#

Junjie

2024-06-19 877a0dafe0da9f60e09b6b29742573ac33c00f56

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

@@ -4,11 +4,14 @@
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.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.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
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.enums.*;
@@ -19,6 +22,7 @@
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.constant.DeviceRedisConstant;
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;
@@ -69,9 +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())
@@ -81,7 +95,8 @@

        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
        assignCommand.setShuttleNo(deviceNo);
        assignCommand.setTaskNo(motion.getWrkNo());
        assignCommand.setTaskNo(motion.getTaskNo());
        assignCommand.setDeviceTaskNo(shuttleThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
        assignCommand.setSourceLocNo(motion.getOrigin());
        assignCommand.setLocNo(motion.getTarget());
        assignCommand.setDeviceId(Integer.parseInt(motion.getDevice()));
@@ -106,12 +121,12 @@
            case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
                shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getWrkNo(), true));
                shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
                break;
            case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getWrkNo(), false));
                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
                break;
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
                // 判断提升机状态
@@ -134,24 +149,29 @@
                    return false;
                }

//                //判断提升机是否被锁定
//                if (!liftProtocol.getLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getWrkNo(), true);//获取提升机锁定命令
//
//                    LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
//                    liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
//                    liftAssignCommand.setTaskNo(motion.getWrkNo());
//                    ArrayList<LiftCommand> list = new ArrayList<>();
//                    list.add(lockCommand);
//                    liftAssignCommand.setCommands(list);
//
//                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
//                    return false;//等待下一次轮询
//                }
                //判断提升机是否被锁定
                if (!liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return true;
                    }
                })) {
                    //锁定提升机
                    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);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

@@ -177,18 +197,32 @@
                    return false;
                }

//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    return false;//等待下一次轮询
//                }
                //判断提升机是否被锁定
                if (!liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return true;
                    }
                })) {
                    //锁定提升机
                    LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//获取提升机锁定命令
                    if (lockCommand == null) {
                        return false;
                    }

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

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

@@ -197,21 +231,21 @@
                break;
            case SHUTTLE_CHARGE_ON://充电开
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), true));
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_CHARGE_OFF://充电关
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), false));
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_PALLET_LIFT://托盘顶升
                shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT;
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), true));
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), true));
                break;
            case SHUTTLE_PALLET_DOWN://托盘下降
                shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), false));
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
                break;
            default:
                throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
@@ -245,17 +279,19 @@
            return false;
        }

        if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
        if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
            return false;
        }

        //充电任务
        if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
            // 复位穿梭车
            shuttleProtocol.setSyncTaskNo(0);
            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            shuttleProtocol.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)
@@ -283,7 +319,126 @@
                }
                break;
            case SHUTTLE_MOVE_TO_LIFT:
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }
                liftProtocol = liftThread.getStatus();

                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

                //判断提升机是否被锁定
                if (liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return false;
                    }
                })) {
                    //解锁提升机
                    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);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //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
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
                            LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
                        }
                    }
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

                if (liftProtocol.getTaskNo() != 0) {
                    //清空提升机号
                    liftThread.setSyncTaskNo(0);
                }
                break;
            case SHUTTLE_MOVE_FROM_LIFT:
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }
                liftProtocol = liftThread.getStatus();

                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

                //判断提升机是否被锁定
                if (liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return false;
                    }
                })) {
                    //解锁提升机
                    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);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //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
                    if(signalCommand != null) {
                        boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
                        if (!hasKey) {
                            redisUtil.set(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo(), JSON.toJSONString(signalCommand), 120);
                            LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
                            liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
                            liftAssignCommand.setTaskNo(motion.getTaskNo());
                            ArrayList<LiftCommand> list = new ArrayList<>();
                            list.add(signalCommand);
                            liftAssignCommand.setCommands(list);
                            liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                            return false;
                        }
                    }
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

                if (liftProtocol.getTaskNo() != 0) {
                    //清空提升机号
                    liftThread.setSyncTaskNo(0);
                }
                break;
            case SHUTTLE_TRANSPORT_FROM_LIFT:
            case SHUTTLE_TRANSPORT_TO_LIFT:
            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
@@ -297,35 +452,45 @@
                    return false;
                }

//                //判断提升机是否被锁定
//                if (liftProtocol.getLiftLock()) {
//                    //解锁提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(false);//获取提升机解锁命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    return false;
//                }
                //判断提升机是否被锁定
                if (liftThread.isLock(new ExecuteSupport() {
                    @Override
                    public Boolean judgement() {
                        return false;
                    }
                })) {
                    //解锁提升机
                    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);
                    liftAssignCommand.setCommands(list);

                    liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
                    return false;//等待下一次轮询
                }

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
                if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
                    return false;
                }

//                if (liftProtocol.getTaskNo() != 0) {
//                    //清空提升机号
//                    liftThread.setTaskNo(0);
//                }

                if (liftProtocol.getTaskNo() != 0) {
                    //清空提升机号
                    liftThread.setSyncTaskNo(0);
                }
                break;
            default:
                break;
        }

        // 复位穿梭车
        shuttleProtocol.setSyncTaskNo(0);
        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        shuttleProtocol.setPakMk(true);
        shuttleThread.setSyncTaskNo(0);
        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
        shuttleThread.setPakMk(true);

        return true;
    }
@@ -361,7 +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.getTaskNo(), 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);
        }