自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
Junjie
2023-05-10 baed29d667be08051c36c31997117a1ba292d5bc 
 src/main/java/com/zy/core/thread/ShuttleThread.java


@@ -16,11 +16,9 @@


import com.zy.asrs.service.BasShuttleOptService;


import com.zy.asrs.service.BasShuttleService;


import com.zy.asrs.service.LocMastService;


import com.zy.asrs.utils.Utils;


import com.zy.common.model.NavigateNode;


import com.zy.common.utils.CommonUtils;


import com.zy.common.utils.NavigatePositionConvert;


import com.zy.common.utils.NavigateUtils;


import com.zy.common.utils.RedisUtil;


import com.zy.common.utils.*;


import com.zy.core.News;


import com.zy.core.ThreadHandler;


import com.zy.core.cache.MessageQueue;


@@ -178,7 +176,7 @@




                if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {


                    //出现错误


                    reset(shuttleProtocol.getTaskNo());


                    resetAndTryFix(shuttleProtocol.getTaskNo());


                }




                if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING


@@ -200,7 +198,7 @@


                //检测是否有提升机锁定标记，有则检测提升机是否到位，是否能走下一步命令


                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE


                        && shuttleProtocol.getTaskNo() != 0) {


                    Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getTaskNo());


                    Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());


                    if (o != null) {


                        ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);


                        if (redisCommand.getLiftSecurityMk()) {


@@ -394,9 +392,11 @@


    //分配任务


    private void assignWork(ShuttleAssignCommand assignCommand) {


        if (!assignCommand.getAuto()) {


            List<NavigateNode> allNode = new ArrayList<>();


            List<ShuttleCommand> commands = new ArrayList<>();


            ShuttleCommand command = new ShuttleCommand();


            LocMastService locMastService = SpringUtils.getBean(LocMastService.class);


            NavigateMapData navigateMapData;


            switch (assignCommand.getTaskMode()) {


                case 1://入库


                case 2://出库


@@ -404,7 +404,12 @@


                    //计算小车起点到中点所需命令


                    LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());


                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);


                    //所使用的路径进行锁定禁用


                    navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));


                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用




                    if (firstMastResult != null) {


                        allNode.addAll(firstMastResult);//将节点进行保存


                        //获取分段路径


                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);


                        //将每一段路径分成command指令


@@ -466,7 +471,10 @@




                    //计算中点到终点路径


                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);


                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用




                    if (secMastResult != null) {


                        allNode.addAll(secMastResult);//将节点进行保存


                        //获取分段路径


                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);


                        //将每一段路径分成command指令


@@ -590,7 +598,12 @@


                case 14://移动到目标库位


                    LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());


                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);


                    //所使用的路径进行锁定禁用


                    navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo()));


                    navigateMapData.writeNavigateNodeToRedisMap(result, true);////所使用的路径进行锁定禁用




                    if (result != null) {


                        allNode.addAll(result);//将节点进行保存


                        //获取分段路径


                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);


                        //将每一段路径分成command指令


@@ -626,6 +639,7 @@


                default:


            }


            assignCommand.setCommands(commands);


            assignCommand.setNodes(allNode);//当前任务所占用的节点list


        }




        ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();


@@ -638,7 +652,7 @@


        shuttleProtocol.setAssignCommand(assignCommand);


        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);


        //任务数据保存到redis


        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));


        redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));


        //执行下发任务


        executeWork(assignCommand.getTaskNo());


    }


@@ -650,7 +664,7 @@


            return false;


        }




        Object o = redisUtil.get("wrk_no_" + wrkNo);


        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);


        if (o == null) {


            return false;


        }


@@ -683,7 +697,7 @@


                    commandStep--;


                    redisCommand.setCommandStep(commandStep);


                    //任务数据保存到redis


                    redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));


                    redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));


                    shuttleProtocol.setPakMk(true);


                    return true;


                }else {


@@ -731,7 +745,7 @@


                errorCommands.remove(0);


                redisCommand.setErrorCommands(errorCommands);


                //任务数据保存到redis


                redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));


                redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));


                return true;


            }


        }


@@ -769,7 +783,7 @@


                commandStep++;


                redisCommand.setCommandStep(commandStep);


                //任务数据保存到redis


                redisUtil.set("wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));


                redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));


            }else {


                //已执行完成


                //保存数据到数据库做流水


@@ -799,8 +813,13 @@


                    }


                }




                String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();


                //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("wrk_no_" + redisCommand.getWrkNo());


                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());




                if (!assignCommand.getAuto()) {


                    //手动模式不抛出等待状态，直接复位


@@ -836,7 +855,7 @@


            return false;


        }




        Object o = redisUtil.get("wrk_no_" + wrkNo);


        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);


        if (o == null) {


            return false;


        }


@@ -925,7 +944,7 @@


        liftProtocol.setSecurityMk(true);//标记置为true，防止其他任务占用当前提升机


        redisCommand.setLiftSecurityMk(true);//标记置为true，防止其他任务占用当前提升机


        //任务数据保存到redis


        redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));


        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));




        //命令list


        ArrayList<LiftCommand> liftCommands = new ArrayList<>();


@@ -950,13 +969,13 @@


    /**


     * 复位并尝试修复错误


     */


    private boolean reset(Short wrkNo) {


    private boolean resetAndTryFix(Short wrkNo) {


        //读取redis数据


        if (wrkNo == null) {


            return false;


        }




        Object o = redisUtil.get("wrk_no_" + wrkNo);


        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);


        if (o == null) {


            return false;


        }


@@ -1027,7 +1046,7 @@




        redisCommand.setErrorCommands(list);


        //任务数据保存到redis


        redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));


        redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));


        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);


        return true;


    }