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.domain.param.CreateLocMoveTaskParam;
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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.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.model.NavigateNode;
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import com.zy.common.service.CommonService;
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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.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.TrafficControlDataModel;
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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.core.thread.TrafficControlThread;
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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.*;
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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 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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@Autowired
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private CommonService commonService;
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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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TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
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if(trafficControlThread == null){
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return false;
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}
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//Clear Traffic Control
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trafficControlThread.forceCancelTrafficControl(shuttleNo);
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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 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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News.info("[RCS Debug] Execute check command {},{}", shuttleNo, taskNo);
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//检测命令
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ShuttleCheckCommandResultType checked = checkCommand(redisCommand, shuttleNo);
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News.info("[RCS Debug] Execute check command complete {},{}", shuttleNo, taskNo);
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if (checked.equals(ShuttleCheckCommandResultType.FAIL)) {
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return false;
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}
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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List<ShuttleCommand> commands = assignCommand.getCommands();
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if (commands.isEmpty()) {
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return false;
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}
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int commandStep = redisCommand.getCommandStep();
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if(commandStep >= commands.size()){
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return false;
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}
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//取出命令
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ShuttleCommand command = null;
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if (checked.equals(ShuttleCheckCommandResultType.SUCCESS)) {
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//非连续指令，需要检测上一条指令是否完成
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if (commandStep > 0) {
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ShuttleCommand lastCommand = commands.get(commandStep - 1);
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if (!lastCommand.getComplete()) {
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return false;//指令未完成
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}
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}
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command = commands.get(commandStep);
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} else if (checked.equals(ShuttleCheckCommandResultType.SUCCESS_GO)) {
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//连续指令直接取数据
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command = commands.get(commandStep);
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}
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if(command == null){
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return false;
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}
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//移动命令，锁定路径
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if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
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TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
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if (trafficControlThread == null) {
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return false;
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}
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List<NavigateNode> nodes = JSON.parseArray(JSON.toJSONString(command.getNodes()), NavigateNode.class);
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Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_LOCK_APPLY.key + shuttleNo);
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if (object == null) {
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//申请管制
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News.info("[RCS Debug] Execute apply control {},{}", shuttleNo, taskNo);
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redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_LOCK_APPLY.key + shuttleNo, "lock", 10);
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applyTrafficControl(commands, nodes, shuttleNo, taskNo);
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News.info("[RCS Debug] Execute apply control complete {},{}", shuttleNo, taskNo);
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}
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News.info("[RCS Debug] Execute query control {},{}", shuttleNo, taskNo);
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//查询管制
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boolean apply = queryTrafficControl(shuttleNo, taskNo);
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News.info("[RCS Debug] Execute query control complete {},{}", shuttleNo, taskNo);
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if(!apply){
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return false;//申请失败
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}
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if (checked.equals(ShuttleCheckCommandResultType.SUCCESS_GO)) {
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nodes.remove(0);
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}
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boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(command.getTargetLocNo()), shuttleNo, nodes, true);//锁定路径
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if (!result) {
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News.error("{} device can't lock path!", shuttleNo);
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shuttleThread.offerSystemMsg("{} device can't lock path!", shuttleNo);
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trafficControlThread.trafficReportError(shuttleNo, taskNo);
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return false;//路径锁定失败
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}
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}
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News.info("[RCS Debug] Execute send command {},{}", shuttleNo, taskNo);
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// 下发命令
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CommandResponse response = write(command, shuttleNo);
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News.info("[RCS Debug] Execute send command complete {},{}", shuttleNo, taskNo);
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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 += 1;
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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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/**
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* 检测命令
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* 0:未通过 1:通过 2:通过且可提前下发指令
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*/
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private ShuttleCheckCommandResultType checkCommand(ShuttleRedisCommand redisCommand, Integer shuttleNo) {
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TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
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if(trafficControlThread == null){
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return ShuttleCheckCommandResultType.FAIL;
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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 ShuttleCheckCommandResultType.FAIL;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return ShuttleCheckCommandResultType.FAIL;
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}
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int commandStep = redisCommand.getCommandStep();
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if (commandStep == 0) {
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return ShuttleCheckCommandResultType.SUCCESS;//第一条命令无需检测
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}
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ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
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List<ShuttleCommand> commands = assignCommand.getCommands();
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if (commands.isEmpty()) {
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return ShuttleCheckCommandResultType.FAIL;
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}
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boolean supportContinuously = false;
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int checkIdx = commandStep - 2;
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if (checkIdx < 0) {
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supportContinuously = true;
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checkIdx = commandStep - 1;
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}
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ShuttleCommand last2Command = commands.get(checkIdx);
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if(last2Command.getComplete()){
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supportContinuously = true;
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checkIdx = commandStep - 1;
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}
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ShuttleCommand lastCommand = commands.get(checkIdx);
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if (!lastCommand.getComplete()) {
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//检测更新命令完成
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boolean checked = updateCommandComplete(checkIdx, commands, shuttleNo);
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if (checked) {
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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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}else {
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//小车移动连续下发指令
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if (assignCommand.getShuttleMoveCommandsContinuously()) {
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if (!supportContinuously) {
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return ShuttleCheckCommandResultType.FAIL;
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}
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//移动指令
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if(lastCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
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return ShuttleCheckCommandResultType.FAIL;
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}
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List<NavigateNode> nodes = lastCommand.getNodes();
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NavigateNode startNode = nodes.get(0);
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if (!startNode.getLinePartAllowGo()) {//直线段部分，允许直接行走
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return ShuttleCheckCommandResultType.FAIL;
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}
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//直线段数据标识
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Long linePartFlag = startNode.getLinePartFlag();
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if(commandStep < commands.size()){
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//取指令
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ShuttleCommand currentCommand = commands.get(commandStep);
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if(currentCommand.getMode() != ShuttleCommandModeType.MOVE.id) {
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return ShuttleCheckCommandResultType.FAIL;
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}
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List<NavigateNode> currentNodes = currentCommand.getNodes();
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NavigateNode currentStartNode = currentNodes.get(0);
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if(!currentStartNode.getLinePartAllowGo()) {//直线段部分，允许直接行走
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return ShuttleCheckCommandResultType.FAIL;
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}
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if(currentStartNode.getLinePartFlag().equals(linePartFlag)) {
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//数据标识一致
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return ShuttleCheckCommandResultType.SUCCESS_GO;//允许小车移动连续下发指令
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}
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}
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}
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return ShuttleCheckCommandResultType.FAIL;
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}
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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.getTaskMode() == ShuttleTaskModeType.UPDATE_LOCATION.id) {//更新坐标无需等待确认
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//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("四向穿梭车更新坐标任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(endCommand));
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}else {
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if (!assignCommand.getCharge()) {
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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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} 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(endCommand));
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}
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} else {// 手动任务
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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(endCommand));
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}
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//申请取消管制
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cancelTrafficControl(shuttleNo, shuttleProtocol.getTaskNo());
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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 ShuttleCheckCommandResultType.FAIL;//禁止再下发命令
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}
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return ShuttleCheckCommandResultType.SUCCESS;
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}
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//检测更新命令完成
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private boolean updateCommandComplete(Integer commandIdx, List<ShuttleCommand> commands, 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 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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//判断设备是否空闲
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boolean deviceIdle = shuttleThread.isDeviceIdle();
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ShuttleCommand command = commands.get(commandIdx);
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if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
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// 正常移动
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List<String> targetPoints = new ArrayList<>();
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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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NavigateNode startNode = nodes.get(0);
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Long linePartFlag = startNode.getLinePartFlag();
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NavigateNode targetNode = nodes.get(nodes.size() - 1);
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targetPoints.add(targetNode.getX() + "-" + targetNode.getY());
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for (int i = commandIdx + 1; i < commands.size(); i++) {
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ShuttleCommand nextCommand = commands.get(i);
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if (nextCommand.getMode() == ShuttleCommandModeType.MOVE.id) {
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List<NavigateNode> nextCommandNodes = nextCommand.getNodes();
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NavigateNode nextStartNode = nextCommandNodes.get(0);
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Long nextLinePartFlag = nextStartNode.getLinePartFlag();
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if(nextLinePartFlag.equals(linePartFlag)) {
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for (NavigateNode node : nextCommandNodes) {
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String key = node.getX() + "-" + node.getY();
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if(!targetPoints.contains(key)) {
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targetPoints.add(key);
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}
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}
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}
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}
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}
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TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
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if (trafficControlThread == null) {
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return false;
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}
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//上报交管
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News.info("[RCS Debug] Execute check command report traffic {},{}", shuttleNo, shuttleProtocol.getTaskNo());
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trafficControlThread.trafficReport(command.getNodesDeepCopy(), shuttleNo, shuttleProtocol.getTaskNo());
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News.info("[RCS Debug] Execute check command report traffic complete {},{}", shuttleNo, shuttleProtocol.getTaskNo());
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String currentLocNo = shuttleProtocol.getCurrentLocNo();
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if (currentLocNo == null) {
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return false;
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}
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if (targetPoints.contains(Utils.getRow(currentLocNo) + "-" + Utils.getBay(currentLocNo))) {
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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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command.setComplete(true);
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}else {
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return false;
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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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if (!deviceIdle) {
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return false;//设备不空闲
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}
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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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// //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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}else {
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return false;
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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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if (!deviceIdle) {
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return false;//设备不空闲
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}
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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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}else {
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return false;
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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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}else {
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return false;
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}
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} else if (command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {
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//关闭充电
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command.setComplete(true);
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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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}
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return true;
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}
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//申请管制
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public boolean applyTrafficControl(List<ShuttleCommand> commands, List<NavigateNode> nodeList, Integer shuttleNo, Integer taskNo) {
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TrafficControlThread trafficControlThread = (TrafficControlThread) SlaveConnection.get(SlaveType.TrafficControl, 1);
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if (trafficControlThread == null) {
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return false;
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}
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List<NavigateNode> totalNodeList = new ArrayList<>();
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for (ShuttleCommand command : commands) {
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if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
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List<NavigateNode> deepCopy = command.getNodesDeepCopy();
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if (deepCopy != null) {
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totalNodeList.addAll(deepCopy);
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}
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}
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}
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return trafficControlThread.applyTrafficControl(totalNodeList, nodeList, shuttleNo, taskNo);
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}
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//查询是否申请管制成功
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public boolean queryTrafficControl(Integer shuttleNo, Integer taskNo) {
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Object object = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SUCCESS_APPLY.key + shuttleNo + "_" + taskNo);
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if (object == null) {
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return false;
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}
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return true;
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}
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public boolean cancelTrafficControl(Integer shuttleNo, Integer taskNo) {
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TrafficControlDataModel model = new TrafficControlDataModel();
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model.setShuttleNo(shuttleNo);
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model.setTaskNo(taskNo);
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redisUtil.set(RedisKeyType.TRAFFIC_CONTROL_CANCEL_LIST.key + shuttleNo + "_" + taskNo, model);
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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);
|
if(shuttleWorking != null) {
|
return;
|
}
|
|
WrkMast chargeWorking = wrkMastService.selectChargeWorking(shuttleNo);
|
if (chargeWorking != null) {
|
return;
|
}
|
|
if (!shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.NONE)) {
|
return;
|
}
|
|
if (!shuttleThread.isIdle()) {
|
return;
|
}
|
|
boolean demoSwitchLev = false;
|
Config demoSwitchLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoSwitchLev"));
|
if (demoSwitchLevConfig != null) {
|
if (demoSwitchLevConfig.getValue().equals("Y")) {
|
demoSwitchLev = true;
|
}
|
}
|
|
Config demoRunLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoRunLev"));
|
if (demoRunLevConfig == null) {
|
return;
|
}
|
List<Integer> levList = JSON.parseArray(demoRunLevConfig.getValue(), Integer.class);
|
|
if (!demoSwitchLev) {
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
levList = new ArrayList<>();
|
levList.add(Utils.getLev(currentLocNo));
|
}
|
|
LocMast targetLoc = null;
|
EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
|
wrapper.in("lev1", levList);
|
wrapper.eq("loc_sts", "O");
|
wrapper.last("ORDER BY RAND() LIMIT 1");
|
for (int i = 0; i < 3; i++) {
|
LocMast locMast = locMastService.selectOne(wrapper);
|
if(locMast == null) {
|
continue;
|
}
|
|
ArrayList<String> locs = new ArrayList<>();
|
locs.add(locMast.getLocNo());
|
Integer shuttle = Utils.checkGroupLocHasShuttle(locs);
|
if(shuttle != null) {
|
continue;
|
}
|
|
targetLoc = locMast;
|
break;
|
}
|
|
if(targetLoc == null) {
|
return;
|
}
|
|
shuttleDispatchUtils.dispatchShuttle(null, targetLoc.getLocNo(), shuttleProtocol.getShuttleNo());
|
}
|
|
public synchronized void demoModeCargoMove() {
|
Config demoCargoMoveConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoCargoMove"));
|
if (demoCargoMoveConfig == null) {
|
return;
|
}
|
|
if (!demoCargoMoveConfig.getValue().equals("Y")) {
|
return;
|
}
|
|
|
Config demoRunLevConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoRunLev"));
|
if (demoRunLevConfig == null) {
|
return;
|
}
|
List<Integer> levList = JSON.parseArray(demoRunLevConfig.getValue(), Integer.class);
|
Random random = new Random();
|
int index = random.nextInt(levList.size());
|
Integer lev = levList.get(index);
|
|
//获取楼层小车数量
|
int shuttleCountByLev = shuttleDispatchUtils.getShuttleCountByLev(lev);
|
//获取楼层货物搬运任务
|
int currentLevTask = 0;
|
for (WrkMast wrkMast : wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("io_type", WrkIoType.LOC_MOVE.id))) {
|
if (Utils.getLev(wrkMast.getLocNo()) == lev) {
|
currentLevTask += 1;
|
}
|
}
|
|
//搬运任务数量超过小车数量，暂时不生成新任务
|
if (currentLevTask > shuttleCountByLev) {
|
return;
|
}
|
|
LocMast sourceLoc = null;
|
EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
|
wrapper.eq("lev1", lev);
|
wrapper.eq("loc_sts", "F");
|
wrapper.last("ORDER BY RAND() LIMIT 1");
|
for (int i = 0; i < 3; i++) {
|
LocMast locMast = locMastService.selectOne(wrapper);
|
if(locMast == null) {
|
continue;
|
}
|
|
sourceLoc = locMast;
|
break;
|
}
|
|
if(sourceLoc == null) {
|
return;
|
}
|
|
LocMast targetLoc = null;
|
EntityWrapper<LocMast> targetWrapper = new EntityWrapper<>();
|
targetWrapper.eq("lev1", lev);
|
targetWrapper.eq("loc_sts", "O");
|
targetWrapper.last("ORDER BY RAND() LIMIT 1");
|
for (int i = 0; i < 3; i++) {
|
LocMast locMast = locMastService.selectOne(targetWrapper);
|
if(locMast == null) {
|
continue;
|
}
|
|
targetLoc = locMast;
|
break;
|
}
|
|
if(targetLoc == null) {
|
return;
|
}
|
|
try {
|
CreateLocMoveTaskParam param = new CreateLocMoveTaskParam();
|
param.setSourceLocNo(sourceLoc.getLocNo());
|
param.setLocNo(targetLoc.getLocNo());
|
param.setTaskPri(13);
|
|
boolean result = commonService.createLocMoveTask(param);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
public synchronized void demoModeRunLoc(Integer shuttleNo) {
|
Config demoModeRunLocConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "demoModeRunLoc"));
|
if (demoModeRunLocConfig == null) {
|
return;
|
}
|
|
if (!demoModeRunLocConfig.getValue().equals("Y")) {
|
return;
|
}
|
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
|
if (shuttleThread == null) {
|
return;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return;
|
}
|
|
if (!shuttleThread.isIdle()) {
|
return;
|
}
|
|
LocMast targetLoc = null;
|
EntityWrapper<LocMast> wrapper = new EntityWrapper<>();
|
wrapper.eq("lev1", Utils.getLev(shuttleProtocol.getCurrentLocNo()));
|
wrapper.notIn("loc_sts", "X");
|
wrapper.isNull("loc_type");
|
wrapper.last("ORDER BY RAND() LIMIT 1");
|
for (int i = 0; i < 3; i++) {
|
LocMast locMast = locMastService.selectOne(wrapper);
|
if(locMast == null) {
|
continue;
|
}
|
|
targetLoc = locMast;
|
break;
|
}
|
|
if(targetLoc == null) {
|
return;
|
}
|
|
boolean result = shuttleDispatchUtils.dispatchShuttle(null, targetLoc.getLocNo(), shuttleProtocol.getShuttleNo());
|
if (result) {
|
targetLoc.setLocType("Y");
|
locMastService.updateById(targetLoc);
|
}
|
}
|
|
public synchronized boolean clearPath(Integer shuttleNo) {
|
return navigateMapUtils.clearPath(shuttleNo);
|
}
|
|
private 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;
|
}
|
|
}
|
