#

Junjie

2024-05-20 4d8bb57c9eb3fda399fd7b9e9de7ecbf754244f7

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

@@ -1,16 +1,18 @@
package com.zy.asrs.wcs.core.action;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.Task;
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.LocStsType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
@@ -32,6 +34,7 @@

import java.util.ArrayList;
import java.util.List;
import java.util.Objects;

@Component
public class ShuttleAction {
@@ -46,6 +49,8 @@
    private LocService locService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;
    @Autowired
    private ObjectMapper objectMapper;

    public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -61,7 +66,7 @@
        ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();

        redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号
        redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
        redisCommand.setTaskNo(assignCommand.getTaskNo());//工作号
        redisCommand.setCommandStep(0);//命令执行步序
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
@@ -71,12 +76,12 @@
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.MOVE_LOC_NO.id
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id) {
                //下发行驶路径
                boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo());
                boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getDeviceTaskNo());
                if (!result) {
                    return false;
                }
            }
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
            shuttleProtocol.setSyncTaskNo(assignCommand.getTaskNo());
            return true;
        }
        return false;
@@ -88,10 +93,13 @@
            return false;
        }

        JSONObject jsonObject = JSON.parseObject(String.valueOf(obj));
        System.out.println(JSON.parseObject(String.valueOf(obj)));
        ShuttleRedisCommand redisCommand = JSON.parseObject(String.valueOf(obj), ShuttleRedisCommand.class);
        System.out.println(JSON.toJSONString(redisCommand));
        ShuttleRedisCommand redisCommand = null;
        try {
            redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
        } catch (JsonProcessingException e) {
            throw new RuntimeException(e);
        }

        if (redisCommand == null) {
            return false;
        }
@@ -106,10 +114,8 @@
            return false;
        }

        //判断设备是否空闲
        if (!shuttleThread.isIdle(() -> {
            return shuttleProtocol.getTaskNo().equals(taskNo);
        })) {
        //判断工作号是否相同
        if (!shuttleProtocol.getTaskNo().equals(taskNo)) {
            return false;
        }

@@ -146,10 +152,11 @@
                // 托盘顶升
                //判断是否顶升到位
                if (shuttleProtocol.getHasLift()) {
                    //判断是否有物
                    if (shuttleProtocol.getHasPallet()) {
                        command.setComplete(true);
                    }
                    command.setComplete(true);
//                    //判断是否有物
//                    if (shuttleProtocol.getHasPallet()) {
//                        command.setComplete(true);
//                    }
                }
            } else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
                // 托盘下降命令
@@ -168,7 +175,7 @@
            }

            // 更新redis数据
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));

            if (!command.getComplete()) {
                return false;
@@ -181,27 +188,27 @@

                // 系统任务
                if (assignCommand.getAuto()) {
//                    if (!assignCommand.getCharge()) {
//                        //对主线程抛出等待确认状态waiting
//                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
//                    }else {
//                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
//                    }
                    if (!assignCommand.getCharge()) {
                        //对主线程抛出等待确认状态waiting
                        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                    }else {
                        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    }
                    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(command));

                    // 手动任务
                } else {
                    //手动模式不抛出等待状态，直接复位空闲状态
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    //任务号清零
                    shuttleProtocol.setTaskNo(0);
                    shuttleThread.setSyncTaskNo(0);
                    //标记复位
                    shuttleProtocol.setPakMk(true);
                    shuttleThread.setPakMk(true);
                    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(command));
                }

                //删除redis
                redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo());
                redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo());
                return false;//禁止再下发命令
            }
        }
@@ -209,17 +216,32 @@
        //取出命令
        ShuttleCommand command = commands.get(commandStep);

        Integer mode = command.getMode();
        //判断设备是否空闲
        if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
            @Override
            public Boolean judgement() {
                if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(mode)) {//关闭充电motion
                    return false;//不需要判断状态
                }
                return true;//需要判断状态
            }
        })) {
            return false;
        }

        // 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;
        }

        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        commandStep++;
        //更新redis数据
        redisCommand.setCommandStep(commandStep);
        //任务数据保存到redis
        redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
        redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        return true;
    }

@@ -229,8 +251,7 @@
        if (shuttleThread == null) {
            return;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(false);
        if (shuttleProtocol == null) {
            return;
        }
@@ -260,35 +281,6 @@
        }

        if (shuttleProtocol.getMoveType() == 0) {//跑轨道
            ArrayList<String> locs = new ArrayList<>();
            for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
                String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
                locs.add(locNo);
            }

            List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
                    .in(Loc::getLocNo, locs));
            if (locList.isEmpty()) {
                //空库位
                shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                return;
            }

            Loc start = locList.get(0);
            Loc target = locList.get(locList.size() - 1);
            //判断小车是否在起点位置
            if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//不在起点位置，调度去起点位置
                shuttleDispatcher.generateMoveTask(device, start.getLocNo());
            }else {
                //在起点位置，调度去目标位置
                if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//小车和目标位置一致，跳过
                }else {
                    shuttleDispatcher.generateMoveTask(device, start.getLocNo());
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                }
            }
        } else if (shuttleProtocol.getMoveType() == 1) {//跑库位
            Integer xCurrent = shuttleProtocol.getXCurrent();
            if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值，进行归零且Y方向+1
                shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
@@ -317,6 +309,35 @@
            } else {
                shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
            }
        } else if (shuttleProtocol.getMoveType() == 1) {//跑库位
            ArrayList<String> locs = new ArrayList<>();
            for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
                String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
                locs.add(locNo);
            }

            List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
                    .in(Loc::getLocNo, locs));
            if (locList.isEmpty()) {
                //空库位
                shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                return;
            }

            Loc start = locList.get(0);
            Loc target = locList.get(locList.size() - 1);
            //判断小车是否在起点位置
            if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//不在起点位置，调度去起点位置
                shuttleDispatcher.generateMoveTask(device, start.getLocNo());
            }else {
                //在起点位置，调度去目标位置
                if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//小车和目标位置一致，跳过
                }else {
                    shuttleDispatcher.generateMoveTask(device, start.getLocNo());
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                }
            }
        } else if (shuttleProtocol.getMoveType() == 2) {//母轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
@@ -362,6 +383,66 @@
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 4) {//取放货
            Integer xCurrent = shuttleProtocol.getXCurrent();
            if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值
                shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
                shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());
                return;
            }

            //判断x轴货位是否放满
            boolean flag = true;
            for (Loc loc : locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getHostId, device.getHostId())
                    .eq(Loc::getRow, xCurrent)
                    .ge(Loc::getBay, shuttleProtocol.getYStart())
                    .le(Loc::getBay, shuttleProtocol.getYTarget()))) {
                if (loc.getLocSts() != LocStsType.F.val()) {
                    flag = false;//未满
                    break;
                }
            }
            if (flag) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                return;
            }

            //搜索有货库位
            List<Loc> list = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocSts, LocStsType.F.val())
                    .eq(Loc::getHostId, device.getHostId())
                    .notIn(Loc::getRow, xCurrent)
                    .eq(Loc::getStatus, 1));
            if (list.isEmpty()) {
                return;
            }

            Loc start = list.get(0);

            List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getHostId, device.getHostId())
                    .eq(Loc::getStatus, 1)
                    .eq(Loc::getLocSts, LocStsType.O.val())
                    .eq(Loc::getRow, xCurrent)
                    .orderByDesc(Loc::getBay)
                    .orderByAsc(Loc::getRow));
            if (locList.isEmpty()) {
                return;
            }

            Loc target = locList.get(0);
            if (target == null) {
                return;
            }

            //调度去目标位置
            if (!shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                Task task = shuttleDispatcher.generateManuaTakeMoveTask(device, start.getLocNo(), target.getLocNo());
//                if(task != null) {//调度成功
//                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
//                }
            }
        }
    }

@@ -386,12 +467,6 @@
            result = shuttleThread.reset(command);
        }
        return result;
    }

    public static void main(String[] args) {
        String s = "{\"commandStep\":0,\"liftSecurityMk\":false,\"shuttleNo\":6,\"wrkNo\":30095,\"assignCommand\":{\"sourceLocNo\":\"3-1-1\",\"auto\":true,\"shuttleNo\":6,\"taskMode\":19,\"charge\":false,\"nodes\":[{\"isInflectionPoint\":false,\"f\":0,\"g\":0,\"h\":0,\"x\":3,\"y\":1,\"nodeZ\":1,\"z\":1,\"direction\":\"top\"},{\"isInflectionPoint\":false,\"f\":1,\"g\":0,\"h\":1,\"x\":2,\"y\":1,\"nodeZ\":1,\"z\":1},{\"isInflectionPoint\":false,\"f\":1,\"g\":1,\"h\":0,\"x\":1,\"y\":1,\"nodeZ\":1,\"z\":1}],\"locNo\":\"1-1-1\",\"taskNo\":30095,\"deviceId\":6,\"commands\":[{\"mode\":1,\"targetLocNo\":\"1-1-1\",\"shuttleNo\":78,\"nodes\":[{\"isInflectionPoint\":false,\"moveDistance\":1000,\"f\":0,\"g\":0,\"h\":0,\"x\":3,\"y\":1,\"nodeZ\":1,\"z\":1,\"direction\":\"top\"},{\"isInflectionPoint\":false,\"moveDistance\":1000,\"f\":1,\"g\":0,\"h\":1,\"x\":2,\"y\":1,\"nodeZ\":1,\"z\":1,\"direction\":\"top\"},{\"isInflectionPoint\":false,\"moveDistance\":1000,\"f\":1,\"g\":1,\"h\":0,\"x\":1,\"y\":1,\"nodeZ\":1,\"z\":1,\"direction\":\"top\"}],\"taskNo\":0,\"body\":\"{\\\"messageName\\\":\\\"runOrder\\\",\\\"nodeX\\\":1,\\\"nodeY\\\":1,\\\"msgTime\\\":\\\"2024-04-12 17:39:16\\\",\\\"nodeZ\\\":1,\\\"deviceNo\\\":78,\\\"taskId\\\":5}\",\"complete\":false}]}}";
        ShuttleRedisCommand shuttleRedisCommand = JSON.parseObject(s, ShuttleRedisCommand.class);
        System.out.println(shuttleRedisCommand);
    }

}