自动化立库仓库-WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
Junjie
2023-06-28 0f2eaeeb387850acfede95c5c061b5392dae8688 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java


@@ -571,7 +571,7 @@


                    //数据库中也不存在地图数据，从地图文件中获取


                    //载入地图


                    NavigateMapData mapData = new NavigateMapData(i);


                    List<List<MapNode>> lists = mapData.getJsonData(-1, null);//获取完整地图(包括入库出库)


                    List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)




                    //存入数据库


                    basMap = new BasMap();


@@ -826,12 +826,14 @@


        }




        //计算小车起点到中点所需命令


        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);


        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));


        List<ShuttleCommand> commands = new ArrayList<>();


        if (calc == null) {


            return null;


        }




        if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离


            return null;


        }


        List<NavigateNode> allNode = new ArrayList<>();


        allNode.addAll(calc);




@@ -881,10 +883,14 @@


        List<NavigateNode> allNode = new ArrayList<>();




        //计算小车起点到中点所需命令


        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id);//小车无货，走正常库位通道


        List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//小车无货，走正常库位通道


        List<ShuttleCommand> commands = new ArrayList<>();




        if (calc != null) {


            if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离


                return null;


            }




            allNode.addAll(calc);


            //获取分段路径


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


@@ -915,11 +921,13 @@


        commands.add(shuttleThread.getPalletCommand((short) 1));




        //计算小车中点到终点所需命令


        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id);//小车有货，走禁用过DFX库位的地图通道


        List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//小车有货，走禁用过DFX库位的地图通道


        if (calc2 == null) {


            return null;


        }




        if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离


            return null;


        }


        allNode.addAll(calc2);




        //获取分段路径


@@ -1006,8 +1014,11 @@


                        //判断提升机楼层是否到位，判断站点是否给出提升机到位信号


                        String locNo = wrkMast.getSourceLocNo();


                        int lev = Utils.getLev(locNo);//目标二维码所在楼层


                        int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层


                        if (liftLev != lev) {


                        Short liftLev = liftProtocol.getLev();//提升机所在楼层


                        if (liftLev == null) {//提升机可能在输送线楼层


                            continue;


                        }


                        if (liftLev.intValue() != lev) {


                            continue;//提升机不在目标楼层跳过


                        }




@@ -1069,25 +1080,32 @@


                        //判断小车和库位是否在同一层


                        if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {


                            //同一层(将小车移动到货物位置)




                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);


                            if (commands == null) {


                                //未找到路径，等待下一次


                                continue;


                            }


                            //所使用的路径进行临时解锁，用于后续计算


                            NavigateMapData navigateMapData = new NavigateMapData(currentLev);


                            navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁




                            //获取当前小车所在楼层的站点信息


                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);


                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码




                            String disLocNo = "200020" + Utils.getLev(liftSiteLocNo);//避让位置


                            LocMast locMast1 = locMastService.queryByLoc(disLocNo);


                            if (locMast1 == null) {


                                continue;//找不到库位


                            }


                            short disCode = Short.parseShort(locMast1.getQrCodeValue());


                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落


                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 2800, ShuttleRunDirection.BOTTOM.id, endStartCode, 2800, 1000);


                            commands.add(moveCommand);


                            //搜索一条没有小车的空巷道，并调度小车


                            int distLev = Utils.getLev(liftSiteLocNo);//避让楼层


                            String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);


                            ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);


                            if (moveAssignCommand == null) {//调度小车命令为空


                                continue;


                            }


                            //所使用的路径进行临时解锁，用于后续计算


                            navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁


                            commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加


                            List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中


                            nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中


                            assignCommand.setNodes(nodes);


                            navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定






                            //分配目标库位


                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());


@@ -1155,24 +1173,30 @@


                        assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());


                        assignCommand.setSourceLocNo(liftSiteLocNo);




                        //获取当前小车所在楼层的站点信息


                        BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);


                        Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码




                        String disLocNo = "200020" + Utils.getLev(liftSiteLocNo);//避让位置


                        LocMast locMast1 = locMastService.queryByLoc(disLocNo);


                        if (locMast1 == null) {


                            continue;//找不到库位


                        }


                        short disCode = Short.parseShort(locMast1.getQrCodeValue());


                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落


                        ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 2800, ShuttleRunDirection.BOTTOM.id, endStartCode, 2800, 1000);




                        List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);


                        if (commands == null) {


                            continue;//未找到路径


                        }


                        commands.add(moveCommand2);//任务执行完后，小车进入移开提升机口站点位置，以免坠落


                        //所使用的路径进行临时解锁，用于后续计算


                        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(liftSiteLocNo));


                        navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁




                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落


                        //搜索一条没有小车的空巷道，并调度小车


                        int distLev = Utils.getLev(liftSiteLocNo);//避让楼层


                        String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);


                        ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);


                        if (moveAssignCommand == null) {//调度小车命令为空


                            continue;


                        }


                        //所使用的路径进行临时解锁，用于后续计算


                        navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁


                        commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加


                        List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中


                        nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中


                        assignCommand.setNodes(nodes);


                        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定






                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口


                        short startCode = liftProtocol.getBarcode();//提升机内部二维码


@@ -1274,9 +1298,9 @@


                String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();




                //当前最近四向穿梭车到目标地点距离


                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图


                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(recentShuttle.getSlave().getId(), Utils.getLev(recentLocNo)));//搜索空闲穿梭车，使用正常通道地图


                //当前穿梭车线程到目标地点距离


                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图


                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图


                if (recentShuttlePath == null || currentShuttlePath == null) {


                    continue;


                }


@@ -1306,9 +1330,9 @@


                int recentLev = Utils.getLev(recentLocNo);




                //当前最近四向穿梭车到当前车子所在楼层的提升机口距离


                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图


                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), recentLev));//搜索空闲穿梭车，使用正常通道地图


                //当前穿梭车线程到当前车子所在楼层的提升机口距离


                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id);//搜索空闲穿梭车，使用正常通道地图


                List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图


                if (recentShuttlePath == null || currentShuttlePath == null) {


                    continue;


                }


@@ -1740,8 +1764,6 @@


                            if (!result) {


                                throw new CoolException("更新plc站点信息失败");


                            }


                            //任务号清零


                            liftProtocol.setTaskNo((short) 0);


                            wrkMast.setWrkSts(4L);


                            break;


                        case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成


@@ -1762,8 +1784,6 @@


                            }


                            wrkMast.setWrkSts(29L);


                            wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态


                            //任务号清零


                            liftProtocol.setTaskNo((short) 0);


                            break;


                        default:


                    }


@@ -1773,6 +1793,8 @@


                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);


                        //任务指令清零


                        liftProtocol.setAssignCommand(null);


                        //任务号清零


                        liftProtocol.setTaskNo((short) 0);


                        News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());


                    } else {


                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());


@@ -1811,8 +1833,11 @@


                if (liftProtocol.getAssignCommand() != null) {


                    //设置提升机为空闲状态


                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);


                    //任务号清零


                    liftProtocol.setTaskNo((short) 0);


                    //判断是否为四向穿梭车调度提升机，如是则无需清理任务号


                    if (!liftProtocol.getSecurityMk()) {


                        //任务号清零


                        liftProtocol.setTaskNo((short) 0);


                    }


                    //标记复位


                    liftProtocol.setPakMk(true);


                    //任务指令清零


@@ -2756,21 +2781,27 @@


                //判断小车是否充满电量，满电1000或电压54V以上


                if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {


                    //充满，断开充电


                    List<ShuttleCommand> commands = new ArrayList<>();


                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();


                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());


                    assignCommand.setTaskMode((short) 0);


                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());


                    assignCommand.setCharge(true);


//                    List<ShuttleCommand> commands = new ArrayList<>();


//                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();


//                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());


//                    assignCommand.setTaskMode((short) 0);


//                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());


//                    assignCommand.setCharge(true);


//


//                    //创建充电指令


//                    ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电


//                    commands.add(command);


//


//                    //指令集分配


//                    assignCommand.setCommands(commands);


//


//                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);




                    //创建充电指令


                    ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电


                    commands.add(command);




                    //指令集分配


                    assignCommand.setCommands(commands);




                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);


                    //将小车移动到空闲的巷道


                    ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);


                    if (assignCommand == null) {


                        continue;


                    }




                    wrkCharge.setWrkSts(60L);//60.充电任务完成


                    if (wrkChargeMapper.updateById(wrkCharge) > 0) {