#

Junjie

2024-04-17 e977a034ff8568e523cea97ca45b0c4473a69685

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

@@ -26,7 +26,6 @@
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;

@@ -63,7 +62,7 @@
        ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();

        redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号
        redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
        redisCommand.setTaskNo(assignCommand.getTaskNo());//工作号
        redisCommand.setCommandStep(0);//命令执行步序
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
@@ -73,12 +72,12 @@
                    || 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());
                boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getDeviceTaskNo());
                if (!result) {
                    return false;
                }
            }
            shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
            shuttleProtocol.setSyncTaskNo(assignCommand.getTaskNo());
            return true;
        }
        return false;
@@ -112,9 +111,17 @@
        }

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

@@ -151,10 +158,11 @@
                // 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
@@ -173,7 +181,7 @@
            }

            // 更新redis数据
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));

            if (!command.getComplete()) {
                return false;
@@ -186,27 +194,27 @@

                // 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
                        shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
                    }else {
                        shuttleThread.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
                } else {
                    //手动模式不抛出等待状态，直接复位空闲状态
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                    //任务号清零
                    shuttleProtocol.setTaskNo(0);
                    shuttleThread.setSyncTaskNo(0);
                    //标记复位
                    shuttleProtocol.setPakMk(true);
                    shuttleThread.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));
                }

                //删除redis
                redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo());
                redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo());
                return false;//禁止再下发命令
            }
        }
@@ -220,11 +228,12 @@
            return false;
        }

        shuttleThread.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));
        redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        return true;
    }

@@ -234,7 +243,6 @@
        if (shuttleThread == null) {
            return;
        }

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