213,4 +214,9 @@ public class AmrMessageHandler { mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false); } + public static void sendxt(String vehicleId, String seqNo)throws JsonProcessingException, MqttException { + MqttClient mqttClient = MqttConfig.mqttClient; + mqttClient.publish("/wcs_server/" + vehicleId, ("{\"id\": 10110, \"content\": {\"SeqNo\": " + seqNo + "}}").getBytes(), 0, false); + } + } diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/AmrTaskMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/AmrTaskMessage.java index 92ad6ac..440d72c 100644 --- a/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/AmrTaskMessage.java +++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/AmrTaskMessage.java @@ -13,9 +13,9 @@ public class AmrTaskMessage { // 作业类型 UInt8 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业） public short OperationType; //充电桩朝向UseBriefLocation UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向 - public short ChargeDirection; + public Short ChargeDirection; // 充电工位坐标和充电桩之间距离 UInt16 单位：mm - public int ChargeLocation; + public Integer ChargeLocation; // 目标货架编号 String 仅做校验使用（仅接货用） public String StorageRacksNo; // 小车起始X坐标 UInt16 @@ -27,19 +27,19 @@ public class AmrTaskMessage { // 小车目标Y坐标 UInt16 public int EndY; // 任务是否立即执行 bool 默认为true - public boolean GoNow; + public Boolean GoNow; // 路径分段数 UInt8 - public short LinkCounts; + public Short LinkCounts; // 路径分段信息 public List Link; // AMR内置货位ID（仅对多层移栽有意义）UInt8 1～N - public short BuiltinSlotNo; + public Short BuiltinSlotNo; // 提升移栽货物拣货模式 UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作 - public short PickMode; + public Short PickMode; // 目标货位相对于地面的绝对高度 UInt16 单位：mm - public int GoodsSlotHeight; + public Integer GoodsSlotHeight; // 目标货位朝向 UInt8 朝向定义与充电桩朝向相同。 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向 - public short GoodsSlotDirection; + public Short GoodsSlotDirection; // 多机构^[1]^的拣货模式 UInt8[3] 数组形式，意义同"PickMode" public List MPickMode; // 多机构^[1]^的目标货位高度 UInt16[3] 单位：mm @@ -49,21 +49,21 @@ public class AmrTaskMessage { // 多机构的目标货箱ID String[3] 仅做校验使用（仅接货用） public List MStorageRacksNo; // 滚筒1 运动操作 对于左右滚动的双滚筒机型，此滚筒为靠近车头的滚筒。 对于前后滚动的双滚筒机型，此滚筒为车身左侧的滚筒。 UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作 - public short Roll1Motion; + public Short Roll1Motion; // 滚筒2 运动操作 对于左右滚动的双滚筒机型，此滚筒为靠近车尾的滚筒。 对于前后滚动的双滚筒机型，此滚筒为车身右侧的滚筒。 对于单滚筒机型，此参数无意义。 UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作 - public short Roll2Motion; + public Short Roll2Motion; // 与滚筒1对接的站台朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向 - public short Roll1StationDirection; + public Short Roll1StationDirection; // 与滚筒2对接的站台朝向 对于单滚筒机型，此参数无意义。 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向 - public short Roll2StationDirection; + public Short Roll2StationDirection; // 滚筒1目标货物长度 UInt16 单位：mm - public int Roll1GoodsLength; + public Integer Roll1GoodsLength; // 滚筒2目标货物长度 对于单滚筒机型，此参数无意义。UInt16 单位：mm - public int Roll2GoodsLength; + public Integer Roll2GoodsLength; // 滚筒1目标货物数量 UInt16 1～N - public int Roll1GoodsQuantity; + public Integer Roll1GoodsQuantity; // 滚筒2目标货物数量 对于单滚筒机型，此参数无意义。 UInt16 1～N - public int Roll2GoodsQuantity; + public Integer Roll2GoodsQuantity; // 多滚筒运动模式 UInt8[6] 数组形式，0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作 public List MRollMotion; // 多滚筒对接的站台朝向 UInt8[6] 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向 @@ -71,11 +71,11 @@ public class AmrTaskMessage { // 多滚筒目标货物数量 UInt16[6] 数组形式，意义同"RollGoodsQuantity" public List MRollGoodsQuantity; // 是否仅执行任务的准备部分 bool 默认为false，仅执行该动作的准备部分，如仅进行导航，调整托盘高度等，但不进行取放货操作 - public boolean Preparing; + public Boolean Preparing; // 货架标识 uint32 车根据货架类型查询尺寸进行避障 - public long RackTypeId; + public Long RackTypeId; // 终点自适应 bool 默认为false，为true时，会根据任务和对应器件的位置，自动调整停止点 - public boolean EndSelfAdaption; + public Boolean EndSelfAdaption; private static final Redis redis = AppContextHolder.getBean("defaultRedis", Redis.class, true); diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java index 09fe072..931ee28 100644 --- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java +++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java @@ -49,12 +49,12 @@ public class PtrAgvConnectorThread extends Thread { List computingTaskList = new ArrayList<>(); while (running.get()) { - for (PtrAgvDeviceTask task : this.ptrAgvItem.runningDeviceTaskList) { - if (task.taskGroupStatus < 3) { - LockSupport.park(); // 阻塞当前线程 - break; - } - } +// for (PtrAgvDeviceTask task : this.ptrAgvItem.runningDeviceTaskList) { +// if (task.taskGroupStatus < 3) { +// LockSupport.park(); // 阻塞当前线程 +// break; +// } +// } // 从队列中获取任务，如果队列为空则阻塞等待 if (nextTask == null) { @@ -99,6 +99,9 @@ public class PtrAgvConnectorThread extends Thread { taskMessage.PickMode = currentTask.pickMode; taskMessage.EndX = currentTask.endPoint.logicX; taskMessage.EndY = currentTask.endPoint.logicY; + taskMessage.GoodsSlotDirection = currentTask.goodsSlotDirection; + taskMessage.GoodsSlotHeight = currentTask.goodsSlotHeight; + taskMessage.LinkCounts = (short)taskMessage.Link.size(); try { // 发送任务 diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java index b99d0b6..0eb806f 100644 --- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java +++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvDeviceTask.java @@ -18,6 +18,13 @@ public class PtrAgvDeviceTask { // 提升移栽货物拣货模式 UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作 public short pickMode; + // 目标货位朝向 + public short goodsSlotDirection; + + // 目标货位相对于地面的绝对高度 + public int goodsSlotHeight; + + /** 规划ID */ public Long planTaskId; /** 业务任务ID */ diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java index 679ef99..65a8de0 100644 --- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java +++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java @@ -6,6 +6,7 @@ import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector; import com.galaxis.rcs.plan.PlanTaskSequence; import com.google.common.collect.Queues; import lombok.extern.slf4j.Slf4j; +import org.clever.core.Conv; import org.clever.core.json.JsonWrapper; import java.util.ArrayList; @@ -155,13 +156,15 @@ public class PtrAgvItem extends ExecutorItem { // 生成移动报文 List deviceTaskList = new ArrayList<>(); - + List> linkStore = null; // 检查 planList 是不是全都是我的任务 for (RcsTaskPlan plan : sequence.taskList) { String endPointId = plan.getTargetId(); + if (plan.getPlanType().equals(PlanTaskType.MOVE.toString())) { // 获取目标点信息 StaticItem pointItem = runtime.getStaticItemById(endPointId); + linkStore = (List>) pointItem.dt.get("linkStore"); int d = -1; if (startPoint.logicX == pointItem.logicX && startPoint.logicY != pointItem.logicY) { d = pointItem.logicY > startPoint.logicY ? CDirection.db : CDirection.dt; @@ -221,15 +224,82 @@ public class PtrAgvItem extends ExecutorItem { PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1); deviceTask.operationType = COperationType.transplantLoadAndUnload; deviceTask.pickMode = CPickMode.load; + //处理取货高度 + StaticItem storeItem = runtime.getStaticItemById(endPointId); + Map storeItemRaw = storeItem.dt; + if (storeItemRaw.containsKey("bays")) { + List> bays = (List>) storeItemRaw.get("bays"); + Map bay = bays.get(plan.getTargetBay()); + List levelHeight = (List) bay.get("levelHeight"); + deviceTask.goodsSlotHeight = (int)Math.round(levelHeight.get(plan.getTargetLevel()) * 1000); + } else { + deviceTask.goodsSlotHeight = 1; + } + if (linkStore != null) { + for (Map store : linkStore) { + if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) { + short d = 0; + switch (store.get("direction").toString()) { + case "up": + d = 1; + break; + case "right": + d = 2; + break; + case "down": + d = 3; + break; + case "left": + d = 0; + break; + } + deviceTask.goodsSlotDirection = d; + } + } + } } else if (plan.getPlanType().equals(PlanTaskType.UNLOAD.toString())) { PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1); deviceTask.operationType = COperationType.transplantLoadAndUnload; deviceTask.pickMode = CPickMode.unload; + // 处理卸货高度 + StaticItem storeItem = runtime.getStaticItemById(endPointId); + Map storeItemRaw = storeItem.dt; + if (storeItemRaw.containsKey("bays") && storeItemRaw.containsKey("level")) { + List> bays = (List>) storeItemRaw.get("bays"); + Map bay = bays.get(plan.getTargetBay()); + List levelHeight = (List) bay.get("levels"); + deviceTask.goodsSlotHeight = (int)Math.round(levelHeight.get(plan.getTargetLevel()) * 1000); + } else { + deviceTask.goodsSlotHeight = 1; + } + if (linkStore != null) { + for (Map store : linkStore) { + if (store.get("item").equals(plan.getTargetId()) && store.get("level").equals(plan.getTargetLevel()) && store.get("bay").equals(plan.getTargetBay()) && store.get("cell").equals(plan.getTargetCell())) { + short d = 0; + switch (store.get("direction").toString()) { + case "up": + d = 1; + break; + case "right": + d = 2; + break; + case "down": + d = 3; + break; + case "left": + d = 0; + break; + } + deviceTask.goodsSlotDirection = d; + } + } + } } else if (plan.getPlanType().equals(PlanTaskType.CHARGE.toString())) { PtrAgvDeviceTask deviceTask = deviceTaskList.get(deviceTaskList.size() - 1); deviceTask.operationType = COperationType.charge; + // 处理充电距离(车的充电口到充电器被压下后的距离、一般被压下20mm) } if (!plan.getExecutorId().equals(this.getId())) {