command write

Junjie

2023-07-19 37cd0c16e2c1b698498982bb958280c19a890a17

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

@@ -797,7 +797,7 @@
                                    Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                                    //增加移动进提升机命令
                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
                                    commands.add(moveCommand);

                                    //分配目标库位
@@ -822,7 +822,7 @@
                                Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
                                Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
                                //获取命令
                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, null, null, 500);
                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
                                commands.add(0, moveCommand);//将该指令添加到队头

                                assignCommand.setCommands(commands);
@@ -849,7 +849,7 @@
//                                    Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
//                                    Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
//                                    //获取命令
//                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
//                                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
//                                    commands.add(0, moveCommand);//将该指令添加到队头
//                                }
//                                assignCommand.setCommands(commands);
@@ -872,7 +872,7 @@
//                                Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
//
//                                //增加移动进提升机命令
//                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
//                                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 500);
//                                commands.add(moveCommand);
//
//                                //分配目标库位
@@ -1049,17 +1049,32 @@
        for (ArrayList<NavigateNode> nodes : data2) {
            //开始路径
            NavigateNode startPath = nodes.get(0);

            //中间路径
            NavigateNode middlePath = nodes.get(nodes.size() - 2);
            NavigateNode middlePath = null;
            //通过xy坐标小车二维码
            Short middleCodeNum = null;
            Integer middleToDistDistance = null;//计算中间点到目标点行走距离
            if (nodes.size() > 10) {//中段码传倒数第三个
                //中间路径
                middlePath = nodes.get(nodes.size() - 3);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
            } else if (nodes.size() > 5) {//中段码传倒数第二个
                //中间路径
                middlePath = nodes.get(nodes.size() - 2);
                //通过xy坐标小车二维码
                middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
                middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
            }

            //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
            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            //通过xy坐标小车二维码
            Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
@@ -1247,7 +1262,7 @@
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            //增加移动进提升机命令
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, null, null, 500);
                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
                            commands.add(moveCommand);

                            //目标库位
@@ -1288,7 +1303,7 @@
                        short startCode = liftProtocol.getBarcode();//提升机内部二维码
                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
                        //获取移动命令
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), null, null, 500);
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, commands.get(0).getRunDirection(), null, null, 500);
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位
@@ -1802,6 +1817,12 @@

                    //判断提升机是否到位
                    StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
                    //判断输送站点是否有物，只有无物情况才能继续调度提升机
                    if (staProtocol.isLoading()) {
                        //有物禁止调度
                        continue;
                    }

                    if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
                        //提升机不在工作档源库位楼层，调度提升机
                        LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
@@ -2772,7 +2793,7 @@
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    assignCommand.setTaskMode((short) 9);//充电
                    assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                    assignCommand.setCharge(true);//充电任务

@@ -2810,13 +2831,13 @@
                    Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                    //增加移动进提升机命令
                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, basDevpQrCode, 1400, 500);
                    ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
                    commands.add(moveCommand);

                    //分配目标库位
                    shuttleProtocol.setLocNo(chargeLocNo);
                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    assignCommand.setTaskMode((short) 9);//充电
                    assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
                    assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                    assignCommand.setCharge(true);//充电任务
                    //目标库位
@@ -2900,14 +2921,14 @@
                Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
                Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
                //获取命令
                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
                ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
                commands.add(0, moveCommand);//将该指令添加到队头

                //进行充电中
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);

                assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                assignCommand.setTaskMode((short) 9);//充电
                assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
                assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
                assignCommand.setCharge(true);//充电任务