#

Junjie

2024-04-07 07f9e200470b261ebf7e5e9b06cf7fa38770db6e

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -1,11 +1,14 @@
package com.zy.asrs.wcs.core.action;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
@@ -29,6 +32,8 @@
    private RedisUtil redisUtil;
    @Autowired
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private BasShuttleService basShuttleService;

    public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -49,6 +54,11 @@
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
        if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
            //下发行驶路径
            boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo().intValue());
            if (!result) {
                return false;
            }
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo().intValue());
            return true;
        }
@@ -75,10 +85,8 @@
            return false;
        }

        //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
        if (!shuttleProtocol.getIdle()
                || shuttleProtocol.getTaskNo() == 0
                || !shuttleProtocol.getPakMk()) {
        //判断设备是否空闲
        if (!shuttleThread.isIdle()) {
            return false;
        }

@@ -126,8 +134,8 @@
                if (!shuttleProtocol.getHasLift()) {
                    command.setComplete(true);
                }
            } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {
                // 充电开关
            } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
                // 充电开
                //判断小车充电状态
                if (shuttleProtocol.getHasCharge()) {
                    command.setComplete(true);
@@ -175,7 +183,39 @@
            }
        }

        //取出命令
        ShuttleCommand command = commands.get(commandStep);

        // 下发命令
        if (!write(command, device)) {
            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));
            return false;
        }

        return true;
    }

    private synchronized boolean write(ShuttleCommand command, Device device) {
        if (null == command) {
            News.error("四向穿梭车写入命令为空");
            return false;
        }
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        boolean result = false;
        if (command.getMode() == ShuttleCommandModeType.MOVE.id
                || command.getMode() == ShuttleCommandModeType.IN_LIFT.id
                || command.getMode() == ShuttleCommandModeType.OUT_LIFT.id) {//移动
            result = shuttleThread.move(command);
        } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id
                || command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//顶升
            result = shuttleThread.lift(command);
        } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id
                || command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {//充电
            result = shuttleThread.charge(command);
        } else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位
            result = shuttleThread.reset(command);
        }
        return result;
    }

}