#

Junjie

2024-12-24 d8f361c9d69271aaa58ba19e75f38e0fee00f3bb

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

@@ -172,6 +172,8 @@
                shuttleProtocol.setStatusSum(jsonObject.getObject("statusSum", NyShuttleProtocol.StatusSumClass.class));
                //非自动状态时间计时
                shuttleProtocol.setErrTime(jsonObject.getInteger("errTime"));
                //最近一次在线时间
                shuttleProtocol.setLastOnlineTime(System.currentTimeMillis());

                //小车处于运行中，将标记置为false
                if (shuttleProtocol.getFree() == 0) {
@@ -187,56 +189,13 @@
                    basShuttle.setShuttleNo(slave.getId());
                    shuttleService.insert(basShuttle);
                }
                //工作模式
                basShuttle.setWorkingMode(shuttleProtocol.getWorkingMode());
                //运行状态
                basShuttle.setFree(shuttleProtocol.getFree());
                //当前速度
                basShuttle.setSpeed(shuttleProtocol.getSpeed());
                //负载状态
                basShuttle.setLoadState(shuttleProtocol.getLoadState());
                //管制状态
                basShuttle.setSuspendState(shuttleProtocol.getSuspendState());
                //顶升位置
                basShuttle.setLiftPosition(shuttleProtocol.getLiftPosition());
                //运行方向
                basShuttle.setRunDir(shuttleProtocol.getRunDir());
                //运行方向
                basShuttle.setRunDir2(shuttleProtocol.getRunDir2());
                //充电状态
                basShuttle.setChargState(shuttleProtocol.getChargState());
                //电池电量
                basShuttle.setPowerPercent(shuttleProtocol.getPowerPercent());
                //最高电芯电压
                basShuttle.setMaxCellVoltage(shuttleProtocol.getMaxCellVoltage());
                //电池电压
                basShuttle.setVoltage(shuttleProtocol.getVoltage());
                //充放电循环次数
                basShuttle.setChargeCycleTimes(shuttleProtocol.getChargeCycleTimes());
                //剩余电量
                basShuttle.setSurplusQuantity(shuttleProtocol.getSurplusQuantity());
                //总电量
                basShuttle.setCountQuantity(shuttleProtocol.getCountQuantity());
                //实际库位
                basShuttle.setPoint(JSONObject.toJSONString(shuttleProtocol.getPoint()));
                //实际坐标
                basShuttle.setCoord(JSONObject.toJSONString(shuttleProtocol.getCoord()));
                //任务目的库位
                basShuttle.setTask(JSONObject.toJSONString(shuttleProtocol.getTask()));
                //任务状态
                basShuttle.setTaskState(shuttleProtocol.getTaskState());
                //故障状态
                basShuttle.setErrState(shuttleProtocol.getErrState());
                //总里程数
                basShuttle.setStatusSum(JSONObject.toJSONString(shuttleProtocol.getStatusSum()));
                //非自动状态时间计时
                basShuttle.setErrTime(shuttleProtocol.getErrTime());
                //任务号
                basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
                //修改时间
                basShuttle.setUpdateTime(new Date());
                //作业标记
                basShuttle.setPakMk(shuttleProtocol.getPakMk());
                basShuttle.setDeviceStatus(JSON.toJSONString(basShuttle));
                if (shuttleService.updateById(basShuttle)) {
                    OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
//                    log.info(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
@@ -830,7 +789,7 @@
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                }
            }
        } else if (shuttleProtocol.getMoveType() == 2) {//循环跑
        } else if (shuttleProtocol.getMoveType() == 2) {//母轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

@@ -852,6 +811,28 @@
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 3) {//子轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (xCurrent.equals(shuttleProtocol.getXStart())) {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//小车和目标位置一致，切换库位
                }else {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//小车和目标位置一致，切换库位
                }
            } else {
                boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), locNo);
                if (result) {//调度成功
                    if (xCurrent.equals(shuttleProtocol.getXStart())) {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//切换库位
                    }else {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//切换库位
                    }
                }
            }
        }
    }