#led

zjj

2024-11-25 0f69561e397093b5165c4aac58530721d5c62178

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

@@ -15,6 +15,7 @@
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
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.LiftProtocol;
@@ -60,6 +61,8 @@
    private BasConveyorService basConveyorService;
    @Autowired
    private BasConveyorStaService basConveyorStaService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;

    // 计算
    public Boolean accept(Motion motion) {
@@ -68,6 +71,8 @@
        if (shuttleThread == null) {
            return false;
        }
        Device shuttleDevice = shuttleThread.getDevice();

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (null == shuttleProtocol) {
            return false;
@@ -120,7 +125,7 @@
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
                break;
            case SHUTTLE_TRANSPORT://穿梭车载货行走
                // 如果已经在当前条码则过滤
@@ -131,6 +136,15 @@
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;

                if (motion.getReleaseLift() == 2) {//执行中释放提升机
                    task.setLiftNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }

                break;
            case SHUTTLE_TRANSPORT_TO_CONVEYOR://穿梭车载货进输送线
                BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(motion.getDockNo());//获取输送站点
@@ -161,17 +175,17 @@
                        .eq(Loc::getHostId, motion.getHostId())).getCode())) {
                    return true;
                }
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
                break;
            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;
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_LIFT;
                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;
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_DOWN;
                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
                break;
            case SHUTTLE_MOVE_FROM_LIFT://出提升机
@@ -211,7 +225,7 @@
//                }

                shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_OUT_LIFT;
                break;
            case SHUTTLE_MOVE_TO_LIFT://进提升机
                // 判断提升机状态
@@ -247,16 +261,16 @@
//                    return false;
//                }

                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.MOVE_TO_LIFT;
                break;
            case SHUTTLE_CHARGE_ON://充电开
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE_ON;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_CHARGE_OFF://充电关
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE_OFF;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
                assignCommand.setCharge(Boolean.TRUE);
                break;
@@ -271,6 +285,21 @@
            case SHUTTLE_UPDATE_LOCATION://小车坐标更新
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
                shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
                break;
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;

                //获取全部待机位
                List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);
                //获取可用待机位
                String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), shuttleFromLiftStandbyLoc, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);

                //更新动作可用待机位
                motion.setTarget(shuttleFromLiftStandbyLoc);
                motion.setUpdateTime(new Date());
                motionService.updateById(motion);

                break;
            default:
                throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
@@ -461,6 +490,19 @@
                    return false;
                }
                break;
            case SHUTTLE_MOVE_STANDBY://穿梭车移动到待机位
                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

                if (Optional.ofNullable(motion.getReleaseShuttle()).orElse(0) == 1) {//释放穿梭车
                    task.setShuttleNo(0);
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        return false;
                    }
                }
                break;
            default:
                break;
        }
@@ -529,7 +571,6 @@
            News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
            return null;//解锁失败
        }


        //获取小车移动速度
        Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000);