#

Junjie

2024-03-28 0817793961918c1123328bca9a78ca29d95738b8

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java

@@ -3,6 +3,7 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.action.ShuttleAction;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
@@ -14,11 +15,11 @@
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Motion;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.MotionService;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -50,6 +51,8 @@
    private LocService locService;
    @Autowired
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private ShuttleAction shuttleAction;

    // 计算
    public Boolean accept(Motion motion) {
@@ -73,8 +76,8 @@
        }

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
        assignCommand.setShuttleNo(deviceNo.shortValue());
        assignCommand.setTaskNo(motion.getWrkNo().shortValue());
        assignCommand.setShuttleNo(deviceNo);
        assignCommand.setTaskNo(motion.getWrkNo());
        assignCommand.setSourceLocNo(motion.getOrigin());
        assignCommand.setLocNo(motion.getTarget());

@@ -360,21 +363,19 @@
        }

        assert null != shuttleTaskModeType;
        assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());//入出库模式
        assignCommand.setTaskMode(shuttleTaskModeType.id);//入出库模式
        assignCommand.setCommands(shuttleCommands);

        if (motion.getOrigin() != null && motion.getTarget() != null) {
            //所使用的路径进行锁定禁用
            boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), Integer.parseInt(shuttleProtocol.getShuttleNo()), assignCommand.getNodes(), true);//所使用的路径进行锁定禁用
            boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodes(), true);//所使用的路径进行锁定禁用
            if (!lockResult) {
                return false;//锁定失败
            }
//            shuttleThread.assignWork(assignCommand);
        }else {
//            shuttleThread.assignWork(assignCommand);
        }

        return Boolean.TRUE;
        boolean result = shuttleAction.assignWork(shuttleThread.getDevice(), assignCommand);
        return result;
    }

    public Boolean finish(Motion motion) {