提升机命令封装

Junjie

2023-05-11 d3696ce1ba6071f264aa3db8cc94bf090094a906

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

@@ -26,10 +26,7 @@
import com.zy.core.enums.*;
import com.zy.core.model.LiftSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.LiftAssignCommand;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -37,7 +34,6 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -185,10 +181,9 @@
                        && !liftProtocol.getRunning()
                        && liftProtocol.getReady()
                        && liftProtocol.getPakMk()
                        && liftProtocol.getTaskNo() != 0
                        && liftProtocol.getAssignCommand() != null) {
                        && liftProtocol.getTaskNo() != 0) {
                    //还有未完成的命令
                    executeWork(liftProtocol.getAssignCommand());
                    executeWork(liftProtocol.getTaskNo());
                }

                //将提升机状态保存至数据库
@@ -290,9 +285,6 @@

    //分配任务
    private void assignWork(LiftAssignCommand assignCommand) {
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();

        //手动模式指令
        if (!assignCommand.getAuto()) {
            LiftCommand command = new LiftCommand();
@@ -305,22 +297,19 @@
            liftProtocol.setTaskNo(assignCommand.getTaskNo());
            switch (assignCommand.getTaskMode()) {
                case 1://上升一层
                    command.setRun((short) 1);//升降
                    command.setDistPosition(++lev);
                    command = getLiftUpDownCommand(++lev);//获取提升机上升下降命令
                    break;
                case 2://下降一层
                    command.setRun((short) 1);//下降
                    command.setDistPosition(--lev);
                    command = getLiftUpDownCommand(--lev);//获取提升机上升下降命令
                    break;
                case 3://有货正转
                    command.setRun((short) 6);
                    command = getLiftTurnCommand(1);//获取提升机转动命令
                    break;
                case 4://有货反转
                    command.setRun((short) 3);
                    command = getLiftTurnCommand(2);//获取提升机转动命令
                    break;
                case 5://复位
                    command.setRun((short) 0);
                    command.setLiftLock(false);
                    command = getResetCommand();//获取复位命令
                    break;
                default:
            }
@@ -328,42 +317,40 @@
            assignCommand.setCommands(commands);
        }

        //提升机号
        map.put("lift_no", assignCommand.getLiftNo());
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //命令执行步序
        map.put("commandStep", 0);
        //命令
        map.put("assignCommand", assignCommand);
        LiftRedisCommand redisCommand = new LiftRedisCommand();
        redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号
        redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
        redisCommand.setCommandStep(0);//命令执行步序
        redisCommand.setAssignCommand(assignCommand);//命令
        //任务数据保存到redis
        redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
        redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
        liftProtocol.setAssignCommand(assignCommand);
        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
        //执行下发任务
        executeWork(assignCommand);
        executeWork(assignCommand.getTaskNo());
    }

    //执行任务
    private boolean executeWork(LiftAssignCommand assignCommand) {
    private boolean executeWork(Short wrkNo) {
        //读取redis数据
        if (assignCommand == null) {
        if (wrkNo == null) {
            return false;
        }

        //将标记置为false(防止重发)
        liftProtocol.setPakMk(false);

        Object o = redisUtil.get("lift_wrk_no_" + assignCommand.getTaskNo());
        Object o = redisUtil.get("lift_wrk_no_" + wrkNo);
        if (o == null) {
            return false;
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        List<LiftCommand> commands = assignCommand.getCommands();
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        int commandStep = redisCommand.getCommandStep();
        //总步序
        int size = commands.size();
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();

        //取出命令
        LiftCommand command = commands.get(commandStep);
@@ -379,17 +366,17 @@
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                redisCommand.setCommandStep(commandStep);
                //任务数据保存到redis
                redisUtil.set("lift_wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
                redisUtil.set("lift_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
            }else {
                //已执行完成
                //保存数据到数据库做流水
                BasLiftOptService liftOptService = SpringUtils.getBean(BasLiftOptService.class);
                if (liftOptService != null) {
                    BasLiftOpt opt = new BasLiftOpt(
                            assignCommand.getTaskNo().intValue(),
                            assignCommand.getLiftNo().intValue(),
                            redisCommand.getWrkNo().intValue(),
                            redisCommand.getLiftNo().intValue(),
                            new Date(),
                            null,
                            null,
@@ -399,7 +386,7 @@
                    liftOptService.insert(opt);
                }
                //删除redis
                redisUtil.del("lift_wrk_no_" + map.get("wrk_no").toString());
                redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo());

                if (assignCommand.getAuto()) {
                    //对主线程抛出等待确认状态waiting
@@ -407,22 +394,17 @@
                    News.info("提升机任务执行完成等待确认中，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
                }else {
                    //手动模式不抛出等待状态
                    if (assignCommand.getTaskMode() == 5) {
                        liftProtocol.setTaskNo((short) 0);
                        liftProtocol.setShuttleNo((short) 0);
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        liftProtocol.setPakMk(true);
                        liftProtocol.setSecurityMk(false);
                    }
                    liftProtocol.setTaskNo((short) 0);
                    liftProtocol.setShuttleNo((short) 0);
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                    liftProtocol.setPakMk(true);
                    liftProtocol.setSecurityMk(false);
                    News.info("提升机手动任务执行完成，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
                }

                //下发一条提升机解锁命令
                LiftCommand liftCommand = new LiftCommand();
                liftCommand.setRun((short) 0);
                liftCommand.setLiftNo(command.getLiftNo());
                liftCommand.setLiftLock(false);
                if (write(liftCommand)) {
                LiftCommand unlockCommand = getUnlockCommand(command.getLiftNo());
                if (write(unlockCommand)) {
                    News.info("提升机状态已解锁，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
                }

@@ -433,6 +415,46 @@
    }

    /**
     * 获取提升机解锁命令
     */
    private LiftCommand getUnlockCommand(Short liftNo) {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 0);
        command.setLiftNo(liftNo);
        command.setLiftLock(false);
        return command;
    }

    /**
     * 获取复位命令
     */
    private LiftCommand getResetCommand() {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 0);
        command.setLiftLock(false);
        return command;
    }

    /**
     * 获取提升机上升下降命令
     */
    private LiftCommand getLiftUpDownCommand(Short lev) {
        LiftCommand command = new LiftCommand();
        command.setRun((short) 1);//升降
        command.setDistPosition(lev);
        return command;
    }

    /**
     * 获取提升机转动命令，direction：1=》有货正转，2=》有货反转
     */
    private LiftCommand getLiftTurnCommand(Integer direction) {
        LiftCommand command = new LiftCommand();
        command.setRun(direction == 1 ? (short) 6 : (short) 3);
        return command;
    }

    /**
     * 初始化提升机
     */
    private void initLift() {