充电任务优化

Junjie

2023-06-19 c4355edf683197a67e127c796e8f93650cc2a302

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

@@ -12,6 +12,7 @@
import com.zy.asrs.service.*;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
@@ -365,6 +366,11 @@

        OperateResult result = modbusTcpNet.Write("0", array);;
        if (result != null && result.IsSuccess) {
            try {
                Thread.sleep(3000);//命令下发后休眠1s
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
@@ -414,7 +420,7 @@
                    //小车移动到提升机口，计算路径
                    //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);
                    List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), NavigationMapType.NORMAL.id);//小车到中点，处于无货状态，使用正常通道地图

                    if (firstMastResult != null) {
                        allNode.addAll(firstMastResult);//将节点进行保存
@@ -450,7 +456,7 @@
                    }

                    //计算中点到终点路径
                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), NavigationMapType.DFX.id);//小车从中点到终点，处于有货状态，使用DFX地图

                    if (secMastResult != null) {
                        allNode.addAll(secMastResult);//将节点进行保存
@@ -478,15 +484,14 @@
                        commands.add(getPalletCommand((short) 2));
                    }

                    navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
                    if (firstMastResult != null) {
                        //所使用的路径进行锁定禁用
                        navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用
                    if (firstMastResult == null || secMastResult == null) {
                        throw new CoolException(MessageFormat.format( "四向穿梭车出入库路径搜索失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
                    }

                    if (secMastResult != null) {
                        navigateMapData.writeNavigateNodeToRedisMap(secMastResult, true);////所使用的路径进行锁定禁用
                    }
                    navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
                    //所使用的路径进行锁定禁用
                    navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用
                    navigateMapData.writeNavigateNodeToRedisMap(secMastResult, true);////所使用的路径进行锁定禁用
                    break;
                case 3://托盘顶升
                case 4://托盘下降
@@ -536,7 +541,7 @@
                    }

                    LocMast locMast = locMastService.queryByQrCode(startQr);
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), NavigationMapType.NONE.id);//手动命令-移动命令，使用无过滤地图

                    if (result != null) {
                        //所使用的路径进行锁定禁用
@@ -572,7 +577,7 @@
                    int lev = Utils.getLev(locMast1.getLocNo());//穿梭车当前高度
                    String liftSiteLocNo = Utils.levToOutInStaLocNo(lev);//当前楼层站点库位号
                    LocMast liftSitelocMast = locMastService.selectById(liftSiteLocNo);
                    List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id);
                    List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id);//移动到提升机，使用无过滤地图

                    Short endStartCode = null;
                    if (result1 != null) {
@@ -675,7 +680,7 @@
                    shuttleProtocol.setPakMk(true);
                    return true;
                }else {
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
                    List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), NavigationMapType.DFX.id);//错误恢复，使用DFX地图
                    if (result != null) {
                        //获取分段路径
                        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
@@ -781,7 +786,6 @@
            }
        }


        //下发命令
        if (!write(command)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
@@ -789,10 +793,22 @@
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            try {
                Thread.sleep(1000);//命令下发完后休眠1s
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            //保存数据到数据库做流水
            BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
            if (shuttleOptService != null) {
                BasShuttleOpt opt = new BasShuttleOpt(
                        assignCommand.getTaskNo().intValue(),
                        assignCommand.getShuttleNo().intValue(),
                        new Date(),
                        ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                        assignCommand.getSourceLocNo(),
                        assignCommand.getLocNo(),
                        null,
                        null,
                        null,
                        JSON.toJSONString(command)
                );
                shuttleOptService.insert(opt);
            }

            //判断数据是否执行完成
@@ -805,23 +821,6 @@
                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
                BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
                if (shuttleOptService != null) {
                    BasShuttleOpt opt = new BasShuttleOpt(
                            assignCommand.getTaskNo().intValue(),
                            assignCommand.getShuttleNo().intValue(),
                            new Date(),
                            ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
                            assignCommand.getSourceLocNo(),
                            assignCommand.getLocNo(),
                            null,
                            null,
                            null,
                            JSON.toJSONString(assignCommand)
                    );
                    shuttleOptService.insert(opt);
                }

                if (redisCommand.getLiftSecurityMk()) {
                    //曾锁定过提升机，需要进行解锁
@@ -856,7 +855,7 @@
                    }else {
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    }
                    News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                    News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }

            }
@@ -1088,7 +1087,7 @@
     * 正常移动命令,默认移动速度1000
     */
    public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance) {
        return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 1000);
        return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 500);
    }

    /**