Merge remote-tracking branch 'origin/master'

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

@@ -9,11 +9,14 @@ 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 lombok.extern.slf4j.Slf4j;
+import org.clever.core.AppContextHolder;
 import org.clever.core.json.JsonWrapper;
+import org.clever.data.redis.Redis;
 import org.eclipse.paho.mqttv5.common.MqttMessage;
 import org.springframework.stereotype.Service;
 
 import java.nio.charset.StandardCharsets;
+import java.util.concurrent.ConcurrentHashMap;
 
 @Slf4j
 @Service
@@ -35,11 +38,20 @@ public class AmrMessageHandler {
     private static final TypeReference<AmrMessage<AmrOnlineMessage>> typeRef20150Message = new TypeReference<AmrMessage<AmrOnlineMessage>>() {};
     private static final TypeReference<AmrMessage<AmrOfflineMessage>> typeRef20200Message = new TypeReference<AmrMessage<AmrOfflineMessage>>() {};
     private static final TypeReference<AmrMessage<AmrExceptionMessage>> typeRef20250Message = new TypeReference<AmrMessage<AmrExceptionMessage>>() {};
+
+    private static final Redis redis = AppContextHolder.getBean("defaultRedis", Redis.class, true);
+
+    private static final ConcurrentHashMap<Integer, AmrStatusAndInfo> agvStatusMap = new ConcurrentHashMap<>();
     public static void handleAgvRobotStatusMessage(MqttMessage message) {
         byte[] messageData = message.getPayload();
         String json = new String(messageData, StandardCharsets.UTF_8);
         JsonWrapper jw = new JsonWrapper(json);
         int id = jw.asInt("id");
+        int agvId = jw.asInt("content", "VehicleId");
+        if (!agvStatusMap.containsKey(agvId)) {
+            agvStatusMap.put(agvId, new AmrStatusAndInfo(agvId + ""));
+        }
+        AmrStatusAndInfo agvStatusAndInfo = agvStatusMap.get(agvId);
 
         /*
          * 消息标识
@@ -61,7 +73,7 @@ public class AmrMessageHandler {
         AmrMessage<?> amrMessage = null;
         switch (id) {
             case 20010:
-                amrMessage = JacksonGenericUtils.parse(json, typeRef20010Message);
+                AmrMessage<AmrTaskCompletedMessage> taskCompletedMessage = JacksonGenericUtils.parse(json, typeRef20010Message);
                 break;
             case 20011: {
                 int EventId = jw.asInt("content", "EventId");
@@ -97,16 +109,30 @@ public class AmrMessageHandler {
                 amrMessage = JacksonGenericUtils.parse(json, typeRef20050Message);
                 break;
             case 20060:
-                amrMessage = JacksonGenericUtils.parse(json, typeRef20060Message);
+                AmrMessage<AmrStatusMessage> statusMessage = JacksonGenericUtils.parse(json, typeRef20060Message);
+                agvStatusAndInfo.agvSOC = statusMessage.content.CurBattery.SOC;
+                agvStatusAndInfo.agvBatteryVoltage = statusMessage.content.CurBattery.Voltage;
+//                agvStatusAndInfo.agvChargingStatus = statusMessage.content.CurBattery.ChargingStatus;
+                agvStatusAndInfo.agvChargingCurrent = statusMessage.content.CurBattery.ChargingCurrent;
+                agvStatusAndInfo.agvDischargingCurrent = statusMessage.content.CurBattery.DischargingCurrent;
+                agvStatusAndInfo.agvBatteryTemperature = statusMessage.content.CurBattery.Temperature;
+                agvStatusAndInfo.x = statusMessage.content.X;
+                agvStatusAndInfo.y = statusMessage.content.Y;
+                agvStatusAndInfo.orientation = statusMessage.content.CurOrientation;
+                if (statusMessage.content.VehicleId == 32) {
+                        log.info("Received message: " + json);
+                    }
                 break;
             case 20100:
-                amrMessage = JacksonGenericUtils.parse(json, typeRef20100Message);
+                AmrMessage<AmrHeartbeatMessage> heartbeatMessage = JacksonGenericUtils.parse(json, typeRef20100Message);
+
 //                if (amrMessage.content instanceof AmrHeartbeatMessage) {
 //                    AmrHeartbeatMessage msg = (AmrHeartbeatMessage) amrMessage.content;
 //                    if (msg.VehicleId == 102) {
 //                        log.info("Received message: " + json);
 //                    }
 //                }
+
                 break;
             case 20147:
                 amrMessage = JacksonGenericUtils.parse(json, typeRef20147Message);
@@ -132,5 +158,4 @@ public class AmrMessageHandler {
         }
     }
 
-
 }

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

@@ -1,5 +1,10 @@
 package com.galaxis.rcs.communication.amrCommunication;
 
+import lombok.AllArgsConstructor;
+import lombok.Data;
+
+@Data
+@AllArgsConstructor
 public class AmrStatusAndInfo {
     // agvId 车唯一标识
     public String agvId;
@@ -31,4 +36,8 @@ public class AmrStatusAndInfo {
     public double z;
     // agv当前方向
     public double orientation;
+
+    public AmrStatusAndInfo(String agvId) {
+        this.agvId = agvId;
+    }
 }

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2Connector.java

@@ -3,19 +3,50 @@ package com.galaxis.rcs.connector.cl2;
 public interface Cl2Connector {
     // RCS发往CL2的指令
 
-    // 0 运输
-    public int transport();
+    /**
+     * 移动 robotMove
+     * @param executorId 机器人设备ID
+     * @param startWayPoint 起点Id, WayPointId
+     * @param endWayPoint 终点ID, WayPointId
+     * @param armRotation number类型，货叉/机械臂，相对于头的角度, 逆时针为正
+     */
+    void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation);
 
-    // 1 接货
-    public int pickup();
+    /**
+     * 旋转 robotRotate
+     * @param executorId 机器人编号
+     * @param worldRotation 转动身体到世界角度 90 度
+     */
+    void robotRotation(String executorId, double worldRotation);
 
-    // 2 卸货
-    public int unload();
+    /**
+     * 取货 robotLoad
+     * @param executorId 机器人编号
+     * @param rackItem 货架ID
+     * @param bay 列
+     * @param level 层
+     * @param cell 格
+     * @param storeBarCode 地标二维码编号
+     * @param boxItem 容器ID
+     */
+    void robotLoad(String executorId, String rackItem,  int bay, int level, int cell, String storeBarCode, String boxItem);
 
-    // 3 充电
-    public int charge();
+    /**
+     * 放货 robotUnload
+     * @param executorId 机器人编号
+     * @param rackItem 货架ID
+     * @param bay 列
+     * @param level 层
+     * @param cell 格
+     * @param storeBarCode 地标二维码编号
+     */
+    void robotUnload(String executorId, String rackItem,  int bay, int level, int cell, String storeBarCode);
 
-    // 4：提升移载取货或卸货
-    public int lift();
+    /**
+     * 充电 robotCharge
+     * @param executorId 机器人编号
+     * @param chargerItem 充电桩ID
+     */
+    void robotCharger(String executorId, String chargerItem);
 
 }

servo/src/main/java/com/galaxis/rcs/connector/cl2/Cl2ConnectorImp.java

@@ -1,4 +1,29 @@
 package com.galaxis.rcs.connector.cl2;
 
-public class Cl2ConnectorImp {
+public class Cl2ConnectorImp implements Cl2Connector {
+    @Override
+    public void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation) {
+        // 获取车当前位置
+
+    }
+
+    @Override
+    public void robotRotation(String executorId, double worldRotation) {
+
+    }
+
+    @Override
+    public void robotLoad(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode, String boxItem) {
+
+    }
+
+    @Override
+    public void robotUnload(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode) {
+
+    }
+
+    @Override
+    public void robotCharger(String executorId, String chargerItem) {
+
+    }
 }

servo/src/main/java/com/galaxis/rcs/connector/cl2/VirtualCl2Connector.java

@@ -7,27 +7,27 @@ package com.galaxis.rcs.connector.cl2;
 public class VirtualCl2Connector implements Cl2Connector {
 
     @Override
-    public int transport() {
-        return 0;
+    public void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation) {
+
     }
 
     @Override
-    public int pickup() {
-        return 0;
+    public void robotRotation(String executorId, double worldRotation) {
+
     }
 
     @Override
-    public int unload() {
-        return 0;
+    public void robotLoad(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode, String boxItem) {
+
     }
 
     @Override
-    public int charge() {
-        return 0;
+    public void robotUnload(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode) {
+
     }
 
     @Override
-    public int lift() {
-        return 0;
+    public void robotCharger(String executorId, String chargerItem) {
+
     }
 }

servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/Cmd10010.java → servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/AmrTaskMessage.java

@@ -2,7 +2,7 @@ package com.galaxis.rcs.connector.cl2.sendEntity;
 
 import java.util.List;
 
-public class Cmd10010 {
+public class AmrTaskMessage {
     // 作业序号 UInt32
     public long 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）
@@ -36,13 +36,13 @@ public class Cmd10010 {
     // 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;
     // 多机构^[1]^的拣货模式 UInt8[3] 数组形式，意义同"PickMode"
-    public short[] MPickMode;
+    public List<Short> MPickMode;
     // 多机构^[1]^的目标货位高度 UInt16[3] 单位：mm
-    public int[] MGoodsSlotHeight;
+    public List<Integer> MGoodsSlotHeight;
     // 多机构^[1]^的目标货位朝向 UInt8[3] 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[] MGoodsSlotDirection;
+    public List<Short> MGoodsSlotDirection;
     // 多机构的目标货箱ID	String[3] 仅做校验使用（仅接货用）
-    public String[] MStorageRacksNo;
+    public List<String> 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;
     // 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
@@ -60,11 +60,11 @@ public class Cmd10010 {
     // 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;
     // 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 short[] MRollMotion;
+    public List<Short> 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
-    public short[] MRollStationDirection;
+    public List<Short> MRollStationDirection;
     // 多滚筒目标货物数量	UInt16[6] 数组形式，意义同"RollGoodsQuantity"
-    public int[] MRollGoodsQuantity;
+    public List<Integer> 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;
     // 货架标识 uint32 车根据货架类型查询尺寸进行避障

servo/src/main/java/com/yvan/logisticsMonitor/dashboard/DashboardManager.java

@@ -3,28 +3,29 @@ package com.yvan.logisticsMonitor.dashboard;
 import com.galaxis.rcs.connector.cl2.Cl2Connector;
 
 public class DashboardManager implements Cl2Connector {
+
     @Override
-    public int transport() {
-        return 0;
+    public void robotMove(String executorId, String startWayPoint, String endWayPoint, double armRotation) {
+
     }
 
     @Override
-    public int pickup() {
-        return 0;
+    public void robotRotation(String executorId, double worldRotation) {
+
     }
 
     @Override
-    public int unload() {
-        return 0;
+    public void robotLoad(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode, String boxItem) {
+
     }
 
     @Override
-    public int charge() {
-        return 0;
+    public void robotUnload(String executorId, String rackItem, int bay, int level, int cell, String storeBarCode) {
+
     }
 
     @Override
-    public int lift() {
-        return 0;
+    public void robotCharger(String executorId, String chargerItem) {
+
     }
 }