#

Junjie

2024-10-16 0f5a5a759221bde50ace126eae797326837f5f72

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

@@ -7,23 +7,21 @@
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.*;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.service.*;
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.core.entity.Motion;
import com.zy.asrs.wcs.rcs.entity.Device;
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.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -59,6 +57,12 @@
    private LiftAction liftAction;
    @Autowired
    private LiftDispatcher liftDispatcher;
    @Autowired
    private BasConveyorService basConveyorService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;

    // 计算
    public Boolean accept(Motion motion) {
@@ -67,6 +71,8 @@
        if (shuttleThread == null) {
            return false;
        }
        Device shuttleDevice = shuttleThread.getDevice();

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (null == shuttleProtocol) {
            return false;
@@ -91,6 +97,11 @@
            return false;
        }

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            return false;
        }

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
        assignCommand.setShuttleNo(deviceNo);
        assignCommand.setTaskNo(motion.getTaskNo());
@@ -111,6 +122,48 @@
                if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
                        .eq(Loc::getLocNo, motion.getTarget())
                            .eq(Loc::getHostId, motion.getHostId())).getCode())) {
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                break;
            case SHUTTLE_TRANSPORT://穿梭车载货行走
                // 如果已经在当前条码则过滤
                if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
                        .eq(Loc::getLocNo, motion.getTarget())
                        .eq(Loc::getHostId, motion.getHostId())).getCode())) {
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;
                break;
            case SHUTTLE_TRANSPORT_TO_CONVEYOR://穿梭车载货进输送线
                BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(motion.getDockNo());//获取输送站点
                if (originStaObj == null) {
                    return false;
                }

                BasConveyor basConveyor = basConveyorService.getById(originStaObj.getConveyorId());
                if(basConveyor == null) {
                    return false;
                }

                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
                if (devpThread == null) {
                    return false;
                }
                StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(motion.getDockNo()));//输送站
                if (staProtocol == null) {
                    return false;
                }
                if (!(staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable())) {
                    return false;
                }

                // 如果已经在当前条码则过滤
                if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
                        .eq(Loc::getLocNo, motion.getTarget())
                        .eq(Loc::getHostId, motion.getHostId())).getCode())) {
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
@@ -224,6 +277,21 @@
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
                shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
                break;
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;

                //获取全部待机位
                List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);
                //获取可用待机位
                String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), shuttleFromLiftStandbyLoc, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);

                //更新动作可用待机位
                motion.setTarget(shuttleFromLiftStandbyLoc);
                motion.setUpdateTime(new Date());
                motionService.updateById(motion);

                break;
            default:
                throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
        }
@@ -282,6 +350,11 @@
            return false;
        }

        Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
        if (task == null) {
            return false;
        }

        LiftThread liftThread = null;
        LiftProtocol liftProtocol = null;

@@ -291,9 +364,20 @@
            case SHUTTLE_MOVE_DOWN_PALLET:
            case SHUTTLE_MOVE_TO_CONVEYOR:
            case SHUTTLE_MOVE_FROM_CONVEYOR:
            case SHUTTLE_TRANSPORT_TO_CONVEYOR://穿梭车载货进输送线
            case SHUTTLE_TRANSPORT://穿梭车载货行走
                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

                if (Optional.ofNullable(motion.getReleaseShuttle()).orElse(0) == 1) {//释放穿梭车
                    task.setShuttleNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }

                break;
            case SHUTTLE_MOVE_TO_LIFT:
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
@@ -397,6 +481,19 @@
                    return false;
                }
                break;
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

                if (Optional.ofNullable(motion.getReleaseShuttle()).orElse(0) == 1) {//释放穿梭车
                    task.setShuttleNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }
                break;
            default:
                break;
        }