#

zjj

2024-06-19 37733cc39c04b863a0b997c7fa3d9ac6a24e08be

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

@@ -73,9 +73,19 @@
        if (null == shuttleProtocol) {
            return false;
        }
        if (!shuttleThread.isIdle()) {//设备不空闲

        if (!shuttleThread.isIdle(new ExecuteSupport() {
            @Override
            public Boolean judgement() {
                if (Objects.equals(MotionCtgType.get(motion.getMotionCtgEl()), MotionCtgType.SHUTTLE_CHARGE_OFF)) {//非关闭充电motion，需要判断设备状态
                    return false;//不需要判断状态
                }
                return true;//需要判断状态
            }
        })) {//设备不空闲
            return false;
        }

        if (motionService.count(new LambdaQueryWrapper<Motion>()
                .eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
                .eq(Motion::getDevice, motion.getDevice())
@@ -147,13 +157,13 @@
                    }
                })) {
                    //锁定提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -195,7 +205,7 @@
                    }
                })) {
                    //锁定提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    if (lockCommand == null) {
                        return false;
                    }
@@ -204,7 +214,7 @@
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -275,11 +285,13 @@

        //充电任务
        if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
            // 复位穿梭车
            shuttleThread.setSyncTaskNo(0);
            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            shuttleThread.setPakMk(true);
            return true;
            if (shuttleProtocol.getHasCharge() || shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)) {
                // 复位穿梭车
                shuttleThread.setSyncTaskNo(0);
                shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                shuttleThread.setPakMk(true);
                return true;
            }
        }

        if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
@@ -325,13 +337,13 @@
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -340,7 +352,7 @@

                //判断小车是否已到位
                if (liftProtocol.getHasCar()) {
                    LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                    List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//获取小车已到位命令
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
@@ -348,7 +360,7 @@
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            list.addAll(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
@@ -385,13 +397,13 @@
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -400,7 +412,7 @@

                //判断小车是否已离开
                if (!liftProtocol.getHasCar()) {
                    LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//获取小车已驾离命令
                    List<LiftCommand> signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//获取小车已驾离命令
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
@@ -409,7 +421,7 @@
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            list.addAll(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
@@ -448,13 +460,13 @@
                    }
                })) {
                    //解锁提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令
                    List<LiftCommand> lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//获取提升机解锁命令

                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                    liftAssignCommand.setTaskNo(motion.getTaskNo());
                    ArrayList<LiftCommand> list = new ArrayList<>();
                    list.add(lockCommand);
                    list.addAll(lockCommand);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -514,7 +526,7 @@
            //通过xy坐标小车二维码
            String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ(), hostId);
            //获取移动命令
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed);
            ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
            command.setNodes(nodes);//将行走节点添加到每一步命令中
            commands.add(command);
        }