捡料

Junjie

2023-07-24 4a2d92f23e17c0d8a47976af51cf4db871df9e83

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

@@ -64,7 +64,7 @@
                switch (step) {
                    // 读数据
                    case 1:
                        readStatus();
                        read();
                        break;
                    // 写入数据
                    case 2:
@@ -108,6 +108,23 @@
    @Override
    public void close() {
        modbusTcpNet.ConnectClose();
    }

    private void read() {
        try {
            readStatus();
            //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
            if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                    && shuttleProtocol.getTaskNo() != 0
                    && shuttleProtocol.getPakMk()) {
                //执行下一步指令
                executeWork(shuttleProtocol.getTaskNo());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】四向穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            initShuttle();
        }
    }

    private void readStatus() {
@@ -172,40 +189,6 @@
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }

//                if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
//                    //出现错误
//                    resetAndTryFix(shuttleProtocol.getTaskNo());
//                }
//
//                if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
//                        && shuttleProtocol.getTaskNo() != 0
//                        && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){
//                    //处于故障修复状态
//                    //执行下一步指令
//                    executeWork(shuttleProtocol.getTaskNo());
//                }

                //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getPakMk()) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getTaskNo());
                }

//                //检测是否有提升机锁定标记，有则检测提升机是否到位，是否能走下一步命令
//                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
//                        && shuttleProtocol.getTaskNo() != 0) {
//                    Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
//                    if (o != null) {
//                        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
//                        if (redisCommand.getLiftSecurityMk()) {
//                            //执行下一步指令
//                            executeWork(shuttleProtocol.getTaskNo());
//                        }
//                    }
//                }

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
@@ -304,6 +287,9 @@
            }

            for (int i = 0; i < 5; i++) {
                if (command.getCommandWord().intValue() == 5 || command.getCommandWord().intValue() == 6) {
                    break;//充电开关和系统复位不需要重发机制
                }
                readStatus();//重新读取状态
                if (shuttleProtocol.getBusyStatusType().equals(ShuttleStatusType.BUSY)) {
                    break;
@@ -314,7 +300,7 @@
                News.info("四向穿梭车命令下发[id:{}] >>>>> {},次数：{}", slave.getId(), JSON.toJSON(command), i);
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2},次数：{}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
                try {
                    Thread.sleep(3000);//命令下发后休眠
                    Thread.sleep(300);//命令下发后休眠
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
@@ -459,7 +445,7 @@
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
@@ -495,7 +481,7 @@
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
@@ -584,7 +570,7 @@
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
@@ -621,7 +607,7 @@
                            //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
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
@@ -965,6 +951,10 @@
            }
        }

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

        //当前等待执行的指令
        ShuttleCommand command = commands.get(commandStep);