lift

Junjie

2023-06-26 7cd8c743cb1f377a3102d9a154669fb2bc10535c

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

@@ -684,13 +684,17 @@
                                //状态8，等待命令进行入库搬运动作

                                //判断提升机是否空闲
                                if (!liftProtocol.isIdle()) {
                                if (!liftProtocol.isIdleNoTask()) {
                                    try {
                                        Thread.sleep(1000);//休眠1s
                                    } catch (InterruptedException e) {
                                        throw new RuntimeException(e);
                                    }
                                    continue;//提升机忙
                                }
                                //判断提升机任务号和当前工作档任务号是否一致
                                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                                    continue;
                                }

                                //判断提升机楼层是否到位，判断站点是否给出提升机到位信号
@@ -986,13 +990,17 @@
                    }else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号

                        //判断提升机是否空闲
                        if (!liftProtocol.isIdle()) {
                        if (!liftProtocol.isIdleNoTask()) {
                            try {
                                Thread.sleep(1000);//休眠1s
                            } catch (InterruptedException e) {
                                throw new RuntimeException(e);
                            }
                            continue;//提升机忙
                        }
                        //判断提升机任务号和当前工作档任务号是否一致
                        if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                            continue;
                        }

                        //判断提升机楼层是否到位，判断站点是否给出提升机到位信号
@@ -1071,7 +1079,7 @@
                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
                            String disLocNo = "2000202" + Utils.getLev(liftSiteLocNo);//避让位置
                            LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                            if (locMast1 == null) {
                                continue;//找不到库位
@@ -1158,6 +1166,21 @@
                        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

                        //获取当前小车所在楼层的站点信息
                        BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                        Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                        String disLocNo = "2000202" + Utils.getLev(liftSiteLocNo);//避让位置
                        LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                        if (locMast1 == null) {
                            continue;//找不到库位
                        }
                        short disCode = Short.parseShort(locMast1.getQrCodeValue());
                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                        ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
                        commands.add(moveCommand2);


                        //分配目标库位
                        shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                        //分配任务号
@@ -1197,7 +1220,7 @@
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }
            if (!shuttleProtocol.isIdle()) {
@@ -1375,16 +1398,18 @@
                            //设置四向穿梭车为空闲状态
                            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        }
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        //源库位清零
                        shuttleProtocol.setSourceLocNo(null);
                        //目标库位清零
                        shuttleProtocol.setLocNo(null);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                        if (wrkCharge.getWrkSts() != 57) {
                            //任务号清零
                            shuttleProtocol.setTaskNo((short) 0);
                            //源库位清零
                            shuttleProtocol.setSourceLocNo(null);
                            //目标库位清零
                            shuttleProtocol.setLocNo(null);
                            //标记复位
                            shuttleProtocol.setPakMk(true);
                            //任务指令清零
                            shuttleProtocol.setAssignCommand(null);
                        }
                        News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
                    } else {
                        News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
@@ -1409,8 +1434,13 @@
                continue;
            }

            //判断提升机是否处于空闲状态
            if (!liftProtocol.isIdle()) {

//            if (!liftProtocol.isIdle()) {
//                continue;
//            }

            //判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
            if (!liftProtocol.isIdleNoTask()) {
                continue;
            }

@@ -1432,6 +1462,15 @@
            }

            if (wrkMast.getWrkSts() == 2) {//2.设备上走
                if (liftProtocol.getTaskNo().intValue() != 0) {
                    //存在未完成任务号
                    continue;
                }
                if (liftProtocol.getPlatShuttleCheck()) {
                    //提升机此时有四向车，可能有未完成的任务，禁止分配新任务
                    continue;
                }

                //工作档目标库位号
                String wrkMastLocNo = wrkMast.getLocNo();
                //工作档目标库位楼层
@@ -1476,6 +1515,10 @@

                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
                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                    //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                    continue;
                }
                liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                //判断小车是否在提升机内，且处于空闲状态
@@ -1492,6 +1535,10 @@
                }
                if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
                    continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
                }
                if (!liftProtocol.getPlatShuttleCheck()) {
                    //提升机未检测到小车，禁止执行
                    continue;
                }

                //工作档目标库位号
@@ -1512,6 +1559,10 @@

                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
                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                    //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                    continue;
                }
                liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                //判断小车是否在提升机内，且处于空闲状态
@@ -1529,6 +1580,10 @@
                }
                if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
                    continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
                }
                if (!liftProtocol.getPlatShuttleCheck()) {
                    //提升机未检测到小车，禁止执行
                    continue;
                }

                //工作档目标库位号
@@ -1549,6 +1604,15 @@

                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
                if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                    //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                    continue;
                }
                if (liftProtocol.getPlatShuttleCheck()) {
                    //提升机此时有四向车，可能有未完成的任务，禁止分配新任务
                    continue;
                }

                //工作档源库位号
                String wrkMastLocNo = wrkMast.getSourceLocNo();
                //工作档源库位楼层
@@ -1630,6 +1694,9 @@
                    && !liftProtocol.getRunning()
            ) {

                //标记复位
                liftProtocol.setPakMk(true);

                DevpThread devpThread = null;
                Integer devpId = null;
                for (DevpSlave devp : slaveProperties.getDevp()){
@@ -1662,6 +1729,8 @@
                        case 28://28.提升机搬运中 ==> 29.提升机搬运完成
                            wrkMast.setWrkSts(29L);
                            wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
                            //任务号清零
                            liftProtocol.setTaskNo((short) 0);
                            break;
                        default:
                    }
@@ -1669,13 +1738,9 @@
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //设置提升机为空闲状态
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        //任务号清零
                        liftProtocol.setTaskNo((short) 0);
                        //标记复位
                        liftProtocol.setPakMk(true);
                        //任务指令清零
                        liftProtocol.setAssignCommand(null);
                        News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
                        News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
                    } else {
                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
                    }
@@ -2449,33 +2514,26 @@
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
            if (wrkCharge == null) {
                return;
                continue;
            }

            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
            if (shuttleThread == null) {
                return;
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                return;
                continue;
            }

            //当前穿梭车库位号
            String currentLocNo = shuttleProtocol.getCurrentLocNo();
            if (currentLocNo == null) {
                return;
            }
            //小车当前层高
            Integer currentLev = Utils.getLev(currentLocNo);
            //获取提升机
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
            if (liftThread == null) {
                return;
                continue;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return;
                continue;
            }
            //充电库位号
            String chargeLocNo = wrkCharge.getLocNo();
@@ -2483,6 +2541,14 @@
            Integer chargeLocNoLev = Utils.getLev(chargeLocNo);

            if (wrkCharge.getWrkSts() == 51) {
                //当前穿梭车库位号
                String currentLocNo = shuttleProtocol.getCurrentLocNo();
                if (currentLocNo == null) {
                    continue;
                }
                //小车当前层高
                Integer currentLev = Utils.getLev(currentLocNo);

                if (currentLev == chargeLocNoLev) {
                    //同一层无需经过提升机
                    //直接计算车到充电库位
@@ -2492,7 +2558,7 @@
                    //获取小车到充电库位路径指令
                    List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
                    if (commands == null) {
                        return;//未找到路径
                        continue;//未找到路径
                    }
                    //进行充电中
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
@@ -2525,13 +2591,13 @@
                    //小车移动到提升机口站点，计算路径
                    List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
                    if (commands == null) {
                        return;//未找到路径
                        continue;//未找到路径
                    }

                    //获取当前小车所在楼层的站点信息
                    BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                    if (basDevp == null) {
                        return;//找不到站点信息
                        continue;//找不到站点信息
                    }
                    Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

@@ -2562,13 +2628,13 @@

                //判断提升机是否处于空闲状态
                if (!liftProtocol.isIdle()) {
                    return;
                    continue;
                }

                //判断小车是否在提升机内
                if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
                    //小车不在提升机内
                    return;
                    continue;
                }

                //给提升机分配任务
@@ -2602,24 +2668,24 @@

                Short liftLev = liftProtocol.getLev();
                if (liftLev == null) {
                    return;
                    continue;
                }
                //判断提升机楼层是否到达目标楼层
                if (liftLev.intValue() != chargeLocNoLev) {
                    return;//没有到达目标楼层
                    continue;//没有到达目标楼层
                }

                //此时车在提升机内部，下达一步指令让车移动到提升机口
                Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//站点号
                BasDevp basDevp = basDevpService.selectById(staNo);
                if (basDevp == null) {
                    return;//站点不存在
                    continue;//站点不存在
                }

                //获取小车到充电库位路径指令
                List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
                //获取提升机口到充电库位路径指令
                List<ShuttleCommand> commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
                if (commands == null) {
                    return;//未找到路径
                    continue;//未找到路径
                }

                short startCode = liftProtocol.getBarcode();//提升机内部二维码