搜索最近穿梭车，提升机完成方法

Junjie

2023-06-27 c2b0be1a368a88e4adb6dda12d0aa5d3bb0df838

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

@@ -134,16 +134,19 @@
                //错误编号
                shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
                //Plc输出状态IO
                boolean[] booleans = modbusTcpNet.getByteTransform().TransBool(content, 10, 2);
                shuttleProtocol.setPlcOutputLift(booleans[1]);
                shuttleProtocol.setPlcOutputTransfer(booleans[2]);
                shuttleProtocol.setPlcOutputBrake(booleans[3]);
                shuttleProtocol.setPlcOutputCharge(booleans[4]);
                int plcOutIo = modbusTcpNet.getByteTransform().TransUInt16(content, 10);
                int[] plcOutIos = CommonUtils.byteToBits((byte) plcOutIo);
                shuttleProtocol.setPlcOutputLift(plcOutIos[1] == 1);
                shuttleProtocol.setPlcOutputTransfer(plcOutIos[2] == 1);
                shuttleProtocol.setPlcOutputBrake(plcOutIos[3] == 1);
                shuttleProtocol.setPlcOutputCharge(plcOutIos[4] == 1);
                shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
                //错误信息码
                shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
                int plcInIo = modbusTcpNet.getByteTransform().TransUInt16(content, 14);
                int[] plcInIos = CommonUtils.byteToBits((byte) plcInIo);
                //PLC输入状态
                shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
                shuttleProtocol.setPlcInputStatus((short) plcInIos[6]);
                //当前或者之前读到的二维码值
                shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
                //读到的二维码X方向偏移量
@@ -733,6 +736,63 @@
        int size = commands.size();
        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();

        if (commandStep != 0) {
            //判断上一条指令是否完成
            ShuttleCommand command = commands.get(commandStep - 1);
            if (command.getCommandWord().intValue() == 1) {
                //移动命令
                if (command.getDistCodeNum().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
                    //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
                    command.setComplete(true);
                }
            } else if (command.getCommandWord().intValue() == 2) {
                //托盘顶升命令
                if (command.getPalletLift().intValue() == 1) {
                    //顶升
                    //判断是否顶升到位
                    if (shuttleProtocol.getPlcOutputLift()) {
                        //自动模式
                        if (assignCommand.getAuto() && shuttleProtocol.getPlcInputStatus().intValue() == 1) {
                            //顶升到位,且托盘雷达有物，认定任务完成
                            command.setComplete(true);
                        }else {
                            //手动模式，不判断托盘雷达
                            //顶升到位，认定任务完成
                            command.setComplete(true);
                        }
                    }
                }else {
                    //下降
                    //判断是否下降到位，判断托盘雷达是否无物
                    if (!shuttleProtocol.getPlcOutputLift() && !shuttleProtocol.getPlcOutputTransfer()) {
                        //自动模式
                        if (assignCommand.getAuto() && shuttleProtocol.getPlcInputStatus().intValue() == 0) {
                            //下降到位，且托盘雷达无物，认定任务完成
                            command.setComplete(true);
                        }else {
                            //手动模式，不判断托盘雷达
                            //下降到位，且托盘雷达无物，认定任务完成
                            command.setComplete(true);
                        }
                    }
                }
            } else if (command.getCommandWord().intValue() == 5) {
                //充电命令
                //判断小车充电开关
                if (shuttleProtocol.getPlcOutputCharge()) {
                    //正常充电，认定任务完成
                    command.setComplete(true);
                }
            }
            //任务数据保存到redis
            redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));

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

        //取出命令
        ShuttleCommand command = commands.get(commandStep);