zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/LiftAction.java
@@ -68,11 +68,8 @@ return false; } //提升机处于自动、就绪、空闲 if (!(liftProtocol.getModel() && liftProtocol.getReady() && !liftProtocol.getRun()) ) { //判断提升机是否空闲 if (!liftThread.isIdle()) { return false; }
@@ -85,10 +85,8 @@ return false; } //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令 if (!shuttleProtocol.getIdle() || shuttleProtocol.getTaskNo() == 0 || !shuttleProtocol.getPakMk()) { //判断设备是否空闲 if (!shuttleThread.isIdle()) { return false; } @@ -136,8 +134,8 @@ if (!shuttleProtocol.getHasLift()) { command.setComplete(true); } } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) { // 充电开关 } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) { // 充电开 //判断小车充电状态 if (shuttleProtocol.getHasCharge()) { command.setComplete(true); @@ -211,7 +209,8 @@ } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id || command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//顶升 result = shuttleThread.lift(command); } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {//充电 } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id || command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {//充电 result = shuttleThread.charge(command); } else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//复位 result = shuttleThread.reset(command); zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/LiftCommandService.java
@@ -48,11 +48,8 @@ return false; } //自动、就绪、空闲 if (!(liftProtocol.getModel() && liftProtocol.getReady() && !liftProtocol.getRun()) ) { //判断提升机是否自动 if (!liftThread.isIdle()) { return false; } @@ -218,11 +215,8 @@ switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){ case LIFT_MOVE: // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 if (!liftProtocol.getModel() || liftProtocol.getRun() || !liftProtocol.getReady() ) { // 判断提升机是否空闲 if (!liftThread.isIdle()) { return false; } @@ -231,11 +225,8 @@ } break; case LIFT_WITH_GOODS: // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 if (!liftProtocol.getModel() || liftProtocol.getRun() || !liftProtocol.getReady() ) { // 判断提升机是否空闲 if (!liftThread.isIdle()) { return false; } @@ -249,11 +240,8 @@ break; case LIFT_WITH_SHUTTLE: // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 if (!liftProtocol.getModel() || liftProtocol.getRun() || !liftProtocol.getReady() ) { // 判断提升机是否空闲 if (!liftThread.isIdle()) { return false; } @@ -267,11 +255,8 @@ } break; case LIFT_WITH_GOODS_AND_SHUTTLE: // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 if (!liftProtocol.getModel() || liftProtocol.getRun() || !liftProtocol.getReady() ) { // 判断提升机是否空闲 if (!liftThread.isIdle()) { return false; }
@@ -3,6 +3,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.zy.asrs.framework.common.Cools; import com.zy.asrs.framework.exception.CoolException; import com.zy.asrs.wcs.core.action.LiftAction; import com.zy.asrs.wcs.core.action.ShuttleAction; import com.zy.asrs.wcs.core.entity.Loc; import com.zy.asrs.wcs.core.model.NavigateNode; @@ -18,8 +19,10 @@ import com.zy.asrs.wcs.core.entity.Motion; import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType; import com.zy.asrs.wcs.rcs.model.enums.SlaveType; import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol; import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol; import com.zy.asrs.wcs.core.service.MotionService; import com.zy.asrs.wcs.rcs.thread.LiftThread; import com.zy.asrs.wcs.rcs.thread.ShuttleThread; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; @@ -53,6 +56,8 @@ private NavigateMapUtils navigateMapUtils; @Autowired private ShuttleAction shuttleAction; @Autowired private LiftAction liftAction; // 计算 public Boolean accept(Motion motion) { @@ -84,8 +89,8 @@ List<ShuttleCommand> shuttleCommands = new ArrayList<>(); ShuttleTaskModeType shuttleTaskModeType = null; // SiemensLiftThread liftThread = null; // LiftProtocol liftProtocol = null; LiftThread liftThread = null; LiftProtocol liftProtocol = null; //判断小车状态 if (shuttleProtocol.getIdle() @@ -106,38 +111,80 @@ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; break; // case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动 // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; // shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1)); // break; // case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降 // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; // shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2)); // break; // case SHUTTLE_MOVE_FROM_LIFT://出提升机 // // 判断提升机状态 // liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); // if (liftThread == null) { // return false; // } // liftProtocol = liftThread.getLiftProtocol(); // // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 // if (!liftProtocol.getMode() // || liftProtocol.getRunning() // || !liftProtocol.getReady() // || liftProtocol.getForwardRotationFeedback() // || liftProtocol.getReverseFeedback() // || liftProtocol.getNotReady().intValue() != 0 // ) { // return false; // } case SHUTTLE_MOVE_LIFT_PALLET://穿梭车顶升并移动 shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getWrkNo(), true)); break; case SHUTTLE_MOVE_DOWN_PALLET://穿梭车移动并托盘下降 shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread); shuttleTaskModeType = ShuttleTaskModeType.PAK_IN; shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getWrkNo(), false)); break; case SHUTTLE_MOVE_FROM_LIFT://出提升机 // 判断提升机状态 liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); if (liftThread == null) { return false; } liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } // 判断提升机是否空闲 if (!liftThread.isIdle()) { return false; } if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层 return false; } // //判断提升机是否被锁定 // if (!liftProtocol.getLock()) { // //锁定提升机 // LiftCommand lockCommand = liftThread.getLockCommand(motion.getWrkNo(), true);//获取提升机锁定命令 // // if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层 // return false; // } // LiftAssignCommand liftAssignCommand = new LiftAssignCommand(); // liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo()); // liftAssignCommand.setTaskNo(motion.getWrkNo()); // ArrayList<LiftCommand> list = new ArrayList<>(); // list.add(lockCommand); // liftAssignCommand.setCommands(list); // // liftAction.assignWork(liftThread.getDevice(), liftAssignCommand); // return false;//等待下一次轮询 // } //判断提升机工作号是否和当前任务相同 if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { return false; } shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; break; case SHUTTLE_MOVE_TO_LIFT://进提升机 // 判断提升机状态 liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); if (liftThread == null) { return false; } liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } // 判断提升机是否空闲 if (!liftThread.isIdle()) { return false; } if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层 return false; } // //判断提升机是否被锁定 // if (!liftProtocol.getLiftLock()) { // //锁定提升机 @@ -147,55 +194,15 @@ // liftThread.assignWork(lockCommand); // return false;//等待下一次轮询 // } // // //判断提升机工作号是否和当前任务相同 // if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { // return false; // } // // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; // break; // case SHUTTLE_MOVE_TO_LIFT://进提升机 // // 判断提升机状态 // liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp())); // if (liftThread == null) { // return false; // } // liftProtocol = liftThread.getLiftProtocol(); // // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错 // if (!liftProtocol.getMode() // || liftProtocol.getRunning() // || !liftProtocol.getReady() // || liftProtocol.getForwardRotationFeedback() // || liftProtocol.getReverseFeedback() // || liftProtocol.getNotReady().intValue() != 0 // ) { // return false; // } // // if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层 // return false; // } // // //判断提升机是否被锁定 // if (!liftProtocol.getLiftLock()) { // //锁定提升机 // LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令 // lockCommand.setLiftNo(liftProtocol.getLiftNo()); // lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号 // liftThread.assignWork(lockCommand); // return false;//等待下一次轮询 // } // // //判断提升机工作号是否和当前任务相同 // if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { // return false; // } // // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; // break; //判断提升机工作号是否和当前任务相同 if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) { return false; } shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; break; // case SHUTTLE_MOVE_FROM_CONVEYOR: // shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); // shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO; @@ -405,7 +412,8 @@ return false; } if (!shuttleProtocol.getIdle()) { //判断设备是否空闲 if (!shuttleThread.isIdle()) { return false; }
@@ -9,9 +9,10 @@ MOVE(1, "移动"), IN_LIFT(2, "进提升机"), OUT_LIFT(3, "出提升机"), CHARGE(4, "充电"), PALLET_LIFT(5, "托盘顶升"), PALLET_DOWN(6, "托盘下降"), CHARGE_OPEN(4, "充电开"), CHARGE_CLOSE(5, "充电关"), PALLET_LIFT(6, "托盘顶升"), PALLET_DOWN(7, "托盘下降"), RESET(8, "复位"), ;
@@ -78,7 +78,7 @@ continue; } if (!shuttleProtocol.isIdle()) { if (!shuttleThread.isIdle()) { continue; }
@@ -135,6 +135,11 @@ private Device device; /** * 扩展字段 */ private Object extend; /** * 设置提升机状态 */ public void setProtocolStatus(Integer status) { zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/model/protocol/ShuttleProtocol.java
@@ -168,6 +168,11 @@ private Device device; /** * 扩展字段 */ private Object extend; /** * 设置小车状态 */ public void setProtocolStatus(Integer status) { @@ -263,25 +268,6 @@ } return currentLoc.getLocNo(); } // 是否处于空闲待命状态 public Boolean isIdle() { if (this.deviceStatus == null || this.pakMk == null || this.errorCode == null || this.protocolStatus == null ) { return false; } boolean res = this.deviceStatus.equals(ShuttleDeviceStatusType.IDLE) && this.pakMk && !this.errorCode.equals("0") && this.getTaskNo() == 0 && this.protocolStatus.intValue() == ShuttleProtocolStatusType.IDLE.id ; return res; } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/LiftThread.java
@@ -20,6 +20,8 @@ boolean reset(LiftCommand command);//复位 boolean isIdle();//是否空闲 //***************获取命令***************** LiftCommand getEmptyMoveCommand(Integer taskNo, Integer targetLev);//空载移动 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/ShuttleThread.java
@@ -23,7 +23,14 @@ boolean reset(ShuttleCommand command);//复位开关 boolean isIdle();//是否空闲 //***************获取命令***************** ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed); ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed);//获取移动命令 ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift);//顶升命令 true=>顶升 false=>下降 ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge);//充电开关命令 true=>开 false=>关 } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayLiftThread.java
@@ -20,6 +20,7 @@ import com.zy.asrs.wcs.rcs.thread.LiftThread; import com.zy.asrs.wcs.core.utils.RedisUtil; import com.zy.asrs.wcs.rcs.entity.Device; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; @@ -87,6 +88,10 @@ liftProtocol.setLiftNo(Integer.valueOf(device.getDeviceNo())); liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE); liftProtocol.setDevice(device); InnerLiftExtend innerLiftExtend = new InnerLiftExtend(); innerLiftExtend.setLock(false);//默认未锁定 liftProtocol.setExtend(innerLiftExtend); } //----------读取提升机状态----------- @@ -104,6 +109,13 @@ liftProtocol.setErrorCode(""); //层 liftProtocol.setLev(data.getInteger("curFloor")); //************补充扩展字段************* InnerLiftExtend liftExtend = JSON.parseObject(JSON.toJSONString(liftProtocol.getExtend()), InnerLiftExtend.class); liftExtend.setLock(data.getInteger("lockStatus") == 1 ? true : false); liftProtocol.setExtend(liftExtend); // //前超限 // liftProtocol.setFrontOverrun(status1[4]); // //后超限 @@ -280,6 +292,20 @@ return false; } @Override public boolean isIdle() { InnerLiftExtend extend = (InnerLiftExtend) liftProtocol.getExtend();//获取扩展字段 // 判断提升机是否自动、就绪、空闲、未锁定 if (liftProtocol.getModel() && !liftProtocol.getRun() && liftProtocol.getReady() && !extend.getLock() ) { return true; } return false; } //***************设备层通讯-不同厂商设备通讯方案不一致*************** //请求登录 @@ -444,4 +470,17 @@ return command; } /** * 扩展字段 */ @Data private class InnerLiftExtend { /** * 提升机锁定 */ private Boolean lock = false; } } zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
@@ -21,6 +21,7 @@ import com.zy.asrs.wcs.rcs.thread.ShuttleThread; import com.zy.asrs.wcs.core.utils.RedisUtil; import com.zy.asrs.wcs.rcs.entity.Device; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.text.MessageFormat; @@ -87,6 +88,9 @@ shuttleProtocol.setShuttleNo(Integer.valueOf(device.getDeviceNo())); shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); shuttleProtocol.setDevice(device); InnerSuhttleExtend extend = new InnerSuhttleExtend(); shuttleProtocol.setExtend(extend); } //----------读取四向穿梭车状态----------- @@ -108,13 +112,19 @@ //是否为充电状态 shuttleProtocol.setHasCharge((deviceStatus == 5 || deviceStatus == 13) ? true : false); //*********读取扩展字段********** InnerSuhttleExtend extend = JSON.parseObject(JSON.toJSONString(shuttleProtocol.getExtend()), InnerSuhttleExtend.class); extend.setMapVersion(data.getString("version"));//地图版本 extend.setStatusDescription(data.getString("statusDescription"));//状态描述 shuttleProtocol.setExtend(extend);//扩展字段 ///读取四向穿梭车状态-end // //小车处于忙碌状态，将标记置为true // if (shuttleProtocol.getDeviceStatusType() == ShuttleDeviceStatusType.BUSY) { // shuttleProtocol.setPakMk(true); // } // //小车处于忙碌状态，将标记置为true if (!shuttleProtocol.getIdle()) { shuttleProtocol.setPakMk(true); } // if (shuttleProtocol.getProtocolStatusType() == null && shuttleProtocol.getDeviceStatus().intValue() == ShuttleDeviceStatusType.IDLE.id) { // //小车空闲状态、小车任务状态为未知，认定曾离线过，需要复位成空闲 // shuttleProtocol.setProtocolStatusType(ShuttleProtocolStatusType.IDLE); @@ -325,6 +335,24 @@ } @Override public boolean isIdle() { if (this.shuttleProtocol.getIdle() == null || this.shuttleProtocol.getPakMk() == null || this.shuttleProtocol.getErrorCode() == null || this.shuttleProtocol.getProtocolStatus() == null ) { return false; } boolean res = this.shuttleProtocol.getIdle() && this.shuttleProtocol.getPakMk() && this.shuttleProtocol.getErrorCode().equals("0") && this.shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.IDLE.id ; return res; } @Override public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed) { HashMap<String, Object> body = new HashMap<>(); body.put("messageName", "runOrder"); @@ -351,6 +379,37 @@ return command; } @Override public ShuttleCommand getLiftCommand(Integer taskNo, Boolean lift) { HashMap<String, Object> body = new HashMap<>(); body.put("messageName", "actionOrder"); 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", taskNo); body.put("action", lift ? 1 : 2); ShuttleCommand command = new ShuttleCommand(); command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo())); command.setBody(JSON.toJSONString(body)); command.setMode(lift ? ShuttleCommandModeType.PALLET_LIFT.id : ShuttleCommandModeType.PALLET_DOWN.id); return command; } @Override public ShuttleCommand getChargeCommand(Integer taskNo, Boolean charge) { HashMap<String, Object> body = new HashMap<>(); 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", taskNo); body.put("action", charge ? 3 : 4); ShuttleCommand command = new ShuttleCommand(); command.setShuttleNo(Integer.parseInt(this.device.getDeviceNo())); command.setBody(JSON.toJSONString(body)); command.setMode(charge ? ShuttleCommandModeType.CHARGE_OPEN.id : ShuttleCommandModeType.CHARGE_CLOSE.id); return command; } //***************设备层通讯-不同厂商设备通讯方案不一致*************** @@ -410,4 +469,20 @@ } return null; } @Data private class InnerSuhttleExtend { /** * 地图版本 */ private String mapVersion; /** * 状态描述 */ private String statusDescription; } }
