#

Junjie

2024-10-13 99573d3503e32befd853dda7cc0180e01a4c8597

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

@@ -9,6 +9,7 @@
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.Task;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.*;
import com.zy.asrs.wcs.core.model.enums.*;
@@ -162,7 +163,7 @@
//                    return false;
//                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                break;
            case SHUTTLE_MOVE_TO_LIFT://进提升机
@@ -282,6 +283,11 @@
            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;

@@ -294,6 +300,15 @@
                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()));
@@ -450,5 +465,62 @@
        return commands;
    }

    public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
        NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo);
        NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo);
        List<NavigateNode> unlockPath = new ArrayList<>();
        unlockPath.add(startNode);
        unlockPath.add(endNode);

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();

        //所使用的路径进行锁定/解锁
        boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//所使用的路径进行解锁
        if (!lockResult) {
            News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
            return null;//解锁失败
        }


        //获取小车移动速度
        Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000);
        Long hostId = shuttleThread.getDevice().getHostId();
        List<NavigateNode> nodeList = NavigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo)));
        if (nodeList == null) {
            News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            return null;
        }

        List<NavigateNode> allNode = new ArrayList<>();
        for (NavigateNode node : nodeList) {
            allNode.add(node.clone());
        }

        List<ShuttleCommand> commands = new ArrayList<>();
        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
        //将每一段路径分成command指令
        for (ArrayList<NavigateNode> nodes : data) {
            //开始路径
            NavigateNode startPath = nodes.get(0);

            //目标路径
            NavigateNode endPath = nodes.get(nodes.size() - 1);
            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
            //通过xy坐标小车二维码
            String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ(), hostId);
            //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, nodes);
            command.setNodes(nodes);//将行走节点添加到每一步命令中
            commands.add(command);
        }

        assignCommand.setNodes(allNode);//当前任务所占用的节点list

        return commands;
    }


}