RgvNode增加任务号

Junjie

2023-07-18 35c3d65ff0926fc7516c8f26c08c63b807806e3a

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -21,6 +21,8 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.CollectionUtils;
import com.zy.common.utils.HttpHandler;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.RgvUtils;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.cache.MessageQueue;
@@ -89,6 +91,8 @@
    private BasRgvErrLogService basRgvErrLogService;
    @Autowired
    private BasRgvPathService basRgvPathService;
    @Autowired
    private RedisUtil redisUtil;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -627,6 +631,24 @@
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getSourceStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
@@ -655,6 +677,24 @@
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(wrkMast.getRgvNo()); // RGV编号
@@ -679,6 +719,24 @@
                        if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getLoaded1() != 0) {//RGV是否无任务、RGV是否无货
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getSourceStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
@@ -707,6 +765,24 @@
                        if (rgvProtocol.getLoaded1() == 0) {//RGV必须有物
                            continue;
                        }

                        //判断行走路径是否被占用
                        Integer staNo = wrkMast.getStaNo();
                        BasDevp basDevp = basDevpService.selectById(staNo);
                        if (basDevp == null) {
                            continue;//目标站不存在
                        }
                        //起始路径
                        int startPath = rgvProtocol.getRgvPos().intValue();
                        //目标路径值
                        int endPath = basDevp.getLocType3().intValue();
                        boolean pathUsed = RgvUtils.isPathUsed(startPath, endPath);//判断行走路径是否被占用
                        if (pathUsed) {
                            //行走路径被占用，禁止下发命令
                            continue;
                        }
                        //行走路径空闲，锁定路径
                        RgvUtils.lockPath(startPath, endPath, rgvProtocol.getRgvNo(), wrkMast.getWrkNo(), true);

                        //  命令下发区 --------------------------------------------------------------------------
                        RgvCommand rgvCommand = new RgvCommand();
@@ -1718,9 +1794,24 @@
                    wrkMast1.setWrkSts(27L);//27.RGV放货完成
                }

                //解锁路径
                RgvUtils.unLockPath(wrkMast1.getRgvNo());

                wrkMast1.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast1) == 0) {
                    log.error("工位1修改工作档状态失败！！，工作号={}", wrkMast1.getWrkNo());
                }

                //  命令下发区 --------------------------------------------------------------------------
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgv.getId()); // RGV编号
                rgvCommand.setAckFinish1((short) 1);  // 工位1任务完成确认位
                rgvCommand.setTaskNo1(wrkMast1.getWrkNo().shortValue()); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.NONE); // 工位1任务模式:  无
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast1.getRgvNo(), new Task(4, rgvCommand))) {
                    //step=2,工位1、2任务确认；   step=4，工位1确认；     step=5，工位2任务确认
                    log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
                }

//                //工位1取货完成后，工位2是无货空闲状态时，准备给工位2发任务，确认是否有待执行RGV任务
@@ -2841,7 +2932,21 @@
     * 初始化RGV地图
     */
    public synchronized void initRgvMap() {

        Object data = redisUtil.get("rgv_map");
        if (data == null) {
            //重新获取全路径地图
            BasRgvPath basRgvPath = basRgvPathService.selectByRgvNo(0);//获取默认路径
            if (basRgvPath != null) {
                ArrayList<RgvNode> rgvNodes = new ArrayList<>();
                List<Integer> rgvPath = JSON.parseArray(basRgvPath.getPath(), Integer.class);
                for (Integer integer : rgvPath) {
                    RgvNode rgvNode = new RgvNode(integer);
                    rgvNodes.add(rgvNode);
                }
                //将数据库地图数据存入redis
                redisUtil.set("rgv_map", JSON.toJSONString(rgvNodes));
            }
        }
    }

    /**