四向穿梭车入库模式完善

Junjie

2023-03-30 de27c6f2d428632ed21a015dc6bfb73cc07f31a3

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

@@ -636,15 +636,28 @@
                if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
                    WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
                    if (wrkMast != null) {
                        if (wrkMast.getWrkSts() == 4) {
                            //寻找最近且空闲的四向穿梭车
                            HashMap<String, Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
                            ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
                        if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
                            ShuttleThread shuttleThread = null;
                            HashMap<String, Object> searchIdleShuttle = null;
                            if (wrkMast.getWrkSts() == 4) {
                                //寻找最近且空闲的四向穿梭车
                                searchIdleShuttle = this.searchIdleShuttle(wrkMast);
                                shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
                            }else {
                                //状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
                                Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
                                shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
                            }

                            if (shuttleThread == null) {
                                continue;
                            }

                            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                            if (!shuttleProtocol.isIdle()) {
                                continue;
                            }

                            wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号

                            //分配任务号
@@ -664,52 +677,30 @@
                            LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
                            assignCommand.setSourceLocNo(currentLocMast.getLocNo());

                            if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
                            if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
                                //同一层
                                //分配目标库位
                                shuttleProtocol.setLocNo(wrkMast.getLocNo());
                                //目标库位
                                assignCommand.setDistLocNo(wrkMast.getLocNo());
                                assignCommand.setLocNo(wrkMast.getLocNo());
                                wrkMast.setWrkSts(9L);//小车入库中
                            }else {
                                //不同层，将目标库位分配成提升机库位号
                                //分配目标库位
                                shuttleProtocol.setLocNo("1800201");

                                //小车当前层高
                                String currentLocNo = currentLocMast.getLocNo();
                                Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));

                                //获取提升机
                                LiftSlave liftSlave = slaveProperties.getLift().get(0);
                                //提升机库位号
                                String liftLocNo = liftSlave.getLiftLocNo(currentLev);
                                shuttleProtocol.setLocNo(liftLocNo);
                                //目标库位
                                assignCommand.setDistLocNo("1800201");
                                assignCommand.setLocNo(liftLocNo);
                                wrkMast.setWrkSts(5L);//小车迁移状态
                            }

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }else {
                            //状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
                            Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
                            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
                            if (shuttleThread == null) {
                                continue;
                            }
                            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();

                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getLocNo());

                            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                            //四向穿梭车号
                            assignCommand.setShuttleNo(shuttleNo.shortValue());
                            //任务号
                            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //入出库模式
                            assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
                            //源库位(小车当前位置)
                            Short currentCode = shuttleProtocol.getCurrentCode();
                            LocMast currentLocMast = locMastService.queryByQrCode(currentCode.toString());
                            assignCommand.setSourceLocNo(currentLocMast.getLocNo());
                            //目标库位
                            assignCommand.setDistLocNo(wrkMast.getLocNo());
                            wrkMast.setWrkSts(9L);//小车入库中
                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
@@ -778,10 +769,23 @@
                    //楼层相同情况
                    //找距离出库点最近的车

                    if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
                        //只要有一辆车不是空闲则不进行调度
                        map.put("sameLay", false);//不同层
                        map.put("result", null);
                        return map;
                    }

                    //获取提升机
                    LiftSlave liftSlave = slaveProperties.getLift().get(0);
                    //提升机库位号
                    String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
                    String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);

                    //当前最近四向穿梭车到提升机路径
                    List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, "1800201", ShuttleTaskModeType.PAK_IN.id);
                    List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
                    //当前楼层四向穿梭车到提升机路径
                    List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, "1800201", ShuttleTaskModeType.PAK_IN.id);
                    List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
                    //判断哪一个路径最短
                    if (shuttlePath.size() < recentShuttlePath.size()) {
                        //如果当前楼层的车路径更小，则更新最近穿梭车
@@ -811,9 +815,18 @@
            //四向穿梭车状态为等待确认
            if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) {
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo9(shuttleProtocol.getTaskNo().intValue());
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo59(shuttleProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
                    wrkMast.setWrkSts(14L);
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 9:
                            wrkMast.setWrkSts(14L);
                            break;
                        case 5:
                            wrkMast.setWrkSts(6L);
                            break;
                        default:
                    }

                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
@@ -825,7 +838,7 @@
                        shuttleProtocol.setLocNo(null);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        News.error("四向穿梭车已确认且任务完成状态,复位。堆垛机号={}", shuttleProtocol.getShuttleNo());
                        News.info("四向穿梭车已确认且任务完成状态,复位。堆垛机号={}", 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());
                    }