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Junjie

2023-07-27 fed17b9162273d70043f7d5e9061bc7afd17c6ef

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

@@ -190,61 +190,61 @@
                    shuttleProtocol.setPakMk(true);
                }

                //将四向穿梭车状态保存至数据库
                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
                BasShuttle basShuttle = shuttleService.selectById(slave.getId());
                if (basShuttle == null) {
                    basShuttle = new BasShuttle();
                    //四向穿梭车号
                    basShuttle.setShuttleNo(slave.getId());
                    shuttleService.insert(basShuttle);
                }
                //小车忙状态位
                basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
                //当前二维码
                basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
                //电池电量百分比
                basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
                //电池温度
                basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
                //错误编号
                basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
                //Plc输出状态IO
                basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
                //错误信息码
                basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
                //PLC输入状态
                basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
                //当前或者之前读到的二维码值
                basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
                //读到的二维码X方向偏移量
                basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
                //读到的二维码Y方向偏移量
                basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
                //当前的电压值
                basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
                //当前的模拟量值
                basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
                //当前的升降伺服速度
                basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
                //当前的行走伺服速度
                basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
                //当前的升降伺服负载率
                basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
                //当前的行走伺服负载率
                basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
                //当前小车状态（内部自我维护）
                basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
                //任务号
                basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
                //修改时间
                basShuttle.setUpdateTime(new Date());
                //作业标记
                basShuttle.setPakMk(shuttleProtocol.getPakMk());
                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()));
                }
//                //将四向穿梭车状态保存至数据库
//                BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
//                BasShuttle basShuttle = shuttleService.selectById(slave.getId());
//                if (basShuttle == null) {
//                    basShuttle = new BasShuttle();
//                    //四向穿梭车号
//                    basShuttle.setShuttleNo(slave.getId());
//                    shuttleService.insert(basShuttle);
//                }
//                //小车忙状态位
//                basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
//                //当前二维码
//                basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
//                //电池电量百分比
//                basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
//                //电池温度
//                basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
//                //错误编号
//                basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
//                //Plc输出状态IO
//                basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
//                //错误信息码
//                basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
//                //PLC输入状态
//                basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
//                //当前或者之前读到的二维码值
//                basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
//                //读到的二维码X方向偏移量
//                basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
//                //读到的二维码Y方向偏移量
//                basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
//                //当前的电压值
//                basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
//                //当前的模拟量值
//                basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
//                //当前的升降伺服速度
//                basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
//                //当前的行走伺服速度
//                basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
//                //当前的升降伺服负载率
//                basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
//                //当前的行走伺服负载率
//                basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
//                //当前小车状态（内部自我维护）
//                basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
//                //任务号
//                basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
//                //修改时间
//                basShuttle.setUpdateTime(new Date());
//                //作业标记
//                basShuttle.setPakMk(shuttleProtocol.getPakMk());
//                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()));
//                }

            }else {
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】{1}四向穿梭车plc状态信息失败", DateUtils.convert(new Date()), slave.getId()));
@@ -300,7 +300,7 @@
                News.info("四向穿梭车命令下发[id:{}] >>>>> {},次数：{}", slave.getId(), JSON.toJSON(command), i);
                OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2},次数：{}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command), i));
                try {
                    Thread.sleep(3000);//命令下发后休眠
                    Thread.sleep(300);//命令下发后休眠
                } catch (InterruptedException e) {
                    throw new RuntimeException(e);
                }
@@ -414,12 +414,12 @@
            //获取小车移动速度
            BasShuttle basShuttle = shuttleService.selectById(slave.getId());
            Integer runSpeed = 1000;
            if (basShuttle != null) {
                Integer runSpeed1 = basShuttle.getRunSpeed();
                if (runSpeed1 != null) {
                    runSpeed = runSpeed1;
                }
            }
//            if (basShuttle != null) {
//                Integer runSpeed1 = basShuttle.getRunSpeed();
//                if (runSpeed1 != null) {
//                    runSpeed = runSpeed1;
//                }
//            }

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
@@ -445,7 +445,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
@@ -481,7 +481,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离

                            //正常移动命令
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
@@ -570,7 +570,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
@@ -607,7 +607,7 @@
                            //目标路径
                            NavigateNode endPath = nodes.get(nodes.size() - 1);
                            Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离
                            Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
                            Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码
                            Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码
                            Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码
@@ -951,6 +951,10 @@
            }
        }

        if (commands.size() == 0) {
            return false;
        }

        //当前等待执行的指令
        ShuttleCommand command = commands.get(commandStep);