四向穿梭车手动模式

Junjie

2023-03-27 749ab7303f266992bdd603fbe64fc36b56855739

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

@@ -66,10 +66,10 @@
                    case 1:
                        readStatus();
                        break;
//                    // 写入数据
//                    case 2:
//                        write((ShuttleCommand) task.getData());
//                        break;
                    // 写入数据
                    case 2:
                        write((ShuttleCommand) task.getData());
                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
@@ -189,46 +189,77 @@
            return false;
        }

        command.setShuttleNo(slave.getId());
        command.setShuttleNo(slave.getId().shortValue());
        // 开始任务
        short[] array = new short[17];
        //控制指令字
        array[0] = command.getCommandWord();
        //启始二维编号
        array[1] = command.getStartCodeNum();
        //中间二维编号
        array[2] = command.getMiddleCodeNum();
        //目标二维编号
        array[3] = command.getDistCodeNum();
        if (command.getStartCodeNum() != null) {
            //启始二维编号
            array[1] = command.getStartCodeNum();
        }

        //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
        array[4] = startToDistDistances[0];
        array[5] = startToDistDistances[1];
        if (command.getMiddleCodeNum() != null) {
            //中间二维编号
            array[2] = command.getMiddleCodeNum();
        }

        //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
        array[6] = middleToDistDistances[0];
        array[7] = middleToDistDistances[1];
        if (command.getDistCodeNum() != null) {
            //目标二维编号
            array[3] = command.getDistCodeNum();
        }

        //小车运行方向
        array[8] = command.getRunDirection();
        //托盘顶升
        array[9] = command.getPalletLift();
        if (command.getStartToDistDistance() != null) {
            //起点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
            array[4] = startToDistDistances[0];
            array[5] = startToDistDistances[1];
        }

        //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
        short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
        array[10] = forceMoveDistances[0];
        array[11] = forceMoveDistances[1];
        if (command.getMiddleToDistDistance() != null) {
            //中间点到目标点的距离长度，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
            array[6] = middleToDistDistances[0];
            array[7] = middleToDistDistances[1];
        }

        //充电开关
        array[12] = command.getChargeSwitch();
        //小车IO控制
        array[13] = command.getIOControl();
        //小车运行速度
        array[14] = command.getRunSpeed();
        //小车雷达备用
        array[15] = command.getRadarTmp();
        if (command.getRunDirection() != null) {
            //小车运行方向
            array[8] = command.getRunDirection();
        }

        if (command.getPalletLift() != null) {
            //托盘顶升
            array[9] = command.getPalletLift();
        }

        if (command.getForceMoveDistance() != null) {
            //小车强制移动距离，先将int转为byte数组，再将byte数组转成两个short，分别占用4和5空间
            short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
            array[10] = forceMoveDistances[0];
            array[11] = forceMoveDistances[1];
        }

        if (command.getChargeSwitch() != null) {
            //充电开关
            array[12] = command.getChargeSwitch();
        }

        if (command.getIOControl() != null) {
            //小车IO控制
            array[13] = command.getIOControl();
        }

        if (command.getRunSpeed() != null) {
            //小车运行速度
            array[14] = command.getRunSpeed();
        }

        if (command.getRadarTmp() != null) {
            //小车雷达备用
            array[15] = command.getRadarTmp();
        }

        //指令结束位
        array[16] = command.getCommandEnd();

@@ -255,23 +286,50 @@

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        //计算路径
        List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), "in");
        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();
        //命令执行步序
        map.put("commandStep", 0);
        //路径数据
        map.put("path", data);
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        ShuttleCommand command = new ShuttleCommand();
        switch (assignCommand.getTaskMode()) {
            case 1:
            case 2:
                //计算路径
                List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), assignCommand.getTaskMode().intValue());
                if (calc != null) {
                    //获取分段路径
                    ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
                    //将此map存入redis中
                    HashMap<String, Object> map = new HashMap<>();
                    //命令执行步序
                    map.put("commandStep", 0);
                    //路径数据
                    map.put("path", data);
                    //工作号
                    map.put("wrk_no", assignCommand.getTaskNo());
                    //任务数据保存到redis
                    redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
                    shuttleProtocol.setTaskNo(assignCommand.getTaskNo());

        //执行下发任务
        executeWork(assignCommand.getTaskNo());
                    //执行下发任务
                    executeWork(assignCommand.getTaskNo());
                }
                break;
            case 3:
            case 4:
                command.setCommandWord((short) 2);
                command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
                command.setCommandEnd((short) 1);
                write(command);
                break;
            case 5:
            case 6:
            case 7:
            case 8:
                command.setCommandWord((short) 3);
                command.setForceMoveDistance(1000);
                command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
                command.setCommandEnd((short) 1);
                write(command);
                break;
        }

    }

    //执行下发的指令