#

Junjie

2023-10-20 eb70c6896aa6ed1b045cefd17baf3486f25e6806

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

@@ -35,6 +35,7 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -336,6 +337,7 @@
            );
            opt.setSend(1);//已下发
            opt.setResponse(JSON.toJSONString(result));//请求响应
            opt.setDeviceWrk(command.getWrkNo().toString());//设备工作号
            shuttleOptService.insert(opt);
        }

@@ -369,6 +371,7 @@
        }

        WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
        WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());

        Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
        if (o == null) {
@@ -384,8 +387,11 @@
            return false;
        }

        checkIOSta(commands, commandStep);//检测小车是否进出提升机输送站

        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

        boolean isLock = false;//是否解锁路径
        //取出命令
        NyShuttleHttpCommand command = null;
        if (commandStep < commands.size()) {
@@ -401,13 +407,15 @@
                if (shuttleProtocol.getPoint().equals(target)) {
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    lastCommand.setComplete(true);
                    //解锁锁定路径，上一条路径和当前路径
                    //解锁锁定路径，上一条路径
                    List<NavigateNode> nodes = lastCommand.getNodes();
                    if (command != null && command.getNodes() != null) {
                        nodes.addAll(command.getNodes());
                    }
//                    //解锁当前路径
//                    if (command != null && command.getNodes() != null) {
//                        nodes.addAll(command.getNodes());
//                    }
                    if (nodes != null) {
                        navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//解锁路径
                        isLock = true;//解锁过路径
                    }
                }
            }else {
@@ -446,8 +454,9 @@
        }

        if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
            //停止充电
            if(!(command.getRequest().getBody().get("requestType").equals("stopCharge") && shuttleProtocol.getChargState() == 1)){
            String requestType = command.getRequest().getBody().get("requestType").toString();
            //停止充电 管制命令
            if(!(requestType.equals("stopCharge") && shuttleProtocol.getChargState() == 1) && !requestType.equals("resume")){
                return false;//小车状态忙，禁止执行命令
            }
        }
@@ -463,9 +472,26 @@
        }

        if (command.getRequest().getBody().get("requestType").equals("move")) {
            //检测路径是否可行走
            if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
                return false;
            ArrayList<int[]> whiteList = new ArrayList<>();//设置节点的白名单
            if (wrkMast != null && ((wrkMast.getIoType() > 100 && wrkMast.getIoType() < 200) || wrkMast.getIoType() == 11)) {
                //出库任务，不检测首节点
                int[] startArr = NavigatePositionConvert.positionToXY(wrkMast.getSourceLocNo());//开始节点
                whiteList.add(startArr);
            }

            //解锁过路径，只检测下一段路径是否可走(当前路径已经被锁定无需再检测)
            if (isLock) {
                //只检测下一段路径是否可走(当前路径已经被锁定无需再检测)
                //检测路径是否可行走
                if (!checkPath(nextNodes == null ? command.getNodes() : nextNodes, null, whiteList)) {
                    return false;
                }
            }else {
                //检测当前路径和下一段路径
                //检测路径是否可行走
                if (!checkPath(command.getNodes(), nextNodes, whiteList)) {
                    return false;
                }
            }

            //锁定路径，锁定当前路径和下一步路径
@@ -474,7 +500,10 @@
                nodes.addAll(nextNodes);
            }
            if (nodes != null) {
                navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用
                boolean result = navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定禁用
                if (!result) {
                    return false;//路径锁定失败
                }
            }
        }

@@ -634,17 +663,17 @@
     * 检测路径是否可行走
     * 如果路径为目标库位，但不可行走，系统将尝试重新计算路径
     */
    private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, ShuttleRedisCommand redisCommand) {
    private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, List<int[]> whitePoints) {
        //检测路径是否可行走(检查路径锁定状态，检测路径是否有其他小车)
        //检测当前行走路径，和下一步路径
        boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
        boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
        if (nextNodes == null) {
            if (checkPathIsAvailable) {
                return true;//可行走
            }
            return false;
        }else {
            boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
            boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
            if (checkPathIsAvailable && checkPathIsAvailable2) {
                return true;//可行走
            }
@@ -780,4 +809,64 @@
        }
    }

    //检测小车是否进出提升机输送站
    public void checkIOSta(List<NyShuttleHttpCommand> commands, int commandStep) {
        if (commandStep != 0) {
            NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);//上一步命令
            if (lastCommand.getRequest().getBody().get("requestType").equals("move")) {
                //检测起点是否为提升机输送站点
                NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(lastCommand.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
                int[] startPoint = NavigatePositionConvert.NyXyzToWCSXyz(start.getX(), start.getY(), start.getZ());
                if (startPoint[0] == 13 && (startPoint[1] == 22 || startPoint[1] == 38 || startPoint[1] == 57)) {
                    //输送站点位置

                    int liftNo;
                    if (startPoint[1] == 22) {
                        liftNo = 1;
                    } else if (startPoint[1] == 38) {
                        liftNo = 2;
                    } else {
                        liftNo = 3;
                    }

                    HashMap<String, Object> data = new HashMap<>();
                    data.put("lev", startPoint[2]);
                    data.put("status", false);//出输送站

                    //下发任务
                    MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
                }
            }
        }

        if (commands.size() == commandStep) {
            return;
        }
        NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
        if (command.getRequest().getBody().get("requestType").equals("move")) {
            NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(command.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
            int[] targetPoint = NavigatePositionConvert.NyXyzToWCSXyz(target.getX(), target.getY(), target.getZ());
            //检测目标位置是否为提升机输送站点
            if (targetPoint[0] == 13 && (targetPoint[1] == 22 || targetPoint[1] == 38 || targetPoint[1] == 57)) {
                //输送站点位置

                int liftNo;
                if (targetPoint[1] == 22) {
                    liftNo = 1;
                } else if (targetPoint[1] == 38) {
                    liftNo = 2;
                } else {
                    liftNo = 3;
                }

                HashMap<String, Object> data = new HashMap<>();
                data.put("lev", targetPoint[2]);
                data.put("status", true);//进输送站

                //下发任务
                MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
            }
        }
    }

}