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Junjie

2024-10-16 f0b0f5d954d54840d62135a4a88db94797898967

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

@@ -36,6 +36,7 @@
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
import java.util.Optional;

@Component
public class ShuttleAction {
@@ -131,6 +132,27 @@

        ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
        int commandStep = redisCommand.getCommandStep();

        Integer mode = -1;
        if(commandStep < commands.size()) {
            //取出命令
            ShuttleCommand currentCommand = commands.get(commandStep);
            mode = currentCommand.getMode();
        }

        //判断设备是否空闲
        Integer finalMode = mode;
        if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
            @Override
            public Boolean judgement() {
                if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(finalMode)) {//关闭充电motion
                    return false;//不需要判断状态
                }
                return true;//需要判断状态
            }
        })) {
            return false;
        }

        // 完结上一条命令
        boolean updateCommand = false;
@@ -236,20 +258,6 @@

        //取出命令
        ShuttleCommand command = commands.get(commandStep);

        Integer mode = command.getMode();
        //判断设备是否空闲
        if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
            @Override
            public Boolean judgement() {
                if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(mode)) {//关闭充电motion
                    return false;//不需要判断状态
                }
                return true;//需要判断状态
            }
        })) {
            return false;
        }

        // 下发命令
        if (!write(command, device)) {

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/NavigateMapData.java

@@ -280,63 +280,55 @@
            lists.add(list);
        }

        //获取严格模式参数
        boolean mapStrict = true;//默认严格模式
        Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "shuttleMapStrict"));
        if (dict != null) {
            mapStrict = Boolean.parseBoolean(dict.getValue());
        }
        //过滤数据
        //获取当前楼层库位数据
        List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                .eq(Loc::getLev, lev)
                .eq(Loc::getStatus, 1)
                .orderByAsc(Loc::getRow, Loc::getBay));
        for (Loc loc : locs) {
            Integer row = loc.getRow();
            Integer bay = loc.getBay();

        if (mapStrict) {//严格模式下，载入库位状态
            //过滤数据
            //获取当前楼层库位数据
            List<Loc> locs = locService.list(new LambdaQueryWrapper<Loc>()
                    .eq(Loc::getLev, lev)
                    .orderByAsc(Loc::getRow, Loc::getBay));
            for (Loc loc : locs) {
                Integer row = loc.getRow();
                Integer bay = loc.getBay();

                boolean whiteFlag = false;//默认不存在白名单
                if (whitePoints != null) {
                    for (int[] whitePoint : whitePoints) {
                        if (whitePoint[0] == row && whitePoint[1] == bay) {
                            //存在白名单
                            whiteFlag = true;
                            break;
                        }
            boolean whiteFlag = false;//默认不存在白名单
            if (whitePoints != null) {
                for (int[] whitePoint : whitePoints) {
                    if (whitePoint[0] == row && whitePoint[1] == bay) {
                        //存在白名单
                        whiteFlag = true;
                        break;
                    }
                }
                if (whiteFlag) {
                    continue;//存在白名单，不执行下列过滤方案
                }


                List<MapNode> list = lists.get(row);
                MapNode mapNode = list.get(bay);

                if (mapType == NavigationMapType.NONE.id) {
                    //不过滤任何数据
                } else if (mapType == NavigationMapType.DFX.id) {
                    //车辆有货
                    //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                    if (loc.getLocSts$().equals("F")
                            || loc.getLocSts$().equals("D")
                            || loc.getLocSts$().equals("X")
                    ) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                } else if (mapType == NavigationMapType.NORMAL.id) {
                    //过滤库位状态X
                    if (loc.getLocSts$().equals("X")) {
                        mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                    }
                }

                //更新list
                list.set(bay, mapNode);
                lists.set(row, list);
            }
            if (whiteFlag) {
                continue;//存在白名单，不执行下列过滤方案
            }


            List<MapNode> list = lists.get(row);
            MapNode mapNode = list.get(bay);

            if (mapType == NavigationMapType.NONE.id) {
                //不过滤任何数据
            } else if (mapType == NavigationMapType.DFX.id) {
                //车辆有货
                //读取对应库位数据，将DFX库位状态的节点置为-1(障碍物)
                if (loc.getLocStsFlag().equals("F")
                        || loc.getLocStsFlag().equals("D")
                        || loc.getLocStsFlag().equals("X")
                ) {
                    mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                }
            } else if (mapType == NavigationMapType.NORMAL.id) {
                //过滤库位状态X
                if (loc.getLocStsFlag().equals("X")) {
                    mapNode.setValue(MapNodeType.DISABLE.id);//禁用节点
                }
            }

            //更新list
            list.set(bay, mapNode);
            lists.set(row, list);
        }

        //加载车辆坐标到地图中