#拐点算法优化

Junjie

2024-12-21 802c12dcbc63ee1662c15723d27c8fc1f4fd36e6

 src/main/java/com/zy/asrs/controller/ShuttleController.java

@@ -1,7 +1,7 @@
package com.zy.asrs.controller;

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.alibaba.fastjson.JSONObject;
import com.core.annotations.ManagerAuth;
import com.core.common.BaseRes;
import com.core.common.Cools;
@@ -16,10 +16,12 @@
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NyShuttleOperaResult;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NyHttpUtils;
import com.zy.common.utils.NyShuttleOperaUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.common.utils.ShuttleDispatchUtils;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -61,23 +63,49 @@
    private CommonService commonService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private ShuttleDispatchUtils shuttleDispatchUtils;

    @PostMapping("/table/shuttle/state")
    @ManagerAuth(memo = "四向穿梭车信息表")
    public R shuttleStateTable(){
        ArrayList<NyShuttleProtocol> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
        ArrayList<JSONObject> list = new ArrayList<>();
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            // 表格行
            JSONObject baseObj = new JSONObject();
            baseObj.put("shuttleNo", slave.getId());
            list.add(baseObj);
            // 获取四向穿梭车信息
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            JSONObject shuttleData = JSON.parseObject(JSON.toJSONString(shuttleProtocol));
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo()==null) {
                if (shuttleData != null) {
                    baseObj.putAll(shuttleData);
                }
                continue;
            }
            list.add(shuttleProtocol);

            shuttleData.put("moveAdvancePath", null);//穿梭车预计路径
            if (shuttleProtocol.getTaskNo() != 0) {
                //存在任务，获取指令
                Object object = redisUtil.get(RedisKeyType.SHUTTLE.key + shuttleProtocol.getTaskNo());
                if (object != null) {
                    ShuttleRedisCommand redisCommand = JSON.parseObject(object.toString(), ShuttleRedisCommand.class);
                    shuttleData.put("moveAdvancePath", redisCommand.getAssignCommand().getNodes());//穿梭车预计路径
                }
            }

            Integer chargeLine = basShuttleService.selectById(slave.getId()).getChargeLine();
            String lowerPower = "N";
            if (chargeLine != null && shuttleProtocol.getPowerPercent() != null) {
                lowerPower = shuttleProtocol.getPowerPercent() <= chargeLine ? "Y" : "N";
            }
            shuttleData.put("lowerPower", lowerPower);//是否低电量
            baseObj.putAll(shuttleData);
        }
        return R.ok().add(list);
    }
@@ -86,14 +114,13 @@
    @ManagerAuth(memo = "四向穿梭车数据表")
    public R steMsgTable(){
        List<ShuttleMsgTableVo> list = new ArrayList<>();
        List<BasShuttle> shuttles = basShuttleService.selectList(new EntityWrapper<BasShuttle>().orderBy("shuttle_no"));
        for (BasShuttle basShuttle : shuttles) {
        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
            // 表格行
            ShuttleMsgTableVo vo = new ShuttleMsgTableVo();
            vo.setShuttleNo(basShuttle.getShuttleNo());   //  四向穿梭车号
            vo.setShuttleNo(slave.getId());   //  四向穿梭车号
            list.add(vo);
            // 获取穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, basShuttle.getShuttleNo());
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
            if (shuttleThread == null) {
                continue;
            }
@@ -127,8 +154,11 @@
            vo.setPakMk(shuttleProtocol.getPakMk()?"Y" : "N");    // 作业标记
            vo.setLocNo(shuttleProtocol.getLocNo());//四向穿梭车当前库位号
            vo.setLev(shuttleProtocol.getLocNo() == null ? 0 : Utils.getLev(shuttleProtocol.getLocNo()));//四向穿梭车当前层高
//            vo.setRunSpeed(basShuttle.getRunSpeed());//四向穿梭车运行速度(设置)
            vo.setChargeLine(basShuttle.getChargeLine());//充电阈值

            BasShuttle basShuttle = basShuttleService.selectById(slave.getId());
            if (basShuttle != null) {
                vo.setChargeLine(basShuttle.getChargeLine());//充电阈值
            }
        }
        return R.ok().add(list);
    }
@@ -154,7 +184,7 @@

    @RequestMapping(value = "/command/query")
    public R shuttleCommandQuery(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return R.error();
        }
@@ -166,13 +196,13 @@
    @RequestMapping(value = "/command/rollback")
    public R shuttleCommandRollback(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
        redisCommand.setCommandStep(commandStep);
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

@@ -181,7 +211,7 @@
    public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo
            , @RequestParam("commandStep") Integer commandStep
            , @RequestParam("complete") Integer complete) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return R.error();
        }
@@ -190,14 +220,14 @@
        List<NyShuttleHttpCommand> commands = assignCommand.getCommands();
        NyShuttleHttpCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        redisUtil.set(RedisKeyType.SHUTTLE.key + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();
    }

    //重启任务(命令)
    @RequestMapping(value = "/command/restart")
    public R shuttleCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return R.error();
        }
@@ -223,11 +253,11 @@
    //删除任务(命令)
    @RequestMapping(value = "/command/del")
    public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) {
        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        Object o = redisUtil.get(RedisKeyType.SHUTTLE.key + wrkNo);
        if (o == null) {
            return R.error();
        }
        redisUtil.del("shuttle_wrk_no_" + wrkNo);
        redisUtil.del(RedisKeyType.SHUTTLE.key + wrkNo);
        return R.ok();
    }

@@ -280,7 +310,11 @@
                    assignCommand.setNodes(result.getNodes());
                } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO) {
                    //移动到目标库位
                    NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo());
                    Integer mapType = NavigationMapType.NORMAL.id;
                    if (shuttleProtocol.getLiftPosition() == 2) {
                        mapType = NavigationMapType.DFX.id;
                    }
                    NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), shuttleProtocol.getCurrentLocNo(), param.getDistLocNo(), mapType);
                    if (result == null) {
                        throw new CoolException("路径计算失败");
                    }
@@ -301,15 +335,49 @@
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.CHARGE) {
                    //充电开关
                    NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
                    boolean charge = false;
                    if (shuttleProtocol.getChargState() == 1) {
                        //已充电，关闭充电
                        charge = false;
                    }else {
                        //开启充电
                        charge = true;
                    }
                    NyShuttleHttpCommand command = NyHttpUtils.getChargeCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), charge);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(command);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.RESET) {
                    //复位
                    shuttleProtocol.setTaskNo(0);//工作号清空
                    shuttleProtocol.setToken(0);//令牌清空
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);//任务状态-空闲
                    shuttleProtocol.setPakMk(true);//作业标记复位
                    shuttleProtocol.setPakMk(false);//作业标记复位

                    shuttleProtocol.setMoveLoc(false);
                    shuttleProtocol.setMoveType(0);
                    shuttleProtocol.setXStart(0);
                    shuttleProtocol.setXTarget(0);
                    shuttleProtocol.setXCurrent(0);
                    shuttleProtocol.setYStart(0);
                    shuttleProtocol.setYTarget(0);
                    shuttleProtocol.setYCurrent(0);
                    return R.ok();
                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CONTROL) {
                    //小车管制
                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), true);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(suspendCommand);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.SHUTTLE_CANCEL_CONTROL) {
                    //小车取消管制
                    NyShuttleHttpCommand suspendCommand = NyHttpUtils.getSuspendCommand(shuttleSlave.getId(), assignCommand.getTaskNo().intValue(), false);
                    ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
                    commands.add(suspendCommand);
                    assignCommand.setCommands(commands);
                } else if (shuttleTaskModeType == ShuttleTaskModeType.MOVE_LOC_NO_WRK_MAST) {
                    //移动到目标库位(生成移动任务)
                    shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), param.getDistLocNo(), param.getShuttleNo());
                    return R.ok();
                } else {
                    throw new CoolException("未知命令");
@@ -328,8 +396,9 @@
    @PostMapping("/detl/update")
    @ManagerAuth(memo = "修改数据")
    public R shuttleUpdate(@RequestParam Integer shuttleNo,
                        @RequestParam Integer workNo,
                        @RequestParam String pakMk){
                           @RequestParam Integer workNo,
                           @RequestParam String pakMk,
                           @RequestParam Integer token) {
        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error("plc已掉线");
@@ -343,6 +412,9 @@
        }
        if (pakMk != null) {
            shuttleProtocol.setPakMk(pakMk.equals("Y"));
        }
        if (token != null) {
            shuttleProtocol.setToken(token);
        }
        return R.ok();
    }
@@ -362,4 +434,40 @@
        return R.ok();
    }

    /**
     * 跑库程序
     */
    @PostMapping("/moveLoc")
    @ManagerAuth
    public R moveLoc(@RequestParam Integer shuttleNo,
                     @RequestParam Integer moveType,
                     @RequestParam Integer xStart,
                     @RequestParam Integer xTarget,
                     @RequestParam Integer yStart,
                     @RequestParam Integer yTarget) {
        NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
        if (shuttleThread == null) {
            return R.error();
        }

        NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
        if (shuttleProtocol == null) {
            return R.error();
        }

        if (!shuttleProtocol.isIdle()) {
            return R.error("小车忙碌中");
        }

        shuttleProtocol.setMoveLoc(true);//开启跑库
        shuttleProtocol.setMoveType(moveType);
        shuttleProtocol.setXStart(xStart);
        shuttleProtocol.setXTarget(xTarget);
        shuttleProtocol.setXCurrent(xStart);
        shuttleProtocol.setYStart(yStart);
        shuttleProtocol.setYTarget(yTarget);
        shuttleProtocol.setYCurrent(yStart);
        return R.ok();
    }

}