提升机搬运前判断目标站是否可入

Junjie

2023-06-27 00d9f3f5cf3b046cb42098c9bc13f2313a435f53

 src/main/java/com/zy/core/thread/ShuttleThread.java

@@ -366,6 +366,11 @@

        OperateResult result = modbusTcpNet.Write("0", array);;
        if (result != null && result.IsSuccess) {
            try {
                Thread.sleep(3000);//命令下发后休眠1s
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
@@ -648,9 +653,6 @@
            return false;
        }

        //将标记置为false(防止重发)
        shuttleProtocol.setPakMk(false);

        List<ShuttleCommand> errorCommands = redisCommand.getErrorCommands();
        if (errorCommands.size() > 0) {
            //优先执行该指令
@@ -752,8 +754,12 @@
            //小车当前命令起始位置就是提升机二维码，说明小车需要向提升机外移动，则需要判断状态是否满足
            if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()){
                //提升机是否空闲，提升机是否到达目标楼层，目标楼层是否给出提升机到位信号位
                if (!liftProtocol.isIdle()) {
                if (!liftProtocol.isIdleNoTask()) {
                    return false;//提升机忙，禁止下发命令
                }
                if (liftProtocol.getTaskNo().intValue() != wrkNo) {
                    //提升机工作号和当前工作不相同，禁止下发命令
                    return false;
                }

                Short distCodeNum = command.getDistCodeNum();//目标二维码
@@ -781,7 +787,6 @@
            }
        }


        //下发命令
        if (!write(command)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
@@ -789,10 +794,25 @@
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            try {
                Thread.sleep(1000);//命令下发完后休眠1s
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            //将标记置为false(防止重发)
            shuttleProtocol.setPakMk(false);

            //保存数据到数据库做流水
            BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
            if (shuttleOptService != null) {
                BasShuttleOpt opt = new BasShuttleOpt(
                        assignCommand.getTaskNo().intValue(),
                        assignCommand.getShuttleNo().intValue(),
                        new Date(),
                        ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                        assignCommand.getSourceLocNo(),
                        assignCommand.getLocNo(),
                        null,
                        null,
                        null,
                        JSON.toJSONString(command)
                );
                shuttleOptService.insert(opt);
            }

            //判断数据是否执行完成
@@ -805,23 +825,6 @@
                redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            }else {
                //已执行完成
                //保存数据到数据库做流水
                BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
                if (shuttleOptService != null) {
                    BasShuttleOpt opt = new BasShuttleOpt(
                            assignCommand.getTaskNo().intValue(),
                            assignCommand.getShuttleNo().intValue(),
                            new Date(),
                            ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                            assignCommand.getSourceLocNo(),
                            assignCommand.getLocNo(),
                            null,
                            null,
                            null,
                            JSON.toJSONString(assignCommand)
                    );
                    shuttleOptService.insert(opt);
                }

                if (redisCommand.getLiftSecurityMk()) {
                    //曾锁定过提升机，需要进行解锁
@@ -856,7 +859,7 @@
                    }else {
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    }
                    News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                    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));
                }

            }
@@ -916,14 +919,19 @@
            qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
        }

        //遍历所有指令，判断是否有到提升机口的指令，并获取到达该提升机口所需步序
        //遍历所有指令，判断是否有到提升机口的指令或从提升机口前往提升机内的指令，并获取到达该提升机口所需步序
        int step = 0;
        Integer siteNo = null;//站点号
        ShuttleCommand command = null;
        for (int i = 0; i < commands.size(); i++) {
            command = commands.get(i);
            for (Short qrCodeValue : qrCodeValues) {
                if (qrCodeValue.intValue() == command.getDistCodeNum().intValue()) {
                //目标位置是提升机口，或起点位置是提升机口且目标是去提升机内
                if (command.getDistCodeNum() == null || command.getStartCodeNum() == null) {
                    continue;
                }

                if (qrCodeValue.intValue() == command.getDistCodeNum().intValue() || (qrCodeValue.intValue() == command.getStartCodeNum().intValue() && command.getDistCodeNum().intValue() == liftProtocol.getBarcode().intValue())) {
                    //存在
                    step = i + 1;
                    BasDevp basDevp = basDevpService.queryByQrCode(qrCodeValue.intValue());
@@ -938,11 +946,21 @@
            return true;
        }

        //判断下一步是否为提升机口
        if (commandStep + 1 != step) {
            //下一步不是提升机口，跳过后续流程
            return true;
        //判断下一步是否为提升机口或提升机内
        if (commandStep < commands.size()) {
            ShuttleCommand command1 = commands.get(commandStep);
            Short distCodeNum = command1.getDistCodeNum();
            if (distCodeNum != null) {
                BasDevp basDevp = basDevpService.queryByQrCode(Integer.valueOf(distCodeNum));
                if (basDevp == null && distCodeNum.intValue() != liftProtocol.getBarcode().intValue()) {
                    return true;//下一步不是提升机口，跳过后续流程
                }
            }
        }
//        if (commandStep + 1 != step) {
//            //下一步不是提升机口，跳过后续流程
//            return true;
//        }

        //获取四向穿梭车当前楼层
        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
@@ -957,13 +975,28 @@
        if (siteNo != null) {
            SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = siemensDevpThread.getStation().get(siteNo);
            if (staProtocol.isLiftArrival()
                && liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
                //输送线反馈提升机到位且提升机楼层反馈为同一层，直接放行
            if (!staProtocol.isLiftArrival()) {
                //输送线反馈提升机没有到位
                executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//调度提升机
                return false;
            }

            if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
                //小车处于提升机内
                return true;
            }else {
                if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
                    return true;//提升机到位
                }
                executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//调度提升机
                return false;//提升机没有到位
            }
        }

        return false;
    }

    private boolean executeLift(LiftThread liftThread, LiftProtocol liftProtocol, ShuttleRedisCommand redisCommand, Integer shuttleLocNoLev) {//调度提升机
        if (liftProtocol.getRunning()) {
            //提升机运行中，禁止下发
            return false;
@@ -981,7 +1014,7 @@
        liftProtocol.setSecurityMk(true);//标记置为true，防止其他任务占用当前提升机
        redisCommand.setLiftSecurityMk(true);//标记置为true，防止其他任务占用当前提升机
        //任务数据保存到redis
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

        //命令list
        ArrayList<LiftCommand> liftCommands = new ArrayList<>();
@@ -994,8 +1027,7 @@
        liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
        //下发任务
        MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));

        return false;
        return true;
    }

    /**