Merge remote-tracking branch 'origin/master'

servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java

@@ -10,9 +10,7 @@ import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskCompletedData;
 import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskModeChangeData;
 import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskStatusChangeData;
 import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskTypeChangeData;
-import com.galaxis.rcs.connector.cl2.sendEntity.RcsAckMessage;
+import com.galaxis.rcs.connector.cl2.sendEntity.*;
-import com.galaxis.rcs.connector.cl2.sendEntity.RcsTaskMessage;
-import com.galaxis.rcs.connector.cl2.sendEntity.BaseMessage;
 import com.yvan.logisticsModel.LogisticsRuntimeService;
 import com.yvan.logisticsModel.PtrAgvItem;
 import lombok.extern.slf4j.Slf4j;
@@ -56,7 +54,7 @@ public class AmrMessageHandler {
     private static final int RCS_QUERY_STATUS = 10110;
     private static final int RCS_CANCEL_TASK = 10120;
     private static final int RCS_SET_LOCATION = 10200;
-    private static final int RCS_WAIT_READY = 19997;
+    private static final int RCS_WAIT = 19997;
 
     // 接收消息id
     /**
@@ -217,14 +215,7 @@ public class AmrMessageHandler {
                 break;
             case AMR_HEARTBEAT:
                 AmrMessage<AmrHeartbeatMessage> heartbeatMessage = JacksonUtils.parse(json, typeRef20100Message);
-                sendxt(heartbeatMessage.content.VehicleId + "", heartbeatMessage.content.SeqNo + "");
+                sendCmdHeartBeat(heartbeatMessage.content.VehicleId + "");
-
-//                if (amrMessage.content instanceof AmrHeartbeatMessage) {
-//                    AmrHeartbeatMessage msg = (AmrHeartbeatMessage) amrMessage.content;
-//                    if (msg.VehicleId == 102) {
-//                        log.info("Received message: " + json);
-//                    }
-//                }
 
                 break;
             case AMR_BOOT:
@@ -263,7 +254,25 @@ public class AmrMessageHandler {
         var executorItem = runtime.executorItemMap.get("3");
         return (PtrAgvItem) executorItem;
     }
-    public static void sendCmd10010(String vehicleId, RcsTaskMessage rcsTaskMessage) throws JsonProcessingException, MqttException {
+
+    private static final String REDIS_KEY = "amr:task:message:seqNo";
+    public static int getNewSeqNo() {
+        long seqNo = redis.vIncrement(REDIS_KEY);
+        if (seqNo > Integer.MAX_VALUE) {
+            redis.kDelete(REDIS_KEY);
+            seqNo = redis.vIncrement(REDIS_KEY).intValue();
+        }
+        return (int) seqNo;
+    }
+
+    /**
+     * 发送任务
+     * @param vehicleId 设备id
+     * @param rcsTaskMessage 任务信息
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public static void sendCmdTask(String vehicleId, RcsTaskMessage rcsTaskMessage) throws JsonProcessingException, MqttException {
         MqttClient mqttClient = MqttConfig.mqttClient;
         BaseMessage baseMessage = new BaseMessage();
         baseMessage.id = RCS_TASK;
@@ -273,11 +282,29 @@ 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 {
+    /**
+     * 发送SR消息
+     * @param vehicleId 设备id
+     * @param rcsSRMessage SR消息
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public static void sendCmdSR(String vehicleId, RcsSRMessage rcsSRMessage) throws JsonProcessingException, MqttException {
         MqttClient mqttClient = MqttConfig.mqttClient;
-        mqttClient.publish("/wcs_server/" + vehicleId, ("{\"id\": 10110, \"content\": {\"SeqNo\": " + seqNo + "}}").getBytes(), 0, false);
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_SR;
+        baseMessage.content = rcsSRMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
     }
 
+    /**
+     * 发送应答消息
+     * @param vehicleId 设备id
+     * @param seqNo 被应答的消息序号
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
     public static void sendCmdAck(String vehicleId, int seqNo) throws JsonProcessingException, MqttException {
         MqttClient mqttClient = MqttConfig.mqttClient;
         BaseMessage baseMessage = new BaseMessage();
@@ -290,4 +317,154 @@ public class AmrMessageHandler {
         mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
     }
 
+    /**
+     * 发送旋转货架消息
+     * @param vehicleId 设备id
+     * @param rcsRotateRackMessage 旋转货架消息
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public static void sendCmdRotateRack(String vehicleId, RcsRotateRackMessage rcsRotateRackMessage) throws JsonProcessingException, MqttException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_ROTATE_RACK;
+        baseMessage.content = rcsRotateRackMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10080: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+    }
+
+    /**
+     * 发送旋转车身消息
+     * @param vehicleId 设备id
+     * @param rcsRotateBodyMessage 旋转车身消息
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public void sendCmdRotateBody(String vehicleId, RcsRotateBodyMessage rcsRotateBodyMessage) throws JsonProcessingException, MqttException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_ROTATE_BODY;
+        baseMessage.content = rcsRotateBodyMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10081: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+    }
+
+    // 发送控制卷帘门消息 10082
+    public void sendCmdControlDoor(String vehicleId, RcsControlDoorMessage rcsControlDoorMessage) throws MqttException, JsonProcessingException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_CONTROL_DOOR;
+        baseMessage.content = rcsControlDoorMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10082: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+    }
+
+    /**
+     * 发送配置信息
+     * @param vehicleId 设备id
+     * @param rcsConfigMessage 配置信息
+     * @throws MqttException
+     * @throws JsonProcessingException
+     */
+    public void sendCmdConfig(String vehicleId, RcsConfigMessage rcsConfigMessage) throws MqttException, JsonProcessingException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        AmrMessage<RcsConfigMessage> baseMessage = new AmrMessage<>();
+        baseMessage.id = RCS_CONFIG;
+        baseMessage.content = rcsConfigMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10060: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+    }
+
+    /**
+     * 发送心跳
+     * @param vehicleId 设备id
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public static void sendCmdHeartBeat(String vehicleId)throws JsonProcessingException, MqttException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_HEARTBEAT;
+        baseMessage.content = new RcsHeartBeatMessage();
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10100: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+    }
+
+    /**
+     * 发送状态查询消息
+     * @param vehicleId 设备id
+     * @throws MqttException
+     * @throws JsonProcessingException
+     */
+    public static void sendCmdQueryStatus(String vehicleId) throws MqttException, JsonProcessingException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_QUERY_STATUS;
+        RcsQueryStatusMessage rcsQueryStatusMessage = new RcsQueryStatusMessage();
+        rcsQueryStatusMessage.SeqNo = getNewSeqNo();
+        baseMessage.content = rcsQueryStatusMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10110: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+    }
+
+    /**
+     * 发送取消任务消息
+     * @param vehicleId 设备id
+     * @param seqNo 待取消的任务序号
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public static void sendCmdCancelTask(String vehicleId, int seqNo) throws JsonProcessingException, MqttException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_CANCEL_TASK;
+        baseMessage.content = new RcsCancelTaskMessage(seqNo);
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10120: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+
+    }
+
+    /**
+     * 发送设置小车坐标消息
+     * @param vehicleId 设备id
+     * @param rcsSetLocationMessage 位置信息
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public static void sendCmdSetLocation(String vehicleId, RcsSetLocationMessage rcsSetLocationMessage) throws JsonProcessingException, MqttException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_SET_LOCATION;
+        baseMessage.content = rcsSetLocationMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd10200: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+
+    }
+
+    /**
+     * 发送等待就绪消息
+     * @param vehicleId 设备id
+     * @param rcsWaitMessage 等待消息
+     * @throws JsonProcessingException
+     * @throws MqttException
+     */
+    public static void sendCmdWait(String vehicleId, RcsWaitMessage rcsWaitMessage) throws JsonProcessingException, MqttException {
+        MqttClient mqttClient = MqttConfig.mqttClient;
+        BaseMessage baseMessage = new BaseMessage();
+        baseMessage.id = RCS_WAIT;
+        baseMessage.content = rcsWaitMessage;
+        String json = JacksonUtils.toJson(baseMessage);
+        log.info("sendCmd19997: {}", json);
+        mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false);
+    }
+
+
 }

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java

@@ -13,7 +13,7 @@ import org.eclipse.paho.mqttv5.common.MqttException;
 public class Cl2DeviceConnector {
 
     public void sendTask(String vehicleId, RcsTaskMessage rcsTaskMessage) throws MqttException, JsonProcessingException {
-        AmrMessageHandler.sendCmd10010(vehicleId, rcsTaskMessage);
+        AmrMessageHandler.sendCmdTask(vehicleId, rcsTaskMessage);
     }
 
 }

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsAckMessage.java

@@ -1,5 +1,6 @@
 package com.galaxis.rcs.connector.cl2.sendEntity;
 
+// 电文应答 10050
 public class RcsAckMessage {
     // 作业序号 UInt32 所要应答消息的SeqNo(对方的)
     public int SeqNo;

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsCancelTaskMessage.java

@@ -0,0 +1,10 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+// 取消已下发小车任务 10120
+public class RcsCancelTaskMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    public RcsCancelTaskMessage(int seqNo) {
+        SeqNo = seqNo;
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsConfigMessage.java

@@ -0,0 +1,31 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+//配置信息 10060
+public class RcsConfigMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    // X坐标最大长度 UInt16 暂时未使用
+    public int XLength = 1000;
+    // Y坐标最大长度 UInt16 暂时未使用
+    public int YLength = 1000;
+    // 相邻地标间距 UInt16 单位:mm （目前等距）
+    public int Gap = 1000;
+    // 心跳间隔 UInt32 单位: s
+    public int HeartBeat = 60;
+    // 小车所有上报消息重试间隔(未收到应答消息时重发消息)  UInt32 单位: s
+    public int MqRetryTime = 3;
+
+    public RcsConfigMessage(int xLength, int yLength, int gap, int heartBeat, int mqRetryTime) {
+        XLength = xLength;
+        YLength = yLength;
+        Gap = gap;
+        HeartBeat = heartBeat;
+        MqRetryTime = mqRetryTime;
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+    public RcsConfigMessage() {
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsControlDoorMessage.java

@@ -0,0 +1,18 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+// 控制卷帘门 10082
+public class RcsControlDoorMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    // 卷帘状态 UInt8 0: 不控制（无动作） 1: 关闭状态 2: 半开状态 3: 全开状态 4: 停止（暂不支持）
+    public short CurtainCmd;
+    public RcsControlDoorMessage(short curtainCmd) {
+        CurtainCmd = curtainCmd;
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+    public RcsControlDoorMessage() {
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsHeartBeatMessage.java

@@ -0,0 +1,5 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+// 心跳 10100
+public class RcsHeartBeatMessage {
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsQueryStatusMessage.java

@@ -0,0 +1,12 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+//状态查询 10110
+public class RcsQueryStatusMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    public RcsQueryStatusMessage() {
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsRotateBodyMessage.java

@@ -0,0 +1,18 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+//旋转车身 10081
+public class RcsRotateBodyMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    // 车头朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
+    public short Direction;
+    public RcsRotateBodyMessage(short direction) {
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+        Direction = direction;
+    }
+    public RcsRotateBodyMessage() {
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsRotateRackMessage.java

@@ -0,0 +1,18 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+//旋转货架 10080
+public class RcsRotateRackMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    // 货架A面朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
+    public short Direction;
+    public RcsRotateRackMessage(short direction) {
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+        Direction = direction;
+    }
+    public RcsRotateRackMessage() {
+        SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsSRMessage.java

@@ -0,0 +1,24 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+// 停止/解除 10040
+public class RcsSRMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    // 操作代码 Uint8 0-停止 1-解除
+    public short OperationCode;
+    // 停止点X坐标 Uint16
+    public int StopX;
+    // 停止点Y坐标 Uint16
+    public int StopY;
+    public RcsSRMessage(short operationCode, int stopX, int stopY) {
+        this.OperationCode = operationCode;
+        this.StopX = stopX;
+        this.StopY = stopY;
+        this.SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+    public RcsSRMessage() {
+        this.SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsSetLocationMessage.java

@@ -0,0 +1,24 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+// 设置小车坐标 10200
+public class RcsSetLocationMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    // X坐标 Uint16
+    public int X;
+    // Y坐标 Uint16
+    public int Y;
+    // 车头朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知（小车保持原车头方向）
+    public short Direction;
+    public RcsSetLocationMessage(int x, int y, short direction) {
+        this.X = x;
+        this.Y = y;
+        this.Direction = direction;
+        this.SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+    public RcsSetLocationMessage() {
+        this.SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsTaskMessage.java

@@ -1,11 +1,13 @@
 package com.galaxis.rcs.connector.cl2.sendEntity;
 
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
 import lombok.AllArgsConstructor;
 import org.clever.core.AppContextHolder;
 import org.clever.data.redis.Redis;
 
 import java.util.List;
 
+// AMR作业指令 10010
 public class RcsTaskMessage {
     // 作业序号 UInt32
     public int SeqNo;
@@ -77,17 +79,13 @@ public class RcsTaskMessage {
     public Boolean EndSelfAdaption;
 
 
-    private static final Redis redis = AppContextHolder.getBean("defaultRedis", Redis.class, true);
 
-    private static final String REDIS_KEY = "amr:task:message:seqNo";
 
     public RcsTaskMessage() {
-        long seqNo = redis.vIncrement(REDIS_KEY);
+        this.SeqNo = AmrMessageHandler.getNewSeqNo();
-        if (seqNo > Integer.MAX_VALUE) {
-            redis.kDelete(REDIS_KEY);
-            seqNo = redis.vIncrement(REDIS_KEY).intValue();
     }
-        this.SeqNo = (int)seqNo;
+    public RcsTaskMessage(int seqNo) {
+        this.SeqNo = seqNo;
     }
 
     @AllArgsConstructor

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsWaitMessage.java

@@ -0,0 +1,18 @@
+package com.galaxis.rcs.connector.cl2.sendEntity;
+
+import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler;
+
+public class RcsWaitMessage {
+    // 作业序号 UInt32
+    public int SeqNo;
+    // 等待时间（s）Double -1：结束等待（仅SLAM车支持） 0：持续等待（仅SLAM车支持） 大于0：等待对应的时间后返回成功
+    public double Seconds;
+
+    public RcsWaitMessage(double seconds) {
+        this.Seconds = seconds;
+        this.SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+    public RcsWaitMessage() {
+        this.SeqNo = AmrMessageHandler.getNewSeqNo();
+    }
+}