优化寻车，出库问题

Junjie

2023-06-29 1edc46cc37adb14e30c80c22491d770bfe9214d1

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

@@ -423,9 +423,9 @@
                    //小车移动到提升机口，计算路径
                    //计算小车起点到中点所需命令
                    LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), NavigationMapType.NORMAL.id);//小车到中点，处于无货状态，使用正常通道地图

                    if (firstMastResult != null) {
                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(currentLocMast.getLocNo())));//小车到中点，处于无货状态，使用正常通道地图
                    boolean checkResult = Utils.checkShuttlePath(firstMastResult, shuttleProtocol.getShuttleNo().intValue());
                    if (firstMastResult != null && checkResult) {
                        allNode.addAll(firstMastResult);//将节点进行保存
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
@@ -459,9 +459,9 @@
                    }

                    //计算中点到终点路径
                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), NavigationMapType.DFX.id);//小车从中点到终点，处于有货状态，使用DFX地图

                    if (secMastResult != null) {
                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), NavigationMapType.DFX.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(assignCommand.getSourceLocNo())));//小车从中点到终点，处于有货状态，使用DFX地图
                    boolean checkResult2 = Utils.checkShuttlePath(secMastResult, shuttleProtocol.getShuttleNo().intValue());
                    if (secMastResult != null && checkResult2) {
                        allNode.addAll(secMastResult);//将节点进行保存
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
@@ -544,9 +544,9 @@
                    }

                    LocMast locMast = locMastService.queryByQrCode(startQr);
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), NavigationMapType.NONE.id);//手动命令-移动命令，使用无过滤地图

                    if (result != null) {
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), NavigationMapType.NONE.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(locMast.getLocNo())));//手动命令-移动命令，使用无过滤地图
                    boolean checkResult3 = Utils.checkShuttlePath(result, shuttleProtocol.getShuttleNo().intValue());
                    if (result != null && checkResult3) {
                        //所使用的路径进行锁定禁用
                        navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo()));
                        navigateMapData.writeNavigateNodeToRedisMap(result, true);////所使用的路径进行锁定禁用
@@ -580,10 +580,10 @@
                    int lev = Utils.getLev(locMast1.getLocNo());//穿梭车当前高度
                    String liftSiteLocNo = Utils.levToOutInStaLocNo(lev);//当前楼层站点库位号
                    LocMast liftSitelocMast = locMastService.selectById(liftSiteLocNo);
                    List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id);//移动到提升机，使用无过滤地图

                    List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id, Utils.getShuttlePoints(assignCommand.getShuttleNo().intValue(), Utils.getLev(locMast1.getLocNo())));//移动到提升机，使用无过滤地图
                    boolean checkResult4 = Utils.checkShuttlePath(result1, shuttleProtocol.getShuttleNo().intValue());
                    Short endStartCode = null;
                    if (result1 != null) {
                    if (result1 != null && checkResult4) {
                        //所使用的路径进行锁定禁用
                        navigateMapData = new NavigateMapData(Utils.getLev(locMast1.getLocNo()));
                        navigateMapData.writeNavigateNodeToRedisMap(result1, true);////所使用的路径进行锁定禁用
@@ -656,78 +656,81 @@
            return false;
        }

        List<ShuttleCommand> errorCommands = redisCommand.getErrorCommands();
        if (errorCommands.size() > 0) {
            //优先执行该指令
            ShuttleCommand errorCommand = errorCommands.get(0);//取出指令
//        List<ShuttleCommand> errorCommands = redisCommand.getErrorCommands();
//        if (errorCommands.size() > 0) {
//            //优先执行该指令
//            ShuttleCommand errorCommand = errorCommands.get(0);//取出指令
//
//            if(errorCommand.getCommandWord() == 1){//正常行走命令，需要先执行完找库位命令后，再执行
//                LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
//                LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
//                LocMast distLocMast = locMastService.queryByQrCode(errorCommand.getStartCodeNum().toString());
//                if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
//                    //起点和终点属于同一库位，无需再执行移动操作
//                    errorCommands.remove(0);//移除该命令
//                    redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());
//                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
//                    //当前步序
//                    int commandStep = redisCommand.getCommandStep();
//                    //步序回退
//                    commandStep--;
//                    redisCommand.setCommandStep(commandStep);
//                    //任务数据保存到redis
//                    redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
//                    shuttleProtocol.setPakMk(true);
//                    return true;
//                }else {
//                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), NavigationMapType.DFX.id, Utils.getShuttlePoints(errorCommand.getShuttleNo().intValue()));//错误恢复，使用DFX地图
//                    if (result != null) {
//                        //获取分段路径
//                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
//                        //将每一段路径分成command指令
//                        for (ArrayList<NavigateNode> nodes : data) {
//                            //开始路径
//                            NavigateNode startPath = nodes.get(0);
//                            //目标路径
//                            NavigateNode endPath = nodes.get(nodes.size() - 1);
//                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
//
//                            String qrCodeValue = distLocMast.getQrCodeValue();
//                            errorCommand.setCommandWord((short) 1);
//                            errorCommand.setStartCodeNum(shuttleProtocol.getCurrentCode());
//                            errorCommand.setMiddleCodeNum((short) 1);
//                            errorCommand.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
//                            errorCommand.setStartToDistDistance(allDistance);
//                            errorCommand.setRunSpeed((short) 1000);
//                            errorCommand.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
//                            errorCommand.setForceMoveDistance(0);
//                            errorCommand.setIOControl((short) 0);
//                            errorCommand.setCommandEnd((short) 1);
//                            break;
//                        }
//                    }
//                }
//
//                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
//                //当前步序
//                int commandStep = redisCommand.getCommandStep();
//                //步序回退
//                commandStep--;
//                redisCommand.setCommandStep(commandStep);
//            }
//
//            if (!write(errorCommand)) {
//                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(errorCommand));
//                return false;
//            } 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(errorCommand));
//                errorCommands.remove(0);
//                redisCommand.setErrorCommands(errorCommands);
//                //任务数据保存到redis
//                redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
//                return true;
//            }
//        }

            if(errorCommand.getCommandWord() == 1){//正常行走命令，需要先执行完找库位命令后，再执行
                LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
                LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
                LocMast distLocMast = locMastService.queryByQrCode(errorCommand.getStartCodeNum().toString());
                if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
                    //起点和终点属于同一库位，无需再执行移动操作
                    errorCommands.remove(0);//移除该命令
                    redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
                    //当前步序
                    int commandStep = redisCommand.getCommandStep();
                    //步序回退
                    commandStep--;
                    redisCommand.setCommandStep(commandStep);
                    //任务数据保存到redis
                    redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
                    shuttleProtocol.setPakMk(true);
                    return true;
                }else {
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), NavigationMapType.DFX.id);//错误恢复，使用DFX地图
                    if (result != null) {
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
                        //将每一段路径分成command指令
                        for (ArrayList<NavigateNode> nodes : data) {
                            //开始路径
                            NavigateNode startPath = nodes.get(0);
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离

                            String qrCodeValue = distLocMast.getQrCodeValue();
                            errorCommand.setCommandWord((short) 1);
                            errorCommand.setStartCodeNum(shuttleProtocol.getCurrentCode());
                            errorCommand.setMiddleCodeNum((short) 1);
                            errorCommand.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
                            errorCommand.setStartToDistDistance(allDistance);
                            errorCommand.setRunSpeed((short) 1000);
                            errorCommand.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                            errorCommand.setForceMoveDistance(0);
                            errorCommand.setIOControl((short) 0);
                            errorCommand.setCommandEnd((short) 1);
                            break;
                        }
                    }
                }

                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
                //当前步序
                int commandStep = redisCommand.getCommandStep();
                //步序回退
                commandStep--;
                redisCommand.setCommandStep(commandStep);
            }

            if (!write(errorCommand)) {
                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(errorCommand));
                return false;
            } 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(errorCommand));
                errorCommands.remove(0);
                redisCommand.setErrorCommands(errorCommands);
                //任务数据保存到redis
                redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
                return true;
            }
        }
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();

        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
@@ -744,6 +747,14 @@
                if (command.getDistCodeNum().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    command.setComplete(true);

                    //上一条指令起点是提升机二维码，则清零提升机任务号
                    if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()) {
                        //判断提升机是否处于空闲
                        if (liftProtocol.isIdleNoTask()) {
                            liftProtocol.setTaskNo((short) 0);//清空任务号
                        }
                    }
                }
            } else if (command.getCommandWord().intValue() == 2) {
                //托盘顶升命令
@@ -793,6 +804,10 @@
            }
        }

        if (commands.size() == 0) {
            return false;
        }

        //取出命令
        ShuttleCommand command = commands.get(commandStep);

@@ -805,9 +820,6 @@
            }
        }

        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
        

        //判断小车当前二维码是否为提升机二维码
        if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
@@ -817,7 +829,7 @@
                if (!liftProtocol.isIdleNoTask()) {
                    return false;//提升机忙，禁止下发命令
                }
                if (liftProtocol.getTaskNo().intValue() != wrkNo) {
                if (liftProtocol.getTaskNo().intValue() != 0 && 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;
                }
@@ -844,6 +856,9 @@
                if (!staProtocol.isLiftArrival()) {
                    return false;//站点提升机到位信号false，禁止下发命令
                }

                //条件满足，占用提升机
                liftProtocol.setTaskNo(wrkNo);
            }
        }

@@ -1046,6 +1061,7 @@
                return true;
            }else {
                if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
                    liftProtocol.setTaskNo(wrkNo);//给提升机写工作号，防止被占用
                    return true;//提升机到位
                }
                executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//调度提升机
@@ -1057,8 +1073,13 @@
    }

    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
        if (!liftProtocol.isIdle()) {
            //提升机不空闲禁止下发
            return false;
        }

        if (liftProtocol.getPlatShuttleCheck()) {
            //提升机内有车禁止下发
            return false;
        }