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 badeac2..f1b741e 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 @@ -10,7 +10,8 @@ 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.AmrTaskMessage; +import com.galaxis.rcs.connector.cl2.sendEntity.RcsAckMessage; +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; @@ -29,6 +30,66 @@ import java.nio.charset.StandardCharsets; @Service public class AmrMessageHandler { + // 发送消息id + /** + * AMR作业指令 10010 + * 停止/解除 10040 + * 电文应答 10050 + * 配置信息 10060 + * 旋转货架 10080 + * 旋转车身 10081 + * 控制卷帘门 10082 + * 心跳 10100 + * 状态查询 10110 + * 取消已下发小车任务 10120 + * 设置小车坐标 10200 + * 等待就绪 19997 + */ + private static final int RCS_TASK = 10010; + private static final int RCS_SR = 10040; + private static final int RCS_ACK = 10050; + private static final int RCS_CONFIG = 10060; + private static final int RCS_ROTATE_RACK = 10080; + private static final int RCS_ROTATE_BODY = 10081; + private static final int RCS_CONTROL_DOOR = 10082; + private static final int RCS_HEARTBEAT = 10100; + 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; + + // 接收消息id + /** + * 小车作业完成 20010 AmrTaskCompletedMessage + * 任务状态上报 20011 AmrTaskStatusMessage + * 小车子模块任务状态 20012 AmrModuleTaskStatusMessage + * 地标报告 20020 AmrLandmarkMessage + * 消息应答 20050 AmrAckMessage + * 状态上报 20060 AmrStatusMessage + * 心跳 20100 AmrHeartbeatMessage + * 开机上报 20147 AmrBootMessage + * 关机上报 20148 AmrShutdownMessage + * 小车主程序启动 20149 AmrAppStartMessage + * 小车上线 20150 AmrOnlineMessage + * 小车离线 20200 AmrOfflineMessage + * 异常上报 20250 AmrExceptionMessage + */ + private static final int AMR_TASK_COMPLETED = 20010; + private static final int AMR_TASK_STATUS = 20011; + private static final int AMR_MODULE_TASK_STATUS = 20012; + private static final int AMR_LANDMARK = 20020; + private static final int AMR_ACK = 20050; + private static final int AMR_STATUS = 20060; + private static final int AMR_HEARTBEAT = 20100; + private static final int AMR_BOOT = 20147; + private static final int AMR_SHUTDOWN = 20148; + private static final int AMR_APP_START = 20149; + private static final int AMR_ONLINE = 20150; + private static final int AMR_OFFLINE = 20200; + private static final int AMR_EXCEPTION = 20250; + + + private static final TypeReference> typeRef20010Message = new TypeReference>() {}; private static final TypeReference>> typeRef20011_defaultMessage = new TypeReference>>() {}; private static final TypeReference>> typeRef20011_1Message = new TypeReference>>() {}; @@ -79,10 +140,10 @@ public class AmrMessageHandler { AmrMessage amrMessage = null; switch (id) { - case 20010: + case AMR_TASK_COMPLETED: AmrMessage taskCompletedMessage = JacksonUtils.parse(json, typeRef20010Message); break; - case 20011: { + case AMR_TASK_STATUS: { int EventId = jw.asInt("content", "EventId"); log.info("1-Received message: " + json); switch (EventId) { @@ -119,10 +180,10 @@ public class AmrMessageHandler { } break; } - case 20012: + case AMR_MODULE_TASK_STATUS: amrMessage = JacksonUtils.parse(json, typeRef20012Message); break; - case 20020: + case AMR_LANDMARK: AmrMessage landmarkMessage = JacksonUtils.parse(json, typeRef20020Message); agvItem.x = landmarkMessage.content.X; agvItem.y = landmarkMessage.content.Y; @@ -134,10 +195,10 @@ public class AmrMessageHandler { // log.info("2-Received message: " + json); // } break; - case 20050: + case AMR_ACK: amrMessage = JacksonUtils.parse(json, typeRef20050Message); break; - case 20060: + case AMR_STATUS: AmrMessage statusMessage = JacksonUtils.parse(json, typeRef20060Message); agvItem.agvSOC = statusMessage.content.CurBattery.SOC; agvItem.agvBatteryVoltage = statusMessage.content.CurBattery.Voltage; @@ -154,7 +215,7 @@ public class AmrMessageHandler { // log.info("Received message: " + json); // } break; - case 20100: + case AMR_HEARTBEAT: AmrMessage heartbeatMessage = JacksonUtils.parse(json, typeRef20100Message); sendxt(heartbeatMessage.content.VehicleId + "", heartbeatMessage.content.SeqNo + ""); @@ -166,22 +227,22 @@ public class AmrMessageHandler { // } break; - case 20147: + case AMR_BOOT: amrMessage = JacksonUtils.parse(json, typeRef20147Message); break; - case 20148: + case AMR_SHUTDOWN: amrMessage = JacksonUtils.parse(json, typeRef20148Message); break; - case 20149: + case AMR_APP_START: amrMessage = JacksonUtils.parse(json, typeRef20149Message); break; - case 20150: + case AMR_ONLINE: amrMessage = JacksonUtils.parse(json, typeRef20150Message); break; - case 20200: + case AMR_OFFLINE: amrMessage = JacksonUtils.parse(json, typeRef20200Message); break; - case 20250: + case AMR_EXCEPTION: amrMessage = JacksonUtils.parse(json, typeRef20250Message); break; default: @@ -196,14 +257,14 @@ public class AmrMessageHandler { public static PtrAgvItem getPtrAgvItem(String vehicleId) { var runtime = LogisticsRuntimeService.INSTANCE.findByEnvCode(1L); - var executorItem = runtime.executorItemMap.get("10"); + var executorItem = runtime.executorItemMap.get("3"); return (PtrAgvItem) executorItem; } - public static void sendCmd10010(String vehicleId, AmrTaskMessage amrTaskMessage) throws JsonProcessingException, MqttException { + public static void sendCmd10010(String vehicleId, RcsTaskMessage rcsTaskMessage) throws JsonProcessingException, MqttException { MqttClient mqttClient = MqttConfig.mqttClient; BaseMessage baseMessage = new BaseMessage(); baseMessage.id = 10010; - baseMessage.content = amrTaskMessage; + baseMessage.content = rcsTaskMessage; String json = JacksonUtils.toJson(baseMessage); log.info("sendCmd10010: {}", json); mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false); @@ -214,4 +275,16 @@ public class AmrMessageHandler { mqttClient.publish("/wcs_server/" + vehicleId, ("{\"id\": 10110, \"content\": {\"SeqNo\": " + seqNo + "}}").getBytes(), 0, false); } + public static void sendCmdAck(String vehicleId, int seqNo) throws JsonProcessingException, MqttException { + MqttClient mqttClient = MqttConfig.mqttClient; + BaseMessage baseMessage = new BaseMessage(); + RcsAckMessage rcsAckMsg = new RcsAckMessage(); + rcsAckMsg.SeqNo = seqNo; + baseMessage.id = 10010; + baseMessage.content = rcsAckMsg; + String json = JacksonUtils.toJson(baseMessage); + log.info("sendCmd10010: {}", json); + mqttClient.publish("/wcs_server/" + vehicleId, json.getBytes(StandardCharsets.UTF_8), 0, false); + } + } diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java index 1ca00e8..292de43 100644 --- a/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java +++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2DeviceConnector.java @@ -1,24 +1,19 @@ package com.galaxis.rcs.connector.cl2; import com.fasterxml.jackson.core.JsonProcessingException; -import com.galaxis.rcs.common.entity.RcsTaskPlan; import com.galaxis.rcs.communication.amrCommunication.AmrMessageHandler; -import com.galaxis.rcs.connector.cl2.sendEntity.AmrTaskMessage; -import com.yvan.logisticsModel.*; +import com.galaxis.rcs.connector.cl2.sendEntity.RcsTaskMessage; import lombok.extern.slf4j.Slf4j; -import org.clever.core.Conv; import org.eclipse.paho.mqttv5.common.MqttException; -import java.math.BigDecimal; - /** * CL2 车型报文推送 */ @Slf4j public class Cl2DeviceConnector { - public void sendTask(String vehicleId, AmrTaskMessage amrTaskMessage) throws MqttException, JsonProcessingException { - AmrMessageHandler.sendCmd10010(vehicleId, amrTaskMessage); + public void sendTask(String vehicleId, RcsTaskMessage rcsTaskMessage) throws MqttException, JsonProcessingException { + AmrMessageHandler.sendCmd10010(vehicleId, rcsTaskMessage); } } diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsAckMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsAckMessage.java new file mode 100644 index 0000000..ac44ff9 --- /dev/null +++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsAckMessage.java @@ -0,0 +1,6 @@ +package com.galaxis.rcs.connector.cl2.sendEntity; + +public class RcsAckMessage { + // 作业序号 UInt32 所要应答消息的SeqNo(对方的) + public int SeqNo; +} 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/RcsTaskMessage.java similarity index 98% rename from servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/AmrTaskMessage.java rename to servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/RcsTaskMessage.java index 440d72c..490bd4e 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/RcsTaskMessage.java @@ -2,12 +2,11 @@ package com.galaxis.rcs.connector.cl2.sendEntity; import lombok.AllArgsConstructor; import org.clever.core.AppContextHolder; -import org.clever.core.Conv; import org.clever.data.redis.Redis; import java.util.List; -public class AmrTaskMessage { +public class RcsTaskMessage { // 作业序号 UInt32 public int SeqNo; // 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） @@ -82,7 +81,7 @@ public class AmrTaskMessage { private static final String REDIS_KEY = "amr:task:message:seqNo"; - public AmrTaskMessage() { + public RcsTaskMessage() { long seqNo = redis.vIncrement(REDIS_KEY); if (seqNo > Integer.MAX_VALUE) { redis.kDelete(REDIS_KEY); diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java index 931ee28..071f4c5 100644 --- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java +++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvConnectorThread.java @@ -2,14 +2,13 @@ package com.yvan.logisticsModel; import com.fasterxml.jackson.core.JsonProcessingException; import com.galaxis.rcs.connector.cl2.Cl2DeviceConnector; -import com.galaxis.rcs.connector.cl2.sendEntity.AmrTaskMessage; +import com.galaxis.rcs.connector.cl2.sendEntity.RcsTaskMessage; import lombok.extern.slf4j.Slf4j; import org.eclipse.paho.mqttv5.common.MqttException; import java.util.ArrayList; import java.util.List; import java.util.concurrent.atomic.AtomicBoolean; -import java.util.concurrent.locks.LockSupport; @Slf4j public class PtrAgvConnectorThread extends Thread { @@ -43,7 +42,7 @@ public class PtrAgvConnectorThread extends Thread { PtrAgvDeviceTask startTask = null; PtrAgvDeviceTask currentTask = null; PtrAgvDeviceTask nextTask = null; - AmrTaskMessage taskMessage = null; + RcsTaskMessage taskMessage = null; // 计算中的任务 List computingTaskList = new ArrayList<>(); @@ -65,7 +64,7 @@ public class PtrAgvConnectorThread extends Thread { } if (startTask == null && !nextTask.isLastTask) { - taskMessage = new AmrTaskMessage(); + taskMessage = new RcsTaskMessage(); startTask = nextTask; currentTask = nextTask; startTask.seqNo = taskMessage.SeqNo; @@ -79,7 +78,7 @@ public class PtrAgvConnectorThread extends Thread { if (currentTask == nextTask && taskMessage != null) { currentTask.seqNo = taskMessage.SeqNo; - AmrTaskMessage.LinkData link = new AmrTaskMessage.LinkData(currentTask.endPoint.logicX, currentTask.endPoint.logicY, currentTask.speed); + RcsTaskMessage.LinkData link = new RcsTaskMessage.LinkData(currentTask.endPoint.logicX, currentTask.endPoint.logicY, currentTask.speed); taskMessage.Link.add(link); taskCount++; distance += euclideanDistance(currentTask.startPoint.tf[0], currentTask.endPoint.tf[0]); diff --git a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java index 0c433ac..62a1830 100644 --- a/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java +++ b/servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java @@ -55,9 +55,9 @@ public class PtrAgvItem extends ExecutorItem { // agv当前z坐标 public double z; // 当前所在站点的逻辑X坐标 Int32 - public int logicX = 13; + public int logicX; // 当前所在站点的逻辑Y坐标 Int32 - public int logicY = 10; + public int logicY; // 当前方向 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 direction; // agv当前转动角度值 @@ -176,7 +176,7 @@ public class PtrAgvItem extends ExecutorItem { for (RcsTaskPlan plan : sequence.taskList) { String endPointId = plan.getTargetId(); - if (plan.getPlanType().equals(PlanTaskType.MOVE.toString())) { + if (plan.getPlanType().equals(PlanTaskType.MOVE.toString()) || plan.getPlanType().equals(PlanTaskType.MOVE_BACKWARD.toString())) { // 获取目标点信息 StaticItem pointItem = runtime.getStaticItemById(endPointId); linkStore = (List>) pointItem.dt.get("linkStore"); diff --git a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java index 51a5bdb..2f07612 100644 --- a/servo/src/main/java/com/yvan/workbench/controller/RcsController.java +++ b/servo/src/main/java/com/yvan/workbench/controller/RcsController.java @@ -122,6 +122,12 @@ public class RcsController { logisticsRuntime.pathPlannerMap.get(executorItem.getT()) .planMoveTask(planSequence, fromItem.getId(), fromDirection, moveTask); + + PtrAgvItem agvItem = (PtrAgvItem) executorItem; + agvItem.logicX = fromItem.logicX; + agvItem.logicY = fromItem.logicY; + agvItem.appendSequence(planSequence); + return Model.newSuccess(planSequence.toPrettyMap()); }