#

Junjie

2024-04-13 dd3fb4ab39ede8427e3f106fc5c654ea6562365c

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

@@ -1,9 +1,9 @@
package com.zy.asrs.wcs.core.action;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.NavigateNode;
@@ -11,6 +11,7 @@
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;
@@ -25,6 +26,7 @@
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import org.aspectj.apache.bcel.generic.RET;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

@@ -44,6 +46,8 @@
    private LocService locService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;
    @Autowired
    private ObjectMapper objectMapper;

    public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -64,12 +68,17 @@
        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.setSyncTaskNo(assignCommand.getTaskNo());
            return true;
        }
        return false;
@@ -80,7 +89,14 @@
        if (obj == null) {
            return false;
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(obj.toString(), ShuttleRedisCommand.class);

        ShuttleRedisCommand redisCommand = null;
        try {
            redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
        } catch (JsonProcessingException e) {
            throw new RuntimeException(e);
        }

        if (redisCommand == null) {
            return false;
        }
@@ -96,7 +112,17 @@
        }

        //判断设备是否空闲
        if (!shuttleThread.isIdle()) {
        if (!shuttleThread.isDeviceIdle()) {
            return false;
        }
//        if (!shuttleThread.isIdle(() -> {
//            return shuttleProtocol.getTaskNo().equals(taskNo);
//        })) {
//            return false;
//        }

        //判断工作号是否相同
        if (!shuttleProtocol.getTaskNo().equals(taskNo)) {
            return false;
        }

@@ -133,10 +159,11 @@
                // 托盘顶升
                //判断是否顶升到位
                if (shuttleProtocol.getHasLift()) {
                    //判断是否有物
                    if (shuttleProtocol.getHasPallet()) {
                        command.setComplete(true);
                    }
                    command.setComplete(true);
//                    //判断是否有物
//                    if (shuttleProtocol.getHasPallet()) {
//                        command.setComplete(true);
//                    }
                }
            } else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
                // 托盘下降命令
@@ -181,7 +208,7 @@
                    //手动模式不抛出等待状态，直接复位空闲状态
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    //任务号清零
                    shuttleProtocol.setTaskNo(0);
                    shuttleProtocol.setSyncTaskNo(0);
                    //标记复位
                    shuttleProtocol.setPakMk(true);
                    News.info("四向穿梭车手动任务执行完成，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
@@ -202,6 +229,12 @@
            return false;
        }

        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
        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;
    }