fix

Junjie

2023-06-20 6c6a1178f2e5900d56a381e12f9c9f998cf9b270

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

@@ -685,6 +685,11 @@

                                //判断提升机是否空闲
                                if (!liftProtocol.isIdle()) {
                                    try {
                                        Thread.sleep(1000);//休眠1s
                                    } catch (InterruptedException e) {
                                        throw new RuntimeException(e);
                                    }
                                    continue;//提升机忙
                                }

@@ -982,6 +987,11 @@

                        //判断提升机是否空闲
                        if (!liftProtocol.isIdle()) {
                            try {
                                Thread.sleep(1000);//休眠1s
                            } catch (InterruptedException e) {
                                throw new RuntimeException(e);
                            }
                            continue;//提升机忙
                        }

@@ -993,7 +1003,7 @@
                            continue;//提升机不在目标楼层跳过
                        }

                        Integer staNo = Utils.levToOutInStaNo(lev);
                        Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
                        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        //获取目标站信息
                        StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
@@ -1028,32 +1038,26 @@
                        continue;
                    }

                    wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
                    //源库位(小车当前位置)
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();

                    //小车当前层高
                    Integer currentLev = Utils.getLev(currentLocNo);
                    //获取提升机
                    LiftSlave liftSlave = slaveProperties.getLift().get(0);
                    //当前楼层提升机输送站点库位号
                    String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

                    //分配任务号
                    shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                    //分配源库位
                    shuttleProtocol.setSourceLocNo(currentLocNo);

                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                    //四向穿梭车号
                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    //任务号
                    assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                    //入出库模式
                    assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
                    assignCommand.setSourceLocNo(currentLocNo);

                    if (wrkMast.getWrkSts() == 21) {

                        wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
                        //源库位(小车当前位置)
                        String currentLocNo = shuttleProtocol.getCurrentLocNo();

                        //小车当前层高
                        Integer currentLev = Utils.getLev(currentLocNo);
                        //当前楼层提升机输送站点库位号
                        String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

                        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                        //四向穿梭车号
                        assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                        //任务号
                        assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                        //入出库模式
                        assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
                        assignCommand.setSourceLocNo(currentLocNo);

                        //判断小车和库位是否在同一层
                        if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
                            //同一层(将小车移动到货物位置)
@@ -1064,19 +1068,35 @@
                            }
                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                            //分配任务号
                            shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //分配源库位
                            shuttleProtocol.setSourceLocNo(currentLocNo);
                            //目标库位
                            assignCommand.setLocNo(wrkMast.getSourceLocNo());
                            assignCommand.setCommands(commands);
                            wrkMast.setWrkSts(26L);//小车搬运中

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }else {
                            //不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)

                            //小车到提升机口指令
                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
                            if (commands == null) {
                                continue;//未找到路径
                                if (!currentLocNo.equals(liftSiteLocNo)) {//当前位置也不在提升机口
                                    continue;//未找到路径
                                }
                                commands = new ArrayList<>();
                            }
                            shuttleProtocol.setLocNo(liftSiteLocNo);
                            //分配任务号
                            shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //分配源库位
                            shuttleProtocol.setSourceLocNo(currentLocNo);

                            //获取当前小车所在楼层的站点信息
                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
@@ -1090,32 +1110,56 @@
                            assignCommand.setLocNo(liftSiteLocNo);
                            assignCommand.setCommands(commands);
                            wrkMast.setWrkSts(22L);//小车迁移状态

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 25) {
                        List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);

                        wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号

                        //当前楼层提升机输送站点库位号
                        String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());

                        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                        //四向穿梭车号
                        assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                        //任务号
                        assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                        //入出库模式
                        assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
                        assignCommand.setSourceLocNo(liftSiteLocNo);

                        List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
                        if (commands == null) {
                            continue;//未找到路径
                        }
                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口
                        BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
                        short startCode = Short.parseShort(basDevp.getQrCodeValue());//提升机二维码
                        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, 1300, commands.get(0).getRunDirection(), (short) 1, 0);
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位
                        shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                        //分配任务号
                        shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                        //分配源库位
                        shuttleProtocol.setSourceLocNo(liftSiteLocNo);
                        //目标库位
                        assignCommand.setLocNo(wrkMast.getSourceLocNo());
                        assignCommand.setCommands(commands);
                        wrkMast.setWrkSts(26L);//小车搬运中

                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            //下发任务
                            MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                        }
                    }

                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //下发任务
                        MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                    }
                }
            }
        }
@@ -1360,11 +1404,6 @@
                continue;
            }

            //给提升机分配任务
            liftProtocol.setLiftLock(true);//锁定提升机
            liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
            liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

            //命令list
            ArrayList<LiftCommand> commands = new ArrayList<>();

@@ -1382,14 +1421,13 @@
                //工作档目标库位楼层
                int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

                //提升机当前楼层
                int liftLev = liftProtocol.getLev().intValue();
                if (liftLev == 0) {//提升机当前楼层为0，提升机失去位置信息，让提升机前往一楼
                    LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
                    commands.add(command);//将命令添加进list
                Integer levTmp = wrkMastLocNoLey;
                if (wrkMastLocNoLey >= 2) {
                    levTmp += 1;
                }
                Integer distStaNo = Utils.levToOutInStaNo(levTmp);

                if (liftLev != LiftLevType.TWO.realLev) {
                if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
                    //提升机不在输送线楼层，获取到输送线层的提升机命令
                    LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
                    commands.add(command1);//将命令添加进list
@@ -1400,12 +1438,8 @@
                command2.setOperaStaNo((short) 102);//操作102站
                command2.setRotationDire(1);//给输送线下发链条转动信号，正转
                command2.setDevpId(devpId);
                command2.setStaNo(distStaNo.shortValue());//设置目标站
                commands.add(command2);//将命令添加进list

                Integer levTmp = wrkMastLocNoLey;
                if (wrkMastLocNoLey >= 2) {
                    levTmp += 1;
                }

                //提升机前往目标楼层(工作档目标楼层)
                LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp);
@@ -1414,12 +1448,15 @@
                //提升机到达指定楼层，输送线将货物移出去(正转)
                //输送线将货物移出去
                LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
                Integer distStaNo = Utils.levToOutInStaNo(levTmp);
                command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点
                command4.setRotationDire(1);//给输送线下发链条转动信号，正转
                command4.setDevpId(devpId);
                command4.setStaNo(distStaNo.shortValue());//设置目标站
                commands.add(command4);//将命令添加进list

                //给提升机分配任务
                liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                wrkMast.setWrkSts(3L);//3.提升机搬运中
            } else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
@@ -1442,7 +1479,7 @@
                }

                //工作档目标库位号
                String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
                String wrkMastLocNo = wrkMast.getLocNo();
                //工作档目标库位楼层
                int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
                if (wrkMastLocNoLey >= 2) {
@@ -1452,6 +1489,10 @@
                //提升机前往目标楼层(工作档目标楼层)
                LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
                commands.add(command1);//将命令添加进list

                //给提升机分配任务
                liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
            } else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
@@ -1475,7 +1516,7 @@
                }

                //工作档目标库位号
                String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
                String wrkMastLocNo = wrkMast.getSourceLocNo();
                //工作档目标库位楼层
                int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
                if (wrkMastLocNoLey >= 2) {
@@ -1486,6 +1527,10 @@
                LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
                commands.add(command1);//将命令添加进list

                //给提升机分配任务
                liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
            } else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
                //工作档源库位号
@@ -1495,14 +1540,10 @@

                //提升机当前楼层
                int liftLev = liftProtocol.getLev().intValue();
                if (liftLev == 0) {//提升机当前楼层为0，提升机失去位置信息，让提升机前往一楼
                    LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
                    commands.add(command);//将命令添加进list
                }

                //判断提升机是否到位
                StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey));//起始站点
                if (liftLev != wrkMastLocNoLey && wrkMastLocNoLey != 1 || !staProtocol.isLiftArrival()) {
                StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
                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);
                    commands.add(command1);//将命令添加进list
@@ -1536,6 +1577,10 @@
                command5.setRotationDire(0);//链条转动停止
                commands.add(command5);

                //给提升机分配任务
                liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                wrkMast.setWrkSts(28L);//28.提升机搬运中
            }