zy-wcs.git - Gitblit

			@@ -673,15 +673,31 @@
			if (wrkMast != null) {
			if (wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 8) {
			ShuttleThread shuttleThread = null;
			ShuttleProtocol shuttleProtocol = null;
			HashMap<String, Object> searchIdleShuttle = null;

			LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			if (wrkMast.getWrkSts() == 4) {
			if (wrkMast.getShuttleNo() == null) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle()) {
			continue;
			}
			}else {
			//直接使用任务保存中的小车
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(workNo)) {
			continue;
			}
			}
			}else if(wrkMast.getWrkSts() == 8){//状态8，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号
			//状态8，等待命令进行入库搬运动作

			@@ -719,14 +735,17 @@

			Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
			shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (!shuttleProtocol.isIdle(workNo)) {
			continue;
			}
			}

			if (shuttleThread == null) {
			continue;
			}

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

			@@ -751,24 +770,13 @@
			//提升机口站点库位号
			String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

			if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			//同一层直接取货无需经过提升机
			if (wrkMast.getWrkSts() == 4) {
			if (currentLev == Utils.getLev(locNo)) {
			//小车和目标在同一楼层
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}
			if (wrkMast.getWrkSts() == 8) {
			//此时车在提升机内部，下达一步指令让车移动到提升机口
			Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			BasDevp basDevp = basDevpService.selectById(staNo);

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
			commands.add(0, moveCommand);//将该指令添加到队头
			}
			assignCommand.setCommands(commands);
			//分配目标库位
			@@ -777,8 +785,7 @@
			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

			//小车和目标不在同一楼层
			//小车移动到提升机口，计算路径
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			if (commands == null) {
			@@ -800,6 +807,81 @@
			assignCommand.setCommands(commands);
			wrkMast.setWrkSts(5L);//小车迁移状态
			}
			} else if (wrkMast.getWrkSts() == 8) {
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			if (commands == null) {
			continue;//找不到路径等待下一次
			}

			//此时车在提升机内部，下达一步指令让车移动到提升机口
			Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			BasDevp basDevp = basDevpService.selectById(staNo);

			short startCode = liftProtocol.getBarcode();//提升机内部二维码
			Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			//获取命令
			ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
			commands.add(0, moveCommand);//将该指令添加到队头

			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			//目标库位
			assignCommand.setLocNo(wrkMast.getLocNo());
			wrkMast.setWrkSts(9L);//小车入库中
			}

			// if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			// //同一层直接取货无需经过提升机
			// //直接计算车到提升机取货再到库位路径指令
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//找不到路径等待下一次
			// }
			// if (wrkMast.getWrkSts() == 8) {
			// //此时车在提升机内部，下达一步指令让车移动到提升机口
			// Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
			// BasDevp basDevp = basDevpService.selectById(staNo);
			//
			// short startCode = liftProtocol.getBarcode();//提升机内部二维码
			// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
			// Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
			// //获取命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
			// commands.add(0, moveCommand);//将该指令添加到队头
			// }
			// assignCommand.setCommands(commands);
			// //分配目标库位
			// shuttleProtocol.setLocNo(wrkMast.getLocNo());
			// //目标库位
			// 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
			//
			// //小车移动到提升机口，计算路径
			// List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
			// if (commands == null) {
			// continue;//未找到路径
			// }
			//
			// //获取当前小车所在楼层的站点信息
			// BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
			// Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
			//
			// //增加移动进提升机命令
			// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
			// commands.add(moveCommand);
			//
			// //分配目标库位
			// shuttleProtocol.setLocNo(liftSiteLocNo);
			// //目标库位
			// assignCommand.setLocNo(liftSiteLocNo);
			// assignCommand.setCommands(commands);
			// wrkMast.setWrkSts(5L);//小车迁移状态
			// }

			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//下发任务
			@@ -994,9 +1076,19 @@
			LiftProtocol liftProtocol = liftThread.getLiftProtocol();

			if (wrkMast.getWrkSts() == 21) {
			if (wrkMast.getShuttleNo() == null) {
			//寻找最近且空闲的四向穿梭车
			searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			if (shuttleThread == null) {
			continue;
			}
			wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
			wrkMastMapper.updateById(wrkMast);
			}else {
			//直接使用任务保存中的小车
			shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
			}
			}else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号

			//判断提升机是否空闲
			@@ -1051,17 +1143,16 @@
			continue;
			}

			if (!shuttleProtocol.isIdle()) {
			continue;
			}

			if (outStaLocNo == null) {
			continue;
			}

			if (wrkMast.getWrkSts() == 21) {

			wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
			if (!shuttleProtocol.isIdle()) {
			continue;
			}

			//源库位(小车当前位置)
			String currentLocNo = shuttleProtocol.getCurrentLocNo();

			@@ -1080,7 +1171,7 @@
			assignCommand.setSourceLocNo(currentLocNo);

			//判断小车和库位是否在同一层
			if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			if (currentLev == Utils.getLev(wrkMast.getSourceLocNo())) {
			//同一层(将小车移动到货物位置)

			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
			@@ -1140,6 +1231,9 @@
			}
			}
			} else if (wrkMast.getWrkSts() == 25) {
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;
			}

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

			@@ -1212,6 +1306,18 @@
			distLocNo = locNo;
			}

			//判断当前任务所在楼层是否有其他任务已经分配了小车，如有则直接用该小车(一层楼仅分配一台车)
			List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//判断当前穿梭车楼层是否已有分配车辆的任务，如果有则分配这辆车
			if (wrkMasts.size() > 0) {
			//存在其他任务，分配这辆车
			WrkMast wrkMast1 = wrkMasts.get(0);
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());

			map.put("sameLay", true);//同层
			map.put("result", shuttleThread);
			return map;
			}

			for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
			//获取四向穿梭车线程
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
			@@ -1246,27 +1352,18 @@

			}

			Integer recentAllDistance = 9999999;
			if (sameLev.size() > 0) {
			//同一楼层有空闲穿梭车，则只在工作档楼层寻找
			//寻找离任务最近的穿梭车
			for (ShuttleThread shuttleThread : sameLev) {
			if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
			recentShuttle = shuttleThread;
			}

			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			//目前最近穿梭车库位号
			String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();

			//当前最近四向穿梭车到目标地点距离
			List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(recentShuttle.getSlave().getId(), Utils.getLev(recentLocNo)));//搜索空闲穿梭车，使用正常通道地图
			//当前穿梭车线程到目标地点距离
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图
			if (recentShuttlePath == null \|\| currentShuttlePath == null) {
			if (currentShuttlePath == null) {
			continue;
			}
			Integer recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//计算当前路径行走总距离
			Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
			if (currentAllDistance < recentAllDistance) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			@@ -1284,29 +1381,18 @@
			//当前穿梭车库位号
			String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
			int currentLev = Utils.getLev(currentLocNo);
			List<LocMast> locMasts = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
			if (locMasts.size() > 0) {
			List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
			if (wrkMasts1.size() > 0) {
			//存在其他任务，跳过这辆车
			continue;
			}

			if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车
			recentShuttle = shuttleThread;
			}
			//目前最近穿梭车库位号
			String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();
			int recentLev = Utils.getLev(recentLocNo);


			//当前最近四向穿梭车到当前车子所在楼层的提升机口距离
			List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), recentLev));//搜索空闲穿梭车，使用正常通道地图
			//当前穿梭车线程到当前车子所在楼层的提升机口距离
			List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图
			if (recentShuttlePath == null \|\| currentShuttlePath == null) {
			if (currentShuttlePath == null) {
			continue;
			}

			Integer recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//计算当前路径行走总距离
			Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
			if (currentAllDistance < recentAllDistance) {
			//如果当前楼层的车路径更小，则更新最近穿梭车
			@@ -1349,6 +1435,8 @@
			switch (wrkMast.getWrkSts().intValue()) {
			case 9://9.小车入库搬运中 ==> 14.入库完成
			wrkMast.setWrkSts(14L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
			wrkMast.setWrkSts(6L);
			@@ -1367,6 +1455,8 @@
			}

			wrkMast.setWrkSts(27L);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			break;
			default:
			}
			@@ -1374,8 +1464,6 @@
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			//设置四向穿梭车为空闲状态
			shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
			//任务号清零
			shuttleProtocol.setTaskNo((short) 0);
			//源库位清零
			shuttleProtocol.setSourceLocNo(null);
			//目标库位清零
			@@ -1386,9 +1474,14 @@

			if (wrkMast.getWrkSts() == 27) {
			if (moveAssignCommand != null) {
			try {
			Thread.sleep(4000);
			//下发任务
			shuttleProtocol.setPakMk(true);
			MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
			} catch (InterruptedException e) {
			throw new RuntimeException(e);
			}
			}
			}

			@@ -1485,8 +1578,15 @@
			}

			//搜索是否有待处理的任务
			WrkMast wrkMast = wrkMastMapper.selectLiftStep262327();
			if (wrkMast == null) {
			List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
			if (wrkMasts.size() == 0) {
			continue;
			}

			for (WrkMast wrkMast : wrkMasts) {
			//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
			WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
			if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
			continue;
			}

			@@ -1559,6 +1659,7 @@
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(3L);//3.提升机搬运中
			} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			@@ -1576,7 +1677,7 @@
			if (shuttleProtocol == null) {
			continue;
			}
			if (!shuttleProtocol.isIdle()) {
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			@@ -1603,6 +1704,7 @@
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
			} else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			@@ -1621,7 +1723,7 @@
			continue;
			}

			if (!shuttleProtocol.isIdle()) {
			if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
			continue;//小车状态忙
			}
			if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
			@@ -1648,6 +1750,7 @@
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
			} else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
			if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
			@@ -1707,6 +1810,7 @@
			liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
			liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

			wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
			wrkMast.setWrkSts(28L);//28.提升机搬运中
			}

			@@ -1719,6 +1823,8 @@
			//下发任务
			MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
			}
			}

			}
			}

			@@ -1774,6 +1880,7 @@
			wrkMast.setWrkSts(4L);
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
			if (liftProtocol.getLev().intValue() != lev) {
			@@ -1795,6 +1902,7 @@
			wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
			//任务号清零
			liftProtocol.setTaskNo((short) 0);
			wrkMast.setLiftNo(null);//提升机解锁
			break;
			default:
			}
			@@ -2697,7 +2805,7 @@
			//小车已经达到提升机内

			//判断提升机是否处于空闲状态
			if (!liftProtocol.isIdle()) {
			if (!liftProtocol.isIdle(wrkCharge.getWrkNo().shortValue())) {
			continue;
			}

			@@ -2788,6 +2896,9 @@
			}else if (wrkCharge.getWrkSts() == 57) {//57.小车到达充电桩
			//充电中
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() == null \|\| shuttleProtocol.getCurrentVoltage() == null) {
			continue;
			}
			if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
			//充满，断开充电
			// List<ShuttleCommand> commands = new ArrayList<>();