Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master in...

luxiaotao1123

2024-04-09 baebeeb3275273f96055c33f9eb6daa1c9ffde2f

Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master into Four-Way-Rack

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java

@@ -2,15 +2,20 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
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.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
@@ -23,6 +28,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.ArrayList;
import java.util.List;

@Component
@@ -34,6 +40,10 @@
    private NavigateMapUtils navigateMapUtils;
    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
    private LocService locService;
    @Autowired
    private ShuttleDispatcher shuttleDispatcher;

    public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -195,6 +205,143 @@
        return true;
    }

    //跑库程序
    public synchronized void moveLoc(Device device) {
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return;
        }

        //小车空闲且有跑库程序
        if (!(shuttleThread.isIdle() && shuttleProtocol.getMoveLoc())) {
            return;
        }

        int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前楼层
        if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
            //跑库结束
            shuttleProtocol.setMoveLoc(false);
            shuttleProtocol.setMoveType(0);
            shuttleProtocol.setXStart(0);
            shuttleProtocol.setXTarget(0);
            shuttleProtocol.setXCurrent(0);
            shuttleProtocol.setYStart(0);
            shuttleProtocol.setYTarget(0);
            shuttleProtocol.setYCurrent(0);
            return;
        }

        if (shuttleProtocol.getMoveType() == 0) {//跑轨道
            ArrayList<String> locs = new ArrayList<>();
            for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
                String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
                locs.add(locNo);
            }

            List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
                    .in(Loc::getLocNo, locs));
            if (locList.isEmpty()) {
                //空库位
                shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                return;
            }

            Loc start = locList.get(0);
            Loc target = locList.get(locList.size() - 1);
            //判断小车是否在起点位置
            if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//不在起点位置，调度去起点位置
                shuttleDispatcher.generateMoveTask(device, start.getLocNo());
            }else {
                //在起点位置，调度去目标位置
                if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//小车和目标位置一致，跳过
                }else {
                    shuttleDispatcher.generateMoveTask(device, start.getLocNo());
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                }
            }
        } else if (shuttleProtocol.getMoveType() == 1) {//跑库位
            Integer xCurrent = shuttleProtocol.getXCurrent();
            if (xCurrent > shuttleProtocol.getXTarget()) {//当X值大于X目标值，进行归零且Y方向+1
                shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
                shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
                return;
            }

            Integer yCurrent = shuttleProtocol.getYCurrent();
            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLocNo, locNo)
                    .eq(Loc::getHostId, device.getHostId()));
            if (target == null) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
                return;
            }

//            if (!target.getLocSts().equals("O")) {
//                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
//                return;
//            }

            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//小车和目标位置一致，跳过
            } else {
                shuttleDispatcher.generateMoveTask(device, target.getLocNo());
                shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
            }
        } else if (shuttleProtocol.getMoveType() == 2) {//母轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (yCurrent.equals(shuttleProtocol.getYStart())) {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//小车和目标位置一致，切换库位
                } else {
                    shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//小车和目标位置一致，切换库位
                }
            } else {
                Task result = shuttleDispatcher.generateMoveTask(device, locNo);
                if (result != null) {//调度成功
                    if (yCurrent.equals(shuttleProtocol.getYStart())) {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//切换库位
                    } else {
                        shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//切换库位
                    }
                }
            }
        } else if (shuttleProtocol.getMoveType() == 3) {//子轨道循环跑
            Integer xCurrent = shuttleProtocol.getXCurrent();
            Integer yCurrent = shuttleProtocol.getYCurrent();

            String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
            //调度去目标位置
            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                if (xCurrent.equals(shuttleProtocol.getXStart())) {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//小车和目标位置一致，切换库位
                } else {
                    shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//小车和目标位置一致，切换库位
                }
            } else {
                Task result = shuttleDispatcher.generateMoveTask(device, locNo);
                if (result != null) {//调度成功
                    if (xCurrent.equals(shuttleProtocol.getXStart())) {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//切换库位
                    } else {
                        shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//切换库位
                    }
                }
            }
        }
    }

    private synchronized boolean write(ShuttleCommand command, Device device) {
        if (null == command) {
            News.error("四向穿梭车写入命令为空");

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java

@@ -23,6 +23,14 @@
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.utils.ExcelUtil;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,6 +57,10 @@
    private AnalyzeService analyzeService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private DeviceService deviceService;
    @Autowired
    private DeviceTypeService deviceTypeService;

    @PreAuthorize("hasAuthority('core:basShuttle:list')")
    @PostMapping("/basShuttle/page")
@@ -120,10 +132,11 @@
        ExcelUtil.build(ExcelUtil.create(basShuttleService.list(), BasShuttle.class), response);
    }

    //手动操作
    @PreAuthorize("hasAuthority('core:basShuttle:operator')")
    @PostMapping("/basShuttle/operator/shuttle")
    @Transactional
    public R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
    public synchronized R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
        if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
            return R.error("参数为空");
        }
@@ -183,4 +196,56 @@
        return R.ok();
    }

    //跑库系统
    @PreAuthorize("hasAuthority('core:basShuttle:operator')")
    @PostMapping("/basShuttle/moveLoc")
    @Transactional
    public synchronized R shuttleMoveLoc(@RequestParam Integer shuttleNo,
                            @RequestParam Integer moveType,
                            @RequestParam Integer xStart,
                            @RequestParam Integer xTarget,
                            @RequestParam Integer yStart,
                            @RequestParam Integer yTarget) {
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1)
                .eq(DeviceType::getHostId, getHostId()));
        if (deviceType == null) {
            return R.error();
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getStatus, 1)
                .eq(Device::getHostId, getHostId())
                .eq(Device::getDeviceNo, shuttleNo));
        if (device == null) {
            return R.error();
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return R.error();
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null) {
            return R.error();
        }

        if (!shuttleThread.isIdle()) {
            return R.error("小车忙碌中");
        }

        shuttleProtocol.setMoveLoc(true);//开启跑库
        shuttleProtocol.setMoveType(moveType);
        shuttleProtocol.setXStart(xStart);
        shuttleProtocol.setXTarget(xTarget);
        shuttleProtocol.setXCurrent(xStart);
        shuttleProtocol.setYStart(yStart);
        shuttleProtocol.setYTarget(yTarget);
        shuttleProtocol.setYCurrent(yStart);
        return R.ok();
    }

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/DeviceTimer.java

@@ -4,12 +4,15 @@
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
@@ -55,6 +58,9 @@
                //存在任务需要执行
                boolean result = shuttleAction.executeWork(device, taskNo);
            }

            //小车空闲且有跑库程序
            shuttleAction.moveLoc(device);
        }
    }


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java

@@ -441,6 +441,13 @@

    @Override
    public boolean isChargingCompleted() {
        if (this.shuttleProtocol.getBatteryPower() == null) {
            return false;
        }

        if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= 100) {
            return true;
        }
        return false;
    }