#

Junjie

2024-10-17 d835d1b51f832889929cdf69010034a30ef44d02

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

@@ -23,19 +23,20 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.BasShuttleOpt;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.CommandResponse;
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.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.BasShuttleOptService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

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

@Component
public class ShuttleAction {
@@ -56,6 +57,8 @@
    private DictService dictService;
    @Autowired
    private ConveyorDispatcher conveyorDispatcher;
    @Autowired
    private BasShuttleOptService basShuttleOptService;

    public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -81,7 +84,8 @@
                    || 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.getDeviceTaskNo());
                CommandResponse response = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getDeviceTaskNo());
                Boolean result = response.getResult();
                if (!result) {
                    return false;
                }
@@ -132,13 +136,36 @@
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        int commandStep = redisCommand.getCommandStep();

        Integer mode = -1;
        if(commandStep < commands.size()) {
            //取出命令
            ShuttleCommand currentCommand = commands.get(commandStep);
            mode = currentCommand.getMode();
        }

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

        // 完结上一条命令
        boolean updateCommand = false;
        if (commandStep != 0) {
            ShuttleCommand command = commands.get(commandStep - 1);
            if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
                // 正常移动
                if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
                    command.setComplete(true);
                    updateCommand = true;
                    //解锁锁定路径，上一条路径
                    List<NavigateNode> nodes = null;
                    try {
@@ -166,6 +193,7 @@
                //判断是否顶升到位
                if (shuttleProtocol.getHasLift()) {
                    command.setComplete(true);
                    updateCommand = true;
//                    //判断是否有物
//                    if (shuttleProtocol.getHasPallet()) {
//                        command.setComplete(true);
@@ -176,19 +204,24 @@
                // 判断是否下降到位
                if (!shuttleProtocol.getHasLift()) {
                    command.setComplete(true);
                    updateCommand = true;
                }
            } 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);
                    updateCommand = true;
                }
            }else {
                command.setComplete(true);//其他命令默认认为完成
                updateCommand = true;
            }

            // 更新redis数据
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
            if(updateCommand) {
                // 更新redis数据
                redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
            }

            if (!command.getComplete()) {
                return false;
@@ -229,22 +262,29 @@
        //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)) {
        CommandResponse response = write(command, device);

        //保存命令日志
        BasShuttleOpt basShuttleOpt = new BasShuttleOpt();
        basShuttleOpt.setTaskNo(redisCommand.getTaskNo());
        basShuttleOpt.setShuttleNo(Integer.parseInt(device.getDeviceNo()));

        basShuttleOpt.setMode(ShuttleCommandModeType.get(command.getMode()).desc);
        basShuttleOpt.setSourceLocNo(assignCommand.getSourceLocNo());
        basShuttleOpt.setDistLocNo(assignCommand.getLocNo());
        basShuttleOpt.setCommand(JSON.toJSONString(command));
        basShuttleOpt.setSystemStatus(JSON.toJSONString(shuttleProtocol));
        basShuttleOpt.setDeviceId(device.getId());
        basShuttleOpt.setDeviceWrk(String.valueOf(command.getTaskNo()));
        basShuttleOpt.setResponse(response.getMessage());//获取响应
        basShuttleOpt.setSendTime(new Date());//指令下发时间
        basShuttleOpt.setSend(response.getResult() ? 1 : 0);
        basShuttleOpt.setHostId(device.getHostId());
        //保存命令流水
        basShuttleOptService.save(basShuttleOpt);

        if (!response.getResult()) {
            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;
        }
@@ -323,8 +363,10 @@
                    shuttleDispatcher.generateMoveTask(device, start.getLocNo());
                }else {
                    //在起点位置，调度去目标位置
                    shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//切换y轴
                    Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    if (task != null) {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//切换y轴
                    }

                    if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
                        //y轴也跑完了，结束跑库
@@ -362,8 +404,10 @@
                    shuttleDispatcher.generateMoveTask(device, start.getLocNo());
                }else {
                    //在起点位置，调度去目标位置
                    shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//切换x轴
                    Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                    if (task != null) {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//切换x轴
                    }

                    if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
                        //y轴也跑完了，结束跑库
@@ -486,6 +530,7 @@
                            return;
                        }
                    }
                    return;
                }

                //调度去库位
@@ -622,27 +667,32 @@
        }
    }

    private synchronized boolean write(ShuttleCommand command, Device device) {
    private synchronized CommandResponse write(ShuttleCommand command, Device device) {
        CommandResponse response = new CommandResponse(false);
        if (null == command) {
            News.error("四向穿梭车写入命令为空");
            return false;
            response.setMessage("四向穿梭车写入命令为空");
            return response;
        }
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        boolean result = false;
        if (command.getMode() == ShuttleCommandModeType.MOVE.id
                || command.getMode() == ShuttleCommandModeType.IN_LIFT.id
                || command.getMode() == ShuttleCommandModeType.OUT_LIFT.id) {//移动
            result = shuttleThread.move(command);
            response = shuttleThread.move(command);
        } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id
                || command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//顶升
            result = shuttleThread.lift(command);
            response = shuttleThread.lift(command);
        } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id
                || command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {//充电
            result = shuttleThread.charge(command);
            response = shuttleThread.charge(command);
        } else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位
            result = shuttleThread.reset(command);
            response = shuttleThread.reset(command);
        } else if (command.getMode() == ShuttleCommandModeType.UPDATE_LOCATION.id) {//更新坐标
            response = shuttleThread.updateLocation(command);
        }
        return result;

//        News.info("四向穿梭车命令下发，穿梭车号={}，任务数据={}", device.getDeviceNo(), JSON.toJSON(command));
        return response;
    }

}