自动化立库仓库-WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | show whitespace
Junjie
2023-03-27 06bd2d6dbd31315b68e768d6b59139c753f8ff96 
 src/main/java/com/zy/core/thread/ShuttleThread.java


@@ -5,23 +5,34 @@


import HslCommunication.Core.Types.OperateResultExOne;


import HslCommunication.ModBus.ModbusTcpNet;


import com.alibaba.fastjson.JSON;


import com.alibaba.fastjson.JSONObject;


import com.core.common.DateUtils;


import com.core.exception.CoolException;


import com.zy.common.model.NavigateNode;


import com.zy.common.utils.CommonUtils;


import com.zy.common.utils.NavigatePositionConvert;


import com.zy.common.utils.NavigateUtils;


import com.zy.common.utils.RedisUtil;


import com.zy.core.News;


import com.zy.core.ThreadHandler;


import com.zy.core.cache.MessageQueue;


import com.zy.core.cache.OutputQueue;


import com.zy.core.enums.ShuttleRunDirection;


import com.zy.core.enums.ShuttleStatusType;


import com.zy.core.enums.SlaveType;


import com.zy.core.model.ShuttleSlave;


import com.zy.core.model.Task;


import com.zy.core.model.command.ShuttleAssignCommand;


import com.zy.core.model.command.ShuttleCommand;


import com.zy.core.model.protocol.ShuttleProtocol;


import lombok.Data;


import lombok.extern.slf4j.Slf4j;




import java.text.MessageFormat;


import java.util.ArrayList;


import java.util.Date;


import java.util.HashMap;


import java.util.List;




/**


 * 四向穿梭车线程


@@ -33,9 +44,11 @@


    private ModbusTcpNet modbusTcpNet;


    private ShuttleSlave slave;


    private ShuttleProtocol shuttleProtocol;


    private RedisUtil redisUtil;




    public ShuttleThread(ShuttleSlave slave) {


    public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {


        this.slave = slave;


        this.redisUtil = redisUtil;


    }




    @Override


@@ -53,9 +66,13 @@


                    case 1:


                        readStatus();


                        break;


                    // 写入数据


                    case 2:


                        write((ShuttleCommand) task.getData());


//                    // 写入数据


//                    case 2:


//                        write((ShuttleCommand) task.getData());


//                        break;


                    //下发任务


                    case 3:


                        assignWork((ShuttleAssignCommand) task.getData());


                        break;


                    default:


                        break;


@@ -145,8 +162,16 @@


                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));


                log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));




                // 根据实时信息更新数据库


                //.....


                //小车处于忙碌状态，将标记置为true


                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {


                    shuttleProtocol.setPakMk(true);


                }




                //四向穿梭车空闲、有任务且标记为true，需要执行任务的下一条指令


                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {


                    //执行下一步指令


                    executeWork(shuttleProtocol.getTaskNo());


                }




            }else {


                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));


@@ -226,9 +251,97 @@


        if (null == shuttleProtocol) {


            shuttleProtocol = new ShuttleProtocol();


        }


//        shuttleProtocol.setShuttleNo(slave.getId().shortValue());


//        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);


//        shuttleProtocol.setCurrentCode("0");


    }




    //分配任务


    private void assignWork(ShuttleAssignCommand assignCommand) {


        //计算路径


        List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), "in");


        //获取分段路径


        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);


        //将此map存入redis中


        HashMap<String, Object> map = new HashMap<>();


        //命令执行步序


        map.put("commandStep", 0);


        //路径数据


        map.put("path", data);


        //工作号


        map.put("wrk_no", assignCommand.getTaskNo());


        //任务数据保存到redis


        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));




        //执行下发任务


        executeWork(assignCommand.getTaskNo());


    }




    //执行下发的指令


    private void executeWork(Short taskNo) {


        //读取redis数据


        Object o = redisUtil.get("wrk_no_" + taskNo);


        HashMap map = JSON.parseObject(o.toString(), HashMap.class);


        //当前步序


        int commandStep = Integer.parseInt(map.get("commandStep").toString());


        //当前路径数据


        Object data = map.get("path");


        ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);


        //取第一条路径


        Object o1 = pathList.get(commandStep);


        ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);




        int size = path.size();


        //开始路径


        JSONObject startPath = JSON.parseObject(path.get(0).toString());


        System.out.println(startPath);


        //目标路径


        JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());


        System.out.println(endPath);




        //下发命令


        ShuttleCommand command = new ShuttleCommand();


        command.setCommandWord((short) 1);


        command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));


        command.setMiddleCodeNum((short) 0);


        command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));


        command.setStartToDistDistance(1000);


        command.setMiddleToDistDistance(1000);


        command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);


        command.setPalletLift((short) 1);


        command.setForceMoveDistance(1000);


        command.setChargeSwitch((short) 2);


        command.setIOControl((short) 0);


        command.setRunSpeed((short) 1000);


        command.setRadarTmp((short) 0);


        command.setCommandEnd((short) 1);




        //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));


        } 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));




            //将标记置为false(防止重发)


            shuttleProtocol.setPakMk(false);




            //判断数据是否执行完成


            if (commandStep < size) {


                //更新redis数据


                //步序增加


                commandStep++;


                map.put("commandStep", commandStep);


                //任务数据保存到redis


                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));


            }else {


                //已执行完成


                //保存数据到数据库做流水


                //删除redis


                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());




                //。。。


                //1、命令下方需要判断小车空闲状态


                //2、


            }




        }


    }




    /******************************************************************************************/


@@ -239,26 +352,26 @@


        slave.setId(1);


        slave.setIp("192.168.4.24");


        slave.setPort(502);


        ShuttleThread thread = new ShuttleThread(slave);


        thread.connect();


        thread.readStatus();




        ShuttleCommand command = new ShuttleCommand();


        command.setCommandWord((short) 0);


        command.setStartCodeNum((short) 12323);


        command.setMiddleCodeNum((short) 22323);


        command.setDistCodeNum((short) 29999);


        command.setStartToDistDistance(109999);


        command.setMiddleToDistDistance(5000);


        command.setRunDirection((short) 1);


        command.setPalletLift((short) 2);


        command.setForceMoveDistance(3000);


        command.setChargeSwitch((short) 2);


        command.setIOControl((short) 0);


        command.setRunSpeed((short) 0);


        command.setRadarTmp((short) 0);


        command.setCommandEnd((short) 1);


        thread.write(command);


//        ShuttleThread thread = new ShuttleThread(slave);


//        thread.connect();


//        thread.readStatus();


//


//        ShuttleCommand command = new ShuttleCommand();


//        command.setCommandWord((short) 0);


//        command.setStartCodeNum((short) 12323);


//        command.setMiddleCodeNum((short) 22323);


//        command.setDistCodeNum((short) 29999);


//        command.setStartToDistDistance(109999);


//        command.setMiddleToDistDistance(5000);


//        command.setRunDirection((short) 1);


//        command.setPalletLift((short) 2);


//        command.setForceMoveDistance(3000);


//        command.setChargeSwitch((short) 2);


//        command.setIOControl((short) 0);


//        command.setRunSpeed((short) 0);


//        command.setRadarTmp((short) 0);


//        command.setCommandEnd((short) 1);


//        thread.write(command);




    }


}