#

Junjie

2024-04-12 b7a88cf890d7259d2164bef402be3e8423a38007

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

@@ -2,15 +2,22 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
@@ -23,6 +30,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

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

@Component
@@ -34,6 +42,10 @@
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
    private LocService locService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;

    public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -54,12 +66,17 @@
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
        if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
            //下发行驶路径
            boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo().intValue());
            if (!result) {
                return false;
            if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id
                    || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id
                    || 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());
                if (!result) {
                    return false;
                }
            }
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo().intValue());
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
            return true;
        }
        return false;
@@ -70,7 +87,11 @@
        if (obj == null) {
            return false;
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(obj.toString(), ShuttleRedisCommand.class);

        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));
        if (redisCommand == null) {
            return false;
        }
@@ -85,10 +106,10 @@
            return false;
        }

        //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
        if (!shuttleProtocol.getIdle()
                || shuttleProtocol.getTaskNo() == 0
                || !shuttleProtocol.getPakMk()) {
        //判断设备是否空闲
        if (!shuttleThread.isIdle(() -> {
            return shuttleProtocol.getTaskNo().equals(taskNo);
        })) {
            return false;
        }

@@ -136,8 +157,8 @@
                if (!shuttleProtocol.getHasLift()) {
                    command.setComplete(true);
                }
            } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {
                // 充电开关
            } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
                // 充电开
                //判断小车充电状态
                if (shuttleProtocol.getHasCharge()) {
                    command.setComplete(true);
@@ -160,12 +181,12 @@

                // 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
//                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
//                    }else {
//                        shuttleProtocol.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
@@ -194,7 +215,154 @@
            return false;
        }

        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));
        return true;
    }

    //跑库程序
    public synchronized void moveLoc(Device device) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return;
        }

        //小车开启跑库模式
        if (!shuttleProtocol.getMoveLoc()) {
            return;
        }

        //小车空闲
        if (!shuttleThread.isIdle()) {
            return;
        }

        int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前楼层
        if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
            //跑库结束
            shuttleProtocol.setMoveLoc(false);
            shuttleProtocol.setMoveType(0);
            shuttleProtocol.setXStart(0);
            shuttleProtocol.setXTarget(0);
            shuttleProtocol.setXCurrent(0);
            shuttleProtocol.setYStart(0);
            shuttleProtocol.setYTarget(0);
            shuttleProtocol.setYCurrent(0);
            return;
        }

        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());
                shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                return;
            }

            Integer yCurrent = shuttleProtocol.getYCurrent();
            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocNo, locNo)
                    .eq(Loc::getHostId, device.getHostId()));
            if (target == null) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                return;
            }

//            if (!target.getLocSts().equals("O")) {
//                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
//                return;
//            }

            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//小车和目标位置一致，跳过
            } else {
                shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
            }
        } else if (shuttleProtocol.getMoveType() == 2) {//母轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (yCurrent.equals(shuttleProtocol.getYStart())) {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//小车和目标位置一致，切换库位
                } else {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//小车和目标位置一致，切换库位
                }
            } else {
                Task result = shuttleDispatcher.generateMoveTask(device, locNo);
                if (result != null) {//调度成功
                    if (yCurrent.equals(shuttleProtocol.getYStart())) {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//切换库位
                    } else {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//切换库位
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 3) {//子轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (xCurrent.equals(shuttleProtocol.getXStart())) {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//小车和目标位置一致，切换库位
                } else {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//小车和目标位置一致，切换库位
                }
            } else {
                Task result = shuttleDispatcher.generateMoveTask(device, locNo);
                if (result != null) {//调度成功
                    if (xCurrent.equals(shuttleProtocol.getXStart())) {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//切换库位
                    } else {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//切换库位
                    }
                }
            }
        }
    }

    private synchronized boolean write(ShuttleCommand command, Device device) {
@@ -211,7 +379,8 @@
        } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id
                || command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//顶升
            result = shuttleThread.lift(command);
        } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {//充电
        } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id
                || command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {//充电
            result = shuttleThread.charge(command);
        } else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位
            result = shuttleThread.reset(command);
@@ -219,4 +388,10 @@
        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);
    }

}