四向车入库分配任务逻辑

Junjie

2023-03-29 32bf433492f540b1392c19757124ebb91d0e74bd

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

@@ -5,7 +5,6 @@
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.common.SpringUtils;
import com.core.exception.CoolException;
@@ -288,7 +287,7 @@
    }

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
    private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();

@@ -299,8 +298,17 @@
            ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
            //路径数据
            map.put("path", data);
            //路径次数
            map.put("pathSize", data.size());
        }else {
            if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
                //属于入库出库，必须要计算路径，则抛出异常
                throw new Exception("未能找到运行路径");
            }
        }

        //四向穿梭车号
        map.put("shuttle_no", assignCommand.getShuttleNo());
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
@@ -334,21 +342,27 @@
                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);
                ArrayList objectPath = JSON.parseObject(o1.toString(), ArrayList.class);
                ArrayList<NavigateNode> path = new ArrayList<>();
                for (Object o2 : objectPath) {
                    NavigateNode navigateNode = JSON.parseObject(o2.toString(), NavigateNode.class);
                    path.add(navigateNode);
                }
                Integer allDistance = NavigateUtils.getCurrentPathAllDistance(path);//计算当前路径行走总距离

                size = path.size();
                size = Integer.parseInt(map.get("pathSize").toString());
                //开始路径
                JSONObject startPath = JSON.parseObject(path.get(0).toString());
                NavigateNode startPath = path.get(0);
                //目标路径
                JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
                NavigateNode endPath = path.get(path.size() - 1);

                command.setCommandWord((short) 1);
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
                command.setMiddleCodeNum((short) 0);
                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
                command.setStartToDistDistance(1000);
                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
                command.setStartToDistDistance(allDistance);
                command.setMiddleToDistDistance(1000);
                command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
                command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
                command.setPalletLift((short) 1);
                command.setForceMoveDistance(1000);
                command.setChargeSwitch((short) 2);
@@ -378,6 +392,8 @@
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                //任务号清零
                shuttleProtocol.setTaskNo((short) 0);
                //标记复位
                shuttleProtocol.setPakMk(true);
                break;
            default:
        }
@@ -393,7 +409,7 @@
            shuttleProtocol.setPakMk(false);

            //判断数据是否执行完成
            if (commandStep < size) {
            if (commandStep < size - 1) {
                //更新redis数据
                //步序增加
                commandStep++;