package com.zy.core.action;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.serializer.SerializerFeature;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.fasterxml.jackson.core.type.TypeReference;
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import com.fasterxml.jackson.databind.ObjectMapper;
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import com.zy.asrs.entity.BasShuttleOpt;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasShuttleOptService;
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import com.zy.asrs.service.BasShuttleService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.ExecuteSupport;
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import com.zy.common.model.NavigateNode;
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import com.zy.common.utils.NavigateMapUtils;
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import com.zy.common.utils.RedisUtil;
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import com.zy.common.utils.ShuttleOperaUtils;
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import com.zy.core.News;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.dispatcher.ShuttleDispatchUtils;
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import com.zy.core.enums.*;
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import com.zy.core.model.CommandResponse;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.command.ShuttleCommand;
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import com.zy.core.model.command.ShuttleRedisCommand;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.thread.ShuttleThread;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.io.IOException;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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@Component
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public class ShuttleAction {
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private NavigateMapUtils navigateMapUtils;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private ObjectMapper objectMapper;
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@Autowired
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private ConfigService configService;
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@Autowired
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private BasShuttleOptService basShuttleOptService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private ShuttleDispatchUtils shuttleDispatchUtils;
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public synchronized boolean assignWork(Integer shuttleNo, ShuttleAssignCommand assignCommand) {
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return false;
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}
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ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
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redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号
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redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
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redisCommand.setCommandStep(0);//命令执行步序
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redisCommand.setAssignCommand(assignCommand);//命令
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//任务数据保存到redis
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if (redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect))) {
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shuttleThread.setSyncTaskNo(assignCommand.getTaskNo());
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return true;
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}
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return false;
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}
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public synchronized boolean executeWork(Integer shuttleNo, Integer taskNo) {
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Object obj = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + taskNo);
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if (obj == null) {
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return false;
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}
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ShuttleRedisCommand redisCommand = null;
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try {
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redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
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} catch (IOException e) {
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throw new RuntimeException(e);
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}
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if (redisCommand == null) {
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return false;
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}
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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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 (shuttleProtocol == null) {
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return false;
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}
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//判断工作号是否相同
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if (!shuttleProtocol.getTaskNo().equals(taskNo)) {
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return false;
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}
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List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
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if (commands.isEmpty()) {
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return false;
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}
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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int commandStep = redisCommand.getCommandStep();
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Integer mode = -1;
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if(commandStep < commands.size()) {
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//取出命令
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ShuttleCommand currentCommand = commands.get(commandStep);
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mode = currentCommand.getMode();
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}
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//判断设备是否空闲
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Integer finalMode = mode;
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if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
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@Override
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public Boolean judgement() {
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if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(finalMode)) {//关闭充电
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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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})) {
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return false;
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}
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// 完结上一条命令
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boolean updateCommand = false;
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if (commandStep != 0) {
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ShuttleCommand command = commands.get(commandStep - 1);
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if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
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// 正常移动
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if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
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command.setComplete(true);
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updateCommand = true;
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//解锁锁定路径，上一条路径
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List<NavigateNode> nodes = null;
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try {
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String nodesStr = objectMapper.writeValueAsString(command.getNodes());
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nodes = objectMapper.readValue(nodesStr, new TypeReference<List<NavigateNode>>() {
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});
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} catch (IOException e) {
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throw new RuntimeException(e);
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}
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if (nodes != null) {
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NavigateNode targetNode = assignCommand.getNodes().get(assignCommand.getNodes().size() - 1);//最终节点
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NavigateNode node = nodes.get(nodes.size() - 1);
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if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
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nodes.remove(nodes.size() - 1);//剔除尾节点
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}
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boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), shuttleProtocol.getShuttleNo(), nodes, false);//解锁路径
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if (!result) {
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return false;//解锁失败
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}
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}
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}
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} else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id) {
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// 托盘顶升
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//判断是否顶升到位
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if (shuttleProtocol.getHasLift()) {
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command.setComplete(true);
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updateCommand = true;
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// //判断是否有物
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// if (shuttleProtocol.getHasPallet()) {
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// command.setComplete(true);
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// }
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}
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} else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
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// 托盘下降命令
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// 判断是否下降到位
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if (!shuttleProtocol.getHasLift()) {
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command.setComplete(true);
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updateCommand = true;
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}
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} else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
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// 充电开
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//判断小车充电状态
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if (shuttleProtocol.getHasCharge()) {
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command.setComplete(true);
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updateCommand = true;
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}
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}else {
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command.setComplete(true);//其他命令默认认为完成
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updateCommand = true;
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}
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if(updateCommand) {
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// 更新redis数据
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redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
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}
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if (!command.getComplete()) {
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return false;
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}
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//判断是否为最后一条命令且命令执行完成，抛出等待确认状态
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ShuttleCommand endCommand = commands.get(commands.size() - 1);
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if (endCommand.getComplete()) {
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News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(commands));
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// 系统任务
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if (assignCommand.getAuto()) {
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if (!assignCommand.getCharge()) {
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if (command.getMode() == ShuttleCommandModeType.UPDATE_LOCATION.id) {
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//更新坐标任务无需抛出等待确认
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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shuttleThread.setSyncTaskNo(0);
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}else {
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//对主线程抛出等待确认状态waiting
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
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}
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}else {
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
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}
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News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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// 手动任务
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} else {
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//手动模式不抛出等待状态，直接复位空闲状态
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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//任务号清零
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shuttleThread.setSyncTaskNo(0);
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//标记复位
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shuttleThread.setPakMk(true);
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News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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}
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//删除redis
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redisUtil.del(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo());
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return false;//禁止再下发命令
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}
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}
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//取出命令
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ShuttleCommand command = commands.get(commandStep);
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// 下发命令
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CommandResponse response = write(command, shuttleNo);
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//保存命令日志
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BasShuttleOpt basShuttleOpt = new BasShuttleOpt();
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basShuttleOpt.setWrkNo(redisCommand.getWrkNo());
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basShuttleOpt.setShuttleNo(shuttleNo);
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basShuttleOpt.setMode(ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc);
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basShuttleOpt.setSourceLocNo(assignCommand.getSourceLocNo());
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basShuttleOpt.setDistLocNo(assignCommand.getLocNo());
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basShuttleOpt.setCommand(JSON.toJSONString(command));
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basShuttleOpt.setSystemStatus(JSON.toJSONString(shuttleProtocol));
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basShuttleOpt.setDeviceWrk(String.valueOf(command.getTaskNo()));
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basShuttleOpt.setResponse(response.getMessage());//获取响应
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basShuttleOpt.setSendTime(new Date());//指令下发时间
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basShuttleOpt.setSend(response.getResult() ? 1 : 0);
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//保存命令流水
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basShuttleOptService.insert(basShuttleOpt);
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if (!response.getResult()) {
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News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
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return false;
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}
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
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commandStep++;
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//更新redis数据
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redisCommand.setCommandStep(commandStep);
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//任务数据保存到redis
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redisUtil.set(RedisKeyType.SHUTTLE_WORK_FLAG.key + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
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return true;
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}
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//演示模式
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public synchronized void demo(Integer shuttleNo) {
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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if (shuttleThread == null) {
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return;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return;
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}
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if (!shuttleProtocol.getDemo()) {
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return;
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}
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WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(shuttleNo);
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if (moveWorking != null) {
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return;
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}
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WrkMast shuttleWorking = wrkMastService.selectShuttleWorking(shuttleNo);
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if(shuttleWorking != null) {
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return;
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}
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WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleNo);
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if (chargeWorking != null) {
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return;
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}
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if (shuttleThread.isRequireCharge()) {
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return;
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}
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if (!shuttleThread.isIdle()) {
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return;
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}
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boolean demoSwitchLev = false;
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Config demoSwitchLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoSwitchLev"));
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if (demoSwitchLevConfig != null) {
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if (demoSwitchLevConfig.getValue().equals("Y")) {
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demoSwitchLev = true;
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}
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}
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Config demoRunLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoRunLev"));
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if (demoRunLevConfig == null) {
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return;
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}
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List<Integer> levList = JSON.parseArray(demoRunLevConfig.getValue(), Integer.class);
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if (!demoSwitchLev) {
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String currentLocNo = shuttleProtocol.getCurrentLocNo();
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levList = new ArrayList<>();
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levList.add(Utils.getLev(currentLocNo));
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}
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LocMast targetLoc = null;
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EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
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wrapper.in("lev1", levList);
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wrapper.eq("loc_sts", "O");
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wrapper.last("ORDER BY RAND() LIMIT 1");
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for (int i = 0; i < 3; i++) {
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LocMast locMast = locMastService.selectOne(wrapper);
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if(locMast == null) {
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continue;
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}
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ArrayList<String> locs = new ArrayList<>();
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locs.add(locMast.getLocNo());
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Integer shuttle = Utils.checkGroupLocHasShuttle(locs);
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if(shuttle != null) {
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continue;
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}
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targetLoc = locMast;
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break;
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}
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if(targetLoc == null) {
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return;
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}
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shuttleDispatchUtils.dispatchShuttle(null, targetLoc.getLocNo(), shuttleNo);
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}
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// //跑库程序
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// public synchronized void moveLoc(Integer shuttleNo) {
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// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
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// if (shuttleThread == null) {
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// return;
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// }
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// ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(false);
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// if (shuttleProtocol == null) {
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// return;
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// }
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//
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// //小车开启跑库模式
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// if (!shuttleProtocol.getMoveLoc()) {
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// return;
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// }
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//
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// //小车空闲
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// if (!shuttleThread.isIdle()) {
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// return;
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// }
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//
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// int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前楼层
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//
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// if (shuttleProtocol.getMoveType() == 0) {//跑轨道
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// //根据地图方向决定跑x或y
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// Config config = configService.selectOne(new EntityWrapper<Config>()
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// .eq("code", "direction_map")
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// .eq("status", 1));
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// if (config == null) {
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// //跑库结束
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// shuttleProtocol.setMoveLoc(false);
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// shuttleProtocol.setMoveType(0);
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// shuttleProtocol.setXStart(0);
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// shuttleProtocol.setXTarget(0);
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// shuttleProtocol.setXCurrent(0);
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// shuttleProtocol.setYStart(0);
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// shuttleProtocol.setYTarget(0);
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// shuttleProtocol.setYCurrent(0);
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// return;
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// }
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// String direction = config.getValue();
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//
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// if (direction.equals("y")) {//跑x轴方向，跑完x轴再切换y轴
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// ArrayList<String> locs = new ArrayList<>();
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// for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
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// String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
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// locs.add(locNo);
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// }
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//
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// List<LocMast> locList = locMastService.selectList(new EntityWrapper<LocMast>()
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// .eq("loc_sts", LocStsType.O.toString())
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// .in("loc_no", locs));
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// if (locList.isEmpty()) {
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// //空库位
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// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
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// return;
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// }
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//
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// LocMast start = locList.get(0);
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// LocMast target = locList.get(locList.size() - 1);
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// //判断小车是否在起点位置
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// if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//不在起点位置，调度去起点位置
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// shuttleDispatcher.generateMoveTask(device, start.getLocNo());
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// }else {
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// //在起点位置，调度去目标位置
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// Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
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// if (task != null) {
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// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//切换y轴
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// }
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//
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// if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
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// //y轴也跑完了，结束跑库
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// shuttleProtocol.setMoveLoc(false);
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// shuttleProtocol.setMoveType(0);
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// shuttleProtocol.setXStart(0);
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// shuttleProtocol.setXTarget(0);
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// shuttleProtocol.setXCurrent(0);
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// shuttleProtocol.setYStart(0);
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// shuttleProtocol.setYTarget(0);
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// shuttleProtocol.setYCurrent(0);
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// return;
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// }
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// }
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// }else {//跑y轴方向，跑完y轴再切换x轴
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// ArrayList<String> locs = new ArrayList<>();
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// for (int i = shuttleProtocol.getYCurrent(); i <= shuttleProtocol.getYTarget(); i++) {
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// String locNo = Utils.getLocNo(shuttleProtocol.getXCurrent(), i, lev);
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// locs.add(locNo);
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// }
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//
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// List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
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// .eq(Loc::getLocSts, LocStsType.O.val())
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// .in(Loc::getLocNo, locs));
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// if (locList.isEmpty()) {
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// //空库位
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// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
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// return;
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// }
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//
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// Loc start = locList.get(0);
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// Loc target = locList.get(locList.size() - 1);
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// //判断小车是否在起点位置
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// if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//不在起点位置，调度去起点位置
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// shuttleDispatcher.generateMoveTask(device, start.getLocNo());
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// }else {
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// //在起点位置，调度去目标位置
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// Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
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// if (task != null) {
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// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//切换x轴
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// }
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//
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// if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
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// //y轴也跑完了，结束跑库
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// shuttleProtocol.setMoveLoc(false);
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// shuttleProtocol.setMoveType(0);
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// shuttleProtocol.setXStart(0);
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// shuttleProtocol.setXTarget(0);
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// shuttleProtocol.setXCurrent(0);
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// shuttleProtocol.setYStart(0);
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// shuttleProtocol.setYTarget(0);
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// shuttleProtocol.setYCurrent(0);
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// return;
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// }
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// }
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// }
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//
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// } else if (shuttleProtocol.getMoveType() == 1) {//跑库位
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// //根据地图方向决定跑x或y
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// Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
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// .eq(Dict::getFlag, "direction_map")
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// .eq(Dict::getStatus, 1));
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// if (dict == null) {
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// //跑库结束
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// shuttleProtocol.setMoveLoc(false);
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// shuttleProtocol.setMoveType(0);
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// shuttleProtocol.setXStart(0);
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// shuttleProtocol.setXTarget(0);
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// shuttleProtocol.setXCurrent(0);
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// shuttleProtocol.setYStart(0);
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// shuttleProtocol.setYTarget(0);
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// shuttleProtocol.setYCurrent(0);
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// return;
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// }
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// String direction = dict.getValue();
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//
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// if (direction.equals("y")) {//跑x轴方向，跑完x轴再切换y轴
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// Integer xCurrent = shuttleProtocol.getXCurrent();
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//
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// //获取待跑库位号
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// String locNo = Utils.getLocNo(xCurrent, shuttleProtocol.getYCurrent(), lev);
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// Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
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// .eq(Loc::getLocNo, locNo)
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// .eq(Loc::getLocSts, LocStsType.O.val())
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// .eq(Loc::getHostId, device.getHostId()));
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// if (target == null || shuttleProtocol.getCurrentLocNo().equals(locNo)) {//库位不存在或小车已在当前位置
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// shuttleProtocol.setXCurrent(xCurrent + 1);
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// if (shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
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// //x轴跑完，切换y轴
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// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
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// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
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//
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// if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
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// //y轴也跑完了，结束跑库
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// shuttleProtocol.setMoveLoc(false);
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// shuttleProtocol.setMoveType(0);
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// shuttleProtocol.setXStart(0);
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// shuttleProtocol.setXTarget(0);
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// shuttleProtocol.setXCurrent(0);
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// shuttleProtocol.setYStart(0);
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// shuttleProtocol.setYTarget(0);
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// shuttleProtocol.setYCurrent(0);
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// return;
|
// }
|
// }
|
// return;
|
// }
|
//
|
// //调度去库位
|
// Task task = shuttleDispatcher.generateMoveTask(device, locNo);
|
// if (task == null) {
|
// return;//调度失败
|
// }
|
//
|
// shuttleProtocol.setXCurrent(xCurrent + 1);
|
// if (shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
|
// //x轴跑完，切换y轴
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
|
//
|
// if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
|
// //y轴也跑完了，结束跑库
|
// shuttleProtocol.setMoveLoc(false);
|
// shuttleProtocol.setMoveType(0);
|
// shuttleProtocol.setXStart(0);
|
// shuttleProtocol.setXTarget(0);
|
// shuttleProtocol.setXCurrent(0);
|
// shuttleProtocol.setYStart(0);
|
// shuttleProtocol.setYTarget(0);
|
// shuttleProtocol.setYCurrent(0);
|
// return;
|
// }
|
// }
|
//
|
// }else {//跑y轴方向，跑完y轴再切换x轴
|
// Integer yCurrent = shuttleProtocol.getYCurrent();
|
//
|
// //获取待跑库位号
|
// String locNo = Utils.getLocNo(shuttleProtocol.getXCurrent(), yCurrent, lev);
|
// Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
|
// .eq(Loc::getLocNo, locNo)
|
// .eq(Loc::getLocSts, LocStsType.O.val())
|
// .eq(Loc::getHostId, device.getHostId()));
|
// if (target == null || shuttleProtocol.getCurrentLocNo().equals(locNo)) {//库位不存在或小车已在当前位置
|
// shuttleProtocol.setYCurrent(yCurrent + 1);
|
// if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
|
// //y轴跑完，切换x轴
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
|
//
|
// if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
|
// //x轴也跑完了，结束跑库
|
// shuttleProtocol.setMoveLoc(false);
|
// shuttleProtocol.setMoveType(0);
|
// shuttleProtocol.setXStart(0);
|
// shuttleProtocol.setXTarget(0);
|
// shuttleProtocol.setXCurrent(0);
|
// shuttleProtocol.setYStart(0);
|
// shuttleProtocol.setYTarget(0);
|
// shuttleProtocol.setYCurrent(0);
|
// return;
|
// }
|
// }
|
// return;
|
// }
|
//
|
// //调度去库位
|
// Task task = shuttleDispatcher.generateMoveTask(device, locNo);
|
// if (task == null) {
|
// return;//调度失败
|
// }
|
//
|
// shuttleProtocol.setYCurrent(yCurrent + 1);
|
// if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
|
// //y轴跑完，切换x轴
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
|
//
|
// if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
|
// //x轴也跑完了，结束跑库
|
// shuttleProtocol.setMoveLoc(false);
|
// shuttleProtocol.setMoveType(0);
|
// shuttleProtocol.setXStart(0);
|
// shuttleProtocol.setXTarget(0);
|
// shuttleProtocol.setXCurrent(0);
|
// shuttleProtocol.setYStart(0);
|
// shuttleProtocol.setYTarget(0);
|
// shuttleProtocol.setYCurrent(0);
|
// return;
|
// }
|
// }
|
//
|
// }
|
// } else if (shuttleProtocol.getMoveType() == 2) {//母轨道循环跑
|
// Integer xCurrent = shuttleProtocol.getXCurrent();
|
// Integer yCurrent = shuttleProtocol.getYCurrent();
|
//
|
// String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
|
// //调度去目标位置
|
// if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
|
// if (yCurrent.equals(shuttleProtocol.getYStart())) {
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//小车和目标位置一致，切换库位
|
// } else {
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//小车和目标位置一致，切换库位
|
// }
|
// } else {
|
// Task result = shuttleDispatcher.generateMoveTask(device, locNo);
|
// if (result != null) {//调度成功
|
// if (yCurrent.equals(shuttleProtocol.getYStart())) {
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//切换库位
|
// } else {
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//切换库位
|
// }
|
// }
|
// }
|
// } else if (shuttleProtocol.getMoveType() == 3) {//子轨道循环跑
|
// Integer xCurrent = shuttleProtocol.getXCurrent();
|
// Integer yCurrent = shuttleProtocol.getYCurrent();
|
//
|
// String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
|
// //调度去目标位置
|
// if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
|
// if (xCurrent.equals(shuttleProtocol.getXStart())) {
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//小车和目标位置一致，切换库位
|
// } else {
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//小车和目标位置一致，切换库位
|
// }
|
// } else {
|
// Task result = shuttleDispatcher.generateMoveTask(device, locNo);
|
// if (result != null) {//调度成功
|
// if (xCurrent.equals(shuttleProtocol.getXStart())) {
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//切换库位
|
// } else {
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//切换库位
|
// }
|
// }
|
// }
|
// } else if (shuttleProtocol.getMoveType() == 4) {//取放货
|
// Integer xCurrent = shuttleProtocol.getXCurrent();
|
// if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
|
// shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
|
// return;
|
// }
|
//
|
// //判断x轴货位是否放满
|
// boolean flag = true;
|
// for (Loc loc : locService.list(new LambdaQueryWrapper<Loc>()
|
// .eq(Loc::getHostId, device.getHostId())
|
// .eq(Loc::getRow, xCurrent)
|
// .ge(Loc::getBay, shuttleProtocol.getYStart())
|
// .le(Loc::getBay, shuttleProtocol.getYTarget()))) {
|
// if (loc.getLocSts() != LocStsType.F.val()) {
|
// flag = false;//未满
|
// break;
|
// }
|
// }
|
// if (flag) {
|
// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
|
// return;
|
// }
|
//
|
// //搜索有货库位
|
// List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>()
|
// .eq(Loc::getLocSts, LocStsType.F.val())
|
// .eq(Loc::getHostId, device.getHostId())
|
// .notIn(Loc::getRow, xCurrent)
|
// .eq(Loc::getStatus, 1));
|
// if (list.isEmpty()) {
|
// return;
|
// }
|
//
|
// Loc start = list.get(0);
|
//
|
// List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
|
// .eq(Loc::getHostId, device.getHostId())
|
// .eq(Loc::getStatus, 1)
|
// .eq(Loc::getLocSts, LocStsType.O.val())
|
// .eq(Loc::getRow, xCurrent)
|
// .orderByDesc(Loc::getBay)
|
// .orderByAsc(Loc::getRow));
|
// if (locList.isEmpty()) {
|
// return;
|
// }
|
//
|
// Loc target = locList.get(0);
|
// if (target == null) {
|
// return;
|
// }
|
//
|
// //调度去目标位置
|
// if (!shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
|
// Task task = shuttleDispatcher.generateManuaTakeMoveTask(device, start.getLocNo(), target.getLocNo());
|
//// if(task != null) {//调度成功
|
//// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
|
//// }
|
// }
|
// }
|
// }
|
|
private synchronized CommandResponse write(ShuttleCommand command, Integer shuttleNo) {
|
CommandResponse response = new CommandResponse(false);
|
if (null == command) {
|
News.error("四向穿梭车写入命令为空");
|
response.setMessage("四向穿梭车写入命令为空");
|
return response;
|
}
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
|
if (command.getMode() == ShuttleCommandModeType.MOVE.id
|
|| command.getMode() == ShuttleCommandModeType.IN_LIFT.id
|
|| command.getMode() == ShuttleCommandModeType.OUT_LIFT.id) {//移动
|
response = shuttleThread.move(command);
|
} else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id
|
|| command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//顶升
|
response = shuttleThread.lift(command);
|
} else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id
|
|| command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {//充电
|
response = shuttleThread.charge(command);
|
} else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位
|
response = shuttleThread.reset(command);
|
} else if (command.getMode() == ShuttleCommandModeType.UPDATE_LOCATION.id) {//更新坐标
|
response = shuttleThread.updateLocation(command);
|
}
|
|
News.info("四向穿梭车命令下发，穿梭车号={}，任务数据={}", shuttleNo, JSON.toJSON(command));
|
return response;
|
}
|
|
}
|
