#

Junjie

5 天以前 dad4b7fd3a7fcaed73d28f0ebd9e90d86ca21225

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -87,7 +87,7 @@
                Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
                if (data == null) {//redis地图数据为空
                    //载入地图
                    List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库)
                    List<List<MapNode>> lists = navigateMapData.getJsonOriginData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//获取完整地图(包括入库出库)

                    //存入数据库
                    basMap.setData(JSON.toJSONString(lists));
@@ -429,99 +429,6 @@
            return false;
        }
        return true;
    }

    /**
     * 四向穿梭车任务完成
     */
    public synchronized void shuttleFinished() {
        try {
            List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
                    .eq("device_type", String.valueOf(SlaveType.Shuttle)));
            for (DeviceConfig device : shuttleList) {
                //获取四向穿梭车信息
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                if (shuttleProtocol == null) {
                    continue;
                }

                //四向穿梭车状态为等待确认、小车处于空闲状态
                if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id  //任务完成等待确认
                        && shuttleProtocol.getTaskNo() != 0
                ) {
                    //将任务档标记为完成
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
                    if (wrkMast != null) {
                        if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
                            //5.小车搬运中 ==> 9.入库完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
                            //102.小车搬运中 ==> 103.小车搬运完成
                            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY.sts) {
                            //302.小车移动至近点中 ==> 303.小车移动至近点完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
                            //304.小车迁入提升机中 ==> 305.小车迁入提升机完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
                            //308.小车迁出提升机中 ==> 309.小车迁出提升机完成
                            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                                continue;//小车未到达目标层
                            }
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
                            //310.小车移动中 ==> 311.小车移动完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
                            shuttleThread.setSyncTaskNo(0);
                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
                        } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
                            //204.小车充电中 ==> 205.小车充电完成
                            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
                        } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
                            //502.小车搬运中 ==> 509.移库完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
                            shuttleThread.setSyncTaskNo(0);
                            notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//触发通知
                        } else {
                            continue;
                        }

                        if (wrkMastService.updateById(wrkMast)) {
                            //设置四向穿梭车为空闲状态
                            shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                            News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
                        } else {
                            News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                        }
                    } else {
                        Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
                        if(object != null){
                            ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
                            if (!assignCommand.getAuto()) {
                                //手动模式
                                //工作号清零
                                shuttleThread.setTaskNo(0);
                                //设置四向穿梭车为空闲状态
                                shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                                News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
                            }
                        }
                    }
                }

            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
@@ -1301,7 +1208,7 @@
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
            if (wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
                //小车在充电桩位置
                wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
                wrkMast.setModiTime(new Date());
@@ -1585,7 +1492,7 @@
            assignCommand.setAuto(true);//自动模式

            //计算近点位置
            String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
            String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.PATH_LOCK), null, null, 1);
            if (endLocation == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车近点位置计算失败", wrkMast.getWrkNo());
                return false;