#

Junjie

2025-02-10 5bf2b51ec743cd422a0eb3277b9c93a08c700315

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

@@ -842,6 +842,11 @@
                        if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
                            //302.小车移动至站点 ==> 303.小车移动至站点完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
                            //308.小车迁出提升机中 ==> 309.小车迁出提升机完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
                            //310.小车移动中 ==> 311.小车移动完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
@@ -850,6 +855,8 @@
                            //204.小车充电中 ==> 205.小车充电完成
                            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        }else {
                            continue;
                        }
//                        switch (wrkMast.getWrkSts().intValue()) {
////                            case 5://5.小车搬运中 ==> 9.入库完成
@@ -1275,8 +1282,7 @@
//                                break;
                            case 306://306.提升机搬运中 ==> 307.提升机搬运完成
                                wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
                                //货叉提升机需要跳过迁出提升机流程
                                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                                forkLiftThread.setSyncTaskNo(0);
                                break;
                            default:
                        }
@@ -2071,6 +2077,11 @@
                    continue;
                }

                boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标
                if (!updateShuttleLocation) {
                    continue;
                }

                boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
                if (!stepMoveLoc) {
                    continue;
@@ -2133,6 +2144,24 @@
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //*************尝试锁定目标站路径***************
            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
            if (targetNodes == null) {
                return false;//未获取到节点
            }
            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
            if (!checkPathIsAvailable) {
                News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//检测目标站点路径是否未被占用
            }
            //尝试锁定目标站路径
            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
            if (!result2) {
                News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径锁定失败
            }
            //*************尝试锁定目标站路径***************

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
@@ -2143,32 +2172,18 @@
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());

                //所使用的路径进行锁定禁用
                navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
                return false;//路径解锁失败
            }

            assignCommand.setCommands(commands);

//            //*************尝试锁定目标站路径***************
//            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
//            if (targetNodes == null) {
//                return false;//未获取到节点
//            }
//            boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
//            if (!checkPathIsAvailable) {
//                News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;//检测目标站点路径是否未被占用
//            }
//            //尝试锁定目标站路径
//            boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
//            if (!result2) {
//                News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;//路径锁定失败
//            }
//            //*************尝试锁定目标站路径***************

            wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至站点
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
//            shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
@@ -2221,6 +2236,10 @@
                return false;//缺少站点信息
            }

            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘，禁止派发", wrkMast.getWrkNo());
                return false;//有托盘跳过
            }

            //获取提升机命令
            List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
@@ -2235,10 +2254,65 @@
            assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中  303.小车移动至站点完成 ==> 306.提升机搬运中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
            }
        }
        return true;
    }

    /**
     * 小车迁移-提升机搬运完成更新小车坐标
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
        //--------------------------------------提升机搬运中-----------------------------------------//
        Date now = new Date();

        //提升机搬运中  307.提升机搬运完成 ==> 308.小车迁出提升机中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                return false;
            }

            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setAuto(true);//自动模式
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
            assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

            //更新小车坐标
            ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
            ArrayList<ShuttleCommand> commands = new ArrayList<>();
            commands.add(command);

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);

            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
            }
        }
        return true;
@@ -2292,51 +2366,33 @@
            List<ShuttleCommand> commands = null;
            //跨楼层移动任务
            if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
//                //需要将前两个节点作为白名单节点传入
//                //获取目标站
//                LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
//                if (liftSta == null) {
//                    return false;//找不到站点
//                }
//
//                List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
//                if (targetNodes == null) {
//                    return false;//未获取到节点
//                }
//
//                //设置计算节点的白名单
//                ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
//                for (NavigateNode node : targetNodes) {
//                    whiteList.add(new int[]{node.getX(), node.getY()});
//                }
//                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread, whiteList);
                //需要将前两个节点作为白名单节点传入
                List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
                if (targetNodes == null) {
                    return false;//未获取到节点
                }

                //设置计算节点的白名单
                ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
                for (NavigateNode node : targetNodes) {
                    whiteList.add(new int[]{node.getX(), node.getY()});
                }
                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
            }else {
                //获取小车到目标库位命令
                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            }

            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径计算失败
            }

            assignCommand.setCommands(commands);

//            if (wrkMast.getLiftNo() != null) {
//                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
//                if (liftThread == null) {
//                    return false;
//                }
//                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
//                if (liftProtocol == null) {
//                    return false;
//                }
//                if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo())) {
//                    liftProtocol.setToken(0);//释放提升机令牌
//                }
//            }

            wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中  309.小车迁出提升机完成 ==> 310.小车移动中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);

            if (wrkMastService.updateById(wrkMast)) {