zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
@@ -63,7 +63,7 @@ ShuttleRedisCommand redisCommand = new ShuttleRedisCommand(); redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号 redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号 redisCommand.setTaskNo(assignCommand.getTaskNo());//工作号 redisCommand.setCommandStep(0);//命令执行步序 redisCommand.setAssignCommand(assignCommand);//命令 //任务数据保存到redis @@ -73,7 +73,7 @@ || assignCommand.getTaskMode() == ShuttleTaskModeType.MOVE_LOC_NO.id || assignCommand.getTaskMode() == ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id) { //下发行驶路径 boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo()); boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getDeviceTaskNo()); if (!result) { return false; } @@ -182,7 +182,7 @@ } // 更新redis数据 redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand)); redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand)); if (!command.getComplete()) { return false; @@ -215,7 +215,7 @@ } //删除redis redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo()); redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo()); return false;//禁止再下发命令 } } @@ -234,7 +234,7 @@ //更新redis数据 redisCommand.setCommandStep(commandStep); //任务数据保存到redis redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand)); redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand)); return true; }
@@ -82,6 +82,7 @@ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(deviceNo); assignCommand.setTaskNo(motion.getTaskNo()); assignCommand.setDeviceTaskNo(shuttleThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl()))); assignCommand.setSourceLocNo(motion.getOrigin()); assignCommand.setLocNo(motion.getTarget()); assignCommand.setDeviceId(Integer.parseInt(motion.getDevice())); @@ -361,7 +362,7 @@ //通过xy坐标小车二维码 String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ(), hostId); //获取移动命令 ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed); ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed); command.setNodes(nodes);//将行走节点添加到每一步命令中 commands.add(command); } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/command/ShuttleAssignCommand.java
@@ -28,6 +28,11 @@ private Integer taskNo = 0; /** * 设备工作号 */ private Integer deviceTaskNo = 0; /** * 作业类型 * 1: 入库 * 2： 出库 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/command/ShuttleRedisCommand.java
@@ -16,7 +16,7 @@ private Integer shuttleNo; //工作号 private Integer wrkNo; private Integer taskNo; //命令执行步序 private Integer commandStep; zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java
@@ -3,6 +3,7 @@ import com.zy.asrs.wcs.common.ExecuteSupport; import com.zy.asrs.wcs.core.model.NavigateNode; import com.zy.asrs.wcs.core.model.command.ShuttleCommand; import com.zy.asrs.wcs.core.model.enums.MotionCtgType; import com.zy.asrs.wcs.rcs.entity.Device; import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType; import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol; @@ -39,7 +40,7 @@ List<NavigateNode> getMoveAdvancePath();//获取穿梭车任务路径 int generateDeviceTaskNo(int taskNo);//生成硬件设备工作号 int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType);//生成硬件设备工作号 boolean setProtocolStatus(ShuttleProtocolStatusType status);//设置工作状态
@@ -15,11 +15,11 @@ import com.zy.asrs.wcs.core.model.NavigateNode; import com.zy.asrs.wcs.core.model.command.ShuttleCommand; import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand; import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType; import com.zy.asrs.wcs.core.model.enums.ShuttleRunDirection; import com.zy.asrs.wcs.core.model.enums.*; import com.zy.asrs.wcs.core.service.BasShuttleService; import com.zy.asrs.wcs.core.service.LocService; import com.zy.asrs.wcs.core.utils.NavigateUtils; import com.zy.asrs.wcs.core.utils.Utils; import com.zy.asrs.wcs.rcs.News; import com.zy.asrs.wcs.rcs.cache.OutputQueue; import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant; @@ -274,7 +274,7 @@ param.put("messageName", "runRoute"); param.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date())); param.put("deviceNo", device.getDeviceNo()); param.put("taskId", generateDeviceTaskNo(taskNo)); param.put("taskId", taskNo); param.put("nodeNum", nodes.size()); param.put("modes", modes); String response = new HttpHandler.Builder() @@ -527,12 +527,24 @@ } @Override public int generateDeviceTaskNo(int taskNo) { int no = taskNo % 255; if (no <= 1) { no = 2; public int generateDeviceTaskNo(int taskNo, MotionCtgType motionCtgType) { int deviceTaskNo = taskNo; try { deviceTaskNo = Utils.getTaskNo("SURAY_SHUTTLE"); } catch (Exception e) { return taskNo; } return no; switch (Objects.requireNonNull(MotionCtgType.get(String.valueOf(motionCtgType)))){ case SHUTTLE_MOVE://穿梭车移动 case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动 case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降 case SHUTTLE_MOVE_FROM_LIFT://出提升机 case SHUTTLE_MOVE_TO_LIFT://进提升机 return deviceTaskNo; default: return taskNo; } } @Override @@ -559,7 +571,7 @@ body.put("messageName", "runOrder"); body.put("msgTime", new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date())); body.put("deviceNo", Integer.parseInt(this.device.getDeviceNo())); body.put("taskId", generateDeviceTaskNo(taskNo)); body.put("taskId", taskNo); LocService locService = SpringUtils.getBean(LocService.class); Loc loc = locService.getOne(new LambdaQueryWrapper<Loc>()
