#双工位堆垛机任务下发控制优化

Junjie

8 小时以前 f305e5244e059c5e43566412f69b180e2e790026

 src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java

@@ -87,10 +87,14 @@
                        List<SendDualCrnCommandParam> commandList = (List<SendDualCrnCommandParam>) task.getData();
                        for (SendDualCrnCommandParam sendDualCrnCommandParam : commandList) {
                            DualCrnCommand dualCrnCommand = sendDualCrnCommandParam.getCommands().get(0);
                            redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + dualCrnCommand.getTaskNo(), sendDualCrnCommandParam.getCommandIdx(), 60 * 60 * 24);
                            redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + dualCrnCommand.getTaskNo(), 0, 60 * 60 * 24);
                            redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + dualCrnCommand.getTaskNo(), JSON.toJSONString(sendDualCrnCommandParam, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                            if (sendDualCrnCommandParam.getStation() == 1) {
                                redisUtil.set(RedisKeyType.DUAL_CRN_STATION1_FLAG.key + crnProtocol.getCrnNo(), dualCrnCommand.getTaskNo(), 60 * 60 * 24);
                            }else {
                                redisUtil.set(RedisKeyType.DUAL_CRN_STATION2_FLAG.key + crnProtocol.getCrnNo(), dualCrnCommand.getTaskNo(), 60 * 60 * 24);
                            }
                        }

                        redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo(), JSON.toJSONString(commandList, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    } else if (step == 3) {
                        sendCommand((DualCrnCommand) task.getData());
                    }
@@ -120,11 +124,7 @@
                        continue;
                    }

                    Object commandListObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo());
                    if (commandListObj == null) {
                        continue;
                    }
                    List<SendDualCrnCommandParam> commandList = JSON.parseArray(commandListObj.toString(), SendDualCrnCommandParam.class);
                    List<SendDualCrnCommandParam> commandList = getDualCrnCommandList();
                    for (SendDualCrnCommandParam commandParam : commandList) {
                        processStation(commandParam);
                    }
@@ -154,23 +154,27 @@

        boolean send = false;
        if (station == 1) {
            if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                if (crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)) {
                    send = true;
                }
            } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                    send = true;
            if (crnProtocol.getTaskSend() == 0) {
                if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                    if (crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)) {
                        send = true;
                    }
                } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                    if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        send = true;
                    }
                }
            }
        }else {
            if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)) {
                    send = true;
                }
            } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                    send = true;
            if (crnProtocol.getTaskSendTwo() == 0) {
                if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
                    if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)) {
                        send = true;
                    }
                } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
                    if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
                        send = true;
                    }
                }
            }
        }
@@ -242,6 +246,7 @@

        //工位1
        crnProtocol.setTaskNo(0);
        crnProtocol.setDeviceTaskNo(0);
        crnProtocol.setStatus(-1);
        crnProtocol.setBay(0);
        crnProtocol.setLevel(0);
@@ -252,6 +257,7 @@

        //工位2
        crnProtocol.setTaskNoTwo(0);
        crnProtocol.setDeviceTaskNoTwo(0);
        crnProtocol.setStatusTwo(-1);
        crnProtocol.setBayTwo(0);
        crnProtocol.setLevelTwo(0);
@@ -311,18 +317,20 @@
        crnProtocol.setMode(crnStatus.getMode());

        //工位1
        crnProtocol.setTaskNo(crnStatus.getTaskNo());
        crnProtocol.setDeviceTaskNo(crnStatus.getTaskNo());
        crnProtocol.setStatus(crnStatus.getStatus());
        crnProtocol.setForkPos(crnStatus.getForkPos());
        crnProtocol.setLoaded(crnStatus.getLoaded());
        crnProtocol.setTaskReceive(crnStatus.getTaskReceive());
        crnProtocol.setTaskSend(crnStatus.getTaskSend());

        //工位2
        crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
        crnProtocol.setDeviceTaskNoTwo(crnStatus.getTaskNoTwo());
        crnProtocol.setStatusTwo(crnStatus.getStatusTwo());
        crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
        crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
        crnProtocol.setTaskReceiveTwo(crnStatus.getTaskReceiveTwo());
        crnProtocol.setTaskSendTwo(crnStatus.getTaskSendTwo());

        crnProtocol.setBay(crnStatus.getBay());
        crnProtocol.setLevel(crnStatus.getLevel());
@@ -485,10 +493,10 @@
    }

    @Override
    public DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
    public DualCrnCommand getResetCommand(Integer taskNo, Integer crnNo, Integer station) {
        DualCrnCommand crnCommand = new DualCrnCommand();
        crnCommand.setCrnNo(crnNo); // 堆垛机编号
        crnCommand.setTaskNo(0); // 工作号
        crnCommand.setTaskNo(taskNo); // 工作号
        crnCommand.setTaskMode(DualCrnTaskModeType.CONFIRM.id); // 任务模式:  确认
        crnCommand.setSourcePosX(0);     // 源库位排
        crnCommand.setSourcePosY(0);     // 源库位列
@@ -533,4 +541,45 @@
            }
        }
    }

    public List<SendDualCrnCommandParam> getDualCrnCommandList() {
        List<SendDualCrnCommandParam> commandList = new ArrayList<>();
        SendDualCrnCommandParam command1 = getDualCrnCommandList(1);
        SendDualCrnCommandParam command2 = getDualCrnCommandList(2);
        if (command1 != null) {
            commandList.add(command1);
        }

        if (command2 != null) {
            commandList.add(command2);
        }

        return commandList;
    }

    public SendDualCrnCommandParam getDualCrnCommandList(int station) {
        SendDualCrnCommandParam sendDualCrnCommandParam = null;
        String key = null;
        if (station == 1 && crnProtocol.getTaskNo() > 0) {
            key = RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getTaskNo();
        } else if (station == 2 && crnProtocol.getTaskNoTwo() > 0) {
            key = RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getTaskNoTwo();
        }

        if (key == null) {
            return null;
        }

        Object commandObj = redisUtil.get(key);
        if (commandObj == null) {
            return null;
        }

        sendDualCrnCommandParam = JSON.parseObject(commandObj.toString(), SendDualCrnCommandParam.class);
        if (sendDualCrnCommandParam == null) {
            return null;
        }

        return sendDualCrnCommandParam;
    }
}