充电任务优化

Junjie

2023-06-19 c4355edf683197a67e127c796e8f93650cc2a302

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

@@ -366,6 +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;
@@ -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);
    }

    /**