package com.zy.asrs.wcs.core.kernel.command;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.framework.exception.CoolException;
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import com.zy.asrs.wcs.common.ExecuteSupport;
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import com.zy.asrs.wcs.core.action.LiftAction;
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import com.zy.asrs.wcs.core.action.ShuttleAction;
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import com.zy.asrs.wcs.core.entity.BasShuttle;
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import com.zy.asrs.wcs.core.entity.Loc;
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import com.zy.asrs.wcs.core.model.NavigateNode;
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import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
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import com.zy.asrs.wcs.core.model.command.LiftCommand;
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import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
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import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
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import com.zy.asrs.wcs.core.model.enums.*;
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import com.zy.asrs.wcs.core.service.BasShuttleService;
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import com.zy.asrs.wcs.core.service.LocService;
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import com.zy.asrs.wcs.core.service.TaskService;
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import com.zy.asrs.wcs.core.utils.*;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.core.entity.Motion;
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import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
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import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
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import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
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import com.zy.asrs.wcs.core.service.MotionService;
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import com.zy.asrs.wcs.rcs.thread.LiftThread;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.*;
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/**
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* Created by vincent on 2023/10/23
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*/
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@Slf4j
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@Service
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public class ShuttleCommandService {
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public static final Integer SHUTTLE_ADDITION_COMMAND_SPEED = 500;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private MotionService motionService;
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@Autowired
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private TaskService taskService;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private LocService locService;
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@Autowired
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private NavigateMapUtils navigateMapUtils;
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@Autowired
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private ShuttleAction shuttleAction;
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@Autowired
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private LiftAction liftAction;
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@Autowired
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private LiftDispatcher liftDispatcher;
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// 计算
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public Boolean accept(Motion motion) {
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Integer deviceNo = Integer.parseInt(motion.getDevice());
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
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if (shuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (null == shuttleProtocol) {
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return false;
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}
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if (!shuttleThread.isIdle(new ExecuteSupport() {
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@Override
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public Boolean judgement() {
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if (Objects.equals(MotionCtgType.get(motion.getMotionCtgEl()), MotionCtgType.SHUTTLE_CHARGE_OFF)) {//非关闭充电motion，需要判断设备状态
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return false;//不需要判断状态
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}
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return true;//需要判断状态
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}
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})) {//设备不空闲
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return false;
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}
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if (motionService.count(new LambdaQueryWrapper<Motion>()
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.eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
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.eq(Motion::getDevice, motion.getDevice())
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.eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
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return false;
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}
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ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
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assignCommand.setShuttleNo(deviceNo);
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assignCommand.setTaskNo(motion.getTaskNo());
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assignCommand.setDeviceTaskNo(shuttleThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
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assignCommand.setSourceLocNo(motion.getOrigin());
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assignCommand.setLocNo(motion.getTarget());
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assignCommand.setDeviceId(Integer.parseInt(motion.getDevice()));
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List<ShuttleCommand> shuttleCommands = new ArrayList<>();
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ShuttleTaskModeType shuttleTaskModeType = null;
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LiftThread liftThread = null;
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LiftProtocol liftProtocol = null;
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switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
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case SHUTTLE_MOVE:
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// 如果已经在当前条码则过滤
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if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
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.eq(Loc::getLocNo, motion.getTarget())
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.eq(Loc::getHostId, motion.getHostId())).getCode())) {
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return true;
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}
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shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
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shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
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break;
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case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
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shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
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shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
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shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
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break;
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case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
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shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
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shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
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shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
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break;
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case SHUTTLE_MOVE_FROM_LIFT://出提升机
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// 判断提升机状态
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liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
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if (liftThread == null) {
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return false;
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}
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liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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return false;
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}
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// 判断提升机是否空闲
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if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_FROM_LIFT)) {
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return false;
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}
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if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//判断提升机是否达到目标层
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return false;
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}
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//判断提升机是否被锁定
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if (!liftThread.isLock(new ExecuteSupport() {
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@Override
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public Boolean judgement() {
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return true;
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}
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})) {
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return false;
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}
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// //判断提升机工作号是否和当前任务相同
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// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
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// return false;
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// }
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shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
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shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
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break;
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case SHUTTLE_MOVE_TO_LIFT://进提升机
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// 判断提升机状态
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liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
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if (liftThread == null) {
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return false;
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}
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liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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return false;
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}
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// 判断提升机是否空闲
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if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_TO_LIFT)) {
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return false;
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}
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if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//判断提升机是否达到目标层
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return false;
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}
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//判断提升机是否被锁定
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if (!liftThread.isLock(new ExecuteSupport() {
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@Override
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public Boolean judgement() {
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return true;//牛眼没有提升机锁，直接返回true
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}
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})) {
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return false;
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}
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// //判断提升机工作号是否和当前任务相同
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// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
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// return false;
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// }
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shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
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shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
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break;
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case SHUTTLE_CHARGE_ON://充电开
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shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
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shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
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assignCommand.setCharge(Boolean.TRUE);
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break;
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case SHUTTLE_CHARGE_OFF://充电关
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shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
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shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
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assignCommand.setCharge(Boolean.TRUE);
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break;
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case SHUTTLE_PALLET_LIFT://托盘顶升
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shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT;
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shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), true));
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break;
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case SHUTTLE_PALLET_DOWN://托盘下降
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shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
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shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
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break;
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case SHUTTLE_UPDATE_LOCATION://小车坐标更新
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shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
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shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
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break;
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default:
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throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
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}
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if (Cools.isEmpty(shuttleCommands)) {
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return false;
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}
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assert null != shuttleTaskModeType;
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assignCommand.setTaskMode(shuttleTaskModeType.id);//入出库模式
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assignCommand.setCommands(shuttleCommands);
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if (motion.getOrigin() != null && motion.getTarget() != null) {
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//所使用的路径进行锁定禁用
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boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodes(), true);//所使用的路径进行锁定禁用
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if (!lockResult) {
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return false;//锁定失败
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}
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}
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boolean result = shuttleAction.assignWork(shuttleThread.getDevice(), assignCommand);
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return result;
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}
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public Boolean finish(Motion motion) {
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Integer deviceNo = Integer.parseInt(motion.getDevice());
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (null == shuttleProtocol) {
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return false;
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}
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if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
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return false;
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}
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//充电任务
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if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
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if (shuttleProtocol.getHasCharge() || shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)) {
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// 复位穿梭车
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shuttleThread.setSyncTaskNo(0);
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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shuttleThread.setPakMk(true);
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return true;
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}
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}
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if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
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&& !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
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) {
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return false;
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}
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//判断设备是否空闲
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if (!shuttleThread.isIdle()) {
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return false;
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}
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LiftThread liftThread = null;
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LiftProtocol liftProtocol = null;
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switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
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case SHUTTLE_MOVE:
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case SHUTTLE_MOVE_LIFT_PALLET:
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case SHUTTLE_MOVE_DOWN_PALLET:
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case SHUTTLE_MOVE_TO_CONVEYOR:
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case SHUTTLE_MOVE_FROM_CONVEYOR:
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if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
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return false;
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}
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break;
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case SHUTTLE_MOVE_TO_LIFT:
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liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
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if (liftThread == null) {
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return false;
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}
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liftProtocol = liftThread.getStatus();
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if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
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return false;
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}
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//判断提升机是否被锁定
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if (!liftThread.isLock(new ExecuteSupport() {
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@Override
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public Boolean judgement() {
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return false;
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}
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})) {
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return false;
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}
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//判断小车是否已到位
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if (!liftProtocol.getHasCar()) {
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return false;
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}
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// //判断提升机工作号是否和当前任务相同
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// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
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// return false;
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// }
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break;
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case SHUTTLE_MOVE_FROM_LIFT:
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liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
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if (liftThread == null) {
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return false;
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}
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liftProtocol = liftThread.getStatus();
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if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
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return false;
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}
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//判断提升机是否被锁定
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if (!liftThread.isLock(new ExecuteSupport() {
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@Override
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public Boolean judgement() {
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return false;
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}
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})) {
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return false;
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}
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//判断小车是否已离开
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if (liftProtocol.getHasCar()) {
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return false;
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}
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// //判断提升机工作号是否和当前任务相同
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// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
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// return false;
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// }
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break;
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case SHUTTLE_TRANSPORT_FROM_LIFT:
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case SHUTTLE_TRANSPORT_TO_LIFT:
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case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
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liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
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if (liftThread == null) {
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return false;
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}
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liftProtocol = liftThread.getStatus();
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if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
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return false;
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}
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//判断提升机是否被锁定
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if (liftThread.isLock(new ExecuteSupport() {
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@Override
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public Boolean judgement() {
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return false;
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}
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})) {
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return false;
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}
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//判断提升机工作号是否和当前任务相同
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if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
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return false;
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}
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break;
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case SHUTTLE_UPDATE_LOCATION://小车坐标更新
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break;
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case SHUTTLE_PALLET_LIFT://托盘顶升
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if (!shuttleProtocol.getHasLift()) {
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return false;
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}
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break;
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case SHUTTLE_PALLET_DOWN://托盘下降
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if (shuttleProtocol.getHasLift()) {
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return false;
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}
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break;
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default:
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break;
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}
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// 复位穿梭车
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shuttleThread.setSyncTaskNo(0);
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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shuttleThread.setPakMk(true);
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return true;
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}
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public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
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//获取小车移动速度
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Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000);
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Long hostId = shuttleThread.getDevice().getHostId();
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List<NavigateNode> nodeList = NavigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo)));
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if (nodeList == null) {
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News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
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return null;
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}
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List<NavigateNode> allNode = new ArrayList<>();
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for (NavigateNode node : nodeList) {
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allNode.add(node.clone());
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}
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List<ShuttleCommand> commands = new ArrayList<>();
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//获取分段路径
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ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
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//将每一段路径分成command指令
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for (ArrayList<NavigateNode> nodes : data) {
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//开始路径
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NavigateNode startPath = nodes.get(0);
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//目标路径
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NavigateNode endPath = nodes.get(nodes.size() - 1);
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Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
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//通过xy坐标小车二维码
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String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ(), hostId);
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//通过xy坐标小车二维码
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String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ(), hostId);
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//获取移动命令
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ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
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command.setNodes(nodes);//将行走节点添加到每一步命令中
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commands.add(command);
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}
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assignCommand.setNodes(allNode);//当前任务所占用的节点list
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return commands;
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}
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}
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