#

Junjie

2024-04-17 c036b0582e39b53516d88f26df587b5a61c4b2f2

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

@@ -1,5 +1,6 @@
package com.zy.asrs.wcs.core.kernel.command;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
@@ -29,10 +30,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

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

/**
 * Created by vincent on 2023/10/23
@@ -83,7 +81,8 @@

        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()));
@@ -99,7 +98,7 @@
                // 如果已经在当前条码则过滤
                if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
                        .eq(Loc::getLocNo, motion.getTarget())
                        .eq(Loc::getHostId, motion.getHostId())).getCode())) {
                            .eq(Loc::getHostId, motion.getHostId())).getCode())) {
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
@@ -108,12 +107,12 @@
            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
@@ -153,7 +152,7 @@
//                }

                //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;
                }

@@ -190,7 +189,7 @@
//                }

                //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;
                }

@@ -199,21 +198,21 @@
                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！！！");
@@ -247,24 +246,24 @@
            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.setTaskNo(0);
            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            shuttleProtocol.setPakMk(true);
            shuttleThread.setSyncTaskNo(0);
            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            shuttleThread.setPakMk(true);
            return true;
        }

//        if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
//            && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
//        ) {
//            return false;
//        }
        if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
            && !shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)
        ) {
            return false;
        }

        //判断设备是否空闲
        if (!shuttleThread.isIdle()) {
@@ -310,7 +309,7 @@
//                }

                //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;
                }

@@ -325,9 +324,9 @@
        }

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

        return true;
    }
@@ -341,7 +340,11 @@
            News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
            return null;
        }
        List<NavigateNode> allNode = new ArrayList<>(nodeList);

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

        List<ShuttleCommand> commands = new ArrayList<>();
        //获取分段路径
@@ -359,7 +362,7 @@
            //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);
            command.setNodes(nodes);//将行走节点添加到每一步命令中
            commands.add(command);
        }