小车进提升机检测方案

Junjie

2023-08-01 77bef18c6d0970c72df159f380fd06d176a8df43

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

@@ -5,8 +5,10 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;

import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.*;
import com.zy.core.News;
@@ -311,8 +313,42 @@
        if (commands.size() == 0) {
            return false;
        }

        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        //取出命令
        NyShuttleHttpCommand command = commands.get(commandStep);
        NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
        if (commandStep != 0) {
            //判断上一条指令是否完成
            NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
            String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
            if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
                //移动命令、出入提升机命令
                NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
                if (shuttleProtocol.getPoint().equals(target)) {
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    lastCommand.setComplete(true);
                    //解锁锁定路径，上一条路径和当前路径
                    List<NavigateNode> nodes = lastCommand.getNodes();
                    nodes.addAll(command.getNodes());
                    navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
                }
            }else {
                lastCommand.setComplete(true);//其他命令默认认为完成
            }
            //任务数据保存到redis
            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

            if (!lastCommand.getComplete()) {
                //上一条任务未完成，禁止下发命令
                return false;
            }
        }

        List<NavigateNode> nextNodes = null;//下一步命令行走路径
        if (commandStep + 1 < commands.size()) {
            NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//下一步命令
            nextNodes = nextCommand.getNodes();//下一步命令行走路径
        }

        if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
            return false;//小车状态忙，禁止执行命令
@@ -324,7 +360,16 @@
        }

        //检查路径是否可行走(检查路径锁定状态，检测路径是否有其他小车)

        //检测当前行走路径，和下一步路径
        boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(command.getNodes(), shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        if (!checkPathIsAvailable && !checkPathIsAvailable2) {
            return false;
        }
        //锁定路径，锁定当前路径和下一步路径
        List<NavigateNode> nodes = command.getNodes();
        nodes.addAll(nextNodes);
        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用

        //可执行命令
        if (!write(command)) {
@@ -366,20 +411,6 @@
        }else {
            //已执行完成

//            if (redisCommand.getLiftSecurityMk()) {
//                //曾锁定过提升机，需要进行解锁
//                if (liftProtocol != null) {
//                    liftProtocol.setSecurityMk(false);
//                }
//            }

//            String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
//            if (locNo != null) {
//                //解除锁定的库位路径
//                NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo));
//                navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false);
//            }

            //删除redis
            redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());

@@ -407,8 +438,33 @@
            return false;
        }

        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        //当前步序
        int commandStep = redisCommand.getCommandStep();

        //检测是否存在提升机口的指令
        List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
        if (commands.isEmpty()) {
            return false;
        }
        NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
        if (!command.getMsgType().equals("intoLift")) {
            return true;//不是入提升机命令，直接放行
        }

        //获取起点(输送站点)
        NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(command.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
        //将牛眼坐标转换成WCS库位号
        String startLocNo = NavigatePositionConvert.nyXyzToLocNo(start.getX(), start.getY(), start.getZ());

        BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
        BasDevp basDevp = basDevpService.queryByLocNo(startLocNo);
        if (basDevp == null) {
            return false;//查不到站点，禁止下发
        }

        //拿到提升机线程
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
        if (liftThread == null) {
            return false;
        }
@@ -416,21 +472,13 @@
        if (liftProtocol == null) {
            return false;
        }

        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        //当前步序
        int commandStep = redisCommand.getCommandStep();

        //检测是否存在提升机口的指令
        List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
        if (commands.size() == 0) {
        if (!liftProtocol.isIdle()) {
            return false;
        }

        if (!commands.get(commandStep).getMsgType().equals("move")) {
            return true;//不是行走命令，直接放行
        if (liftProtocol.getLev().intValue() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
            return true;//提升机达到小车楼层，放行
        }


        return false;//默认不放行
    }