#

Junjie

2024-04-17 e977a034ff8568e523cea97ca45b0c4473a69685

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

@@ -1,10 +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.common.ExecuteSupport;
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;
@@ -46,6 +45,8 @@
    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());
@@ -61,7 +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
@@ -71,12 +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;
@@ -88,10 +89,13 @@
            return false;
        }

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

        if (redisCommand == null) {
            return false;
        }
@@ -107,9 +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;
        }

@@ -146,10 +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
@@ -168,7 +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;
@@ -181,27 +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
            }
        }
@@ -215,11 +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;
    }

@@ -229,7 +243,6 @@
        if (shuttleThread == null) {
            return;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return;
@@ -386,12 +399,6 @@
            result = shuttleThread.reset(command);
        }
        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);
    }

}