四向穿梭车线程代码逻辑

Junjie

2023-03-27 06bd2d6dbd31315b68e768d6b59139c753f8ff96

四向穿梭车线程代码逻辑

 src/main/java/com/zy/asrs/controller/ShuttleController.java

@@ -124,7 +124,7 @@
                }
            }
            vo.setSpeed(shuttleProtocol.getCurrentMoveServoSpeed());  // 速度
            vo.setPakMk(shuttleProtocol.getPakMk());    // 作业标记
            vo.setPakMk(shuttleProtocol.getPakMk().toString());    // 作业标记
        }
        return R.ok().add(list);
    }

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -22,10 +22,7 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.command.*;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
@@ -631,85 +628,23 @@
                    //分配目标库位
                    shuttleProtocol.setLocNo(wrkSts.getLocNo());

                    //计算路径
                    List<NavigateNode> calc = NavigateUtils.calc(wrkSts.getSourceLocNo(), wrkSts.getLocNo(), "in");
                    //获取分段路径
                    ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
                    //将此map存入redis中
                    HashMap<String, Object> map = new HashMap<>();
                    //执行步序
                    map.put("step", 0);
                    //路径数据
                    map.put("path", data);
                    //工作号
                    map.put("wrk_no", wrkSts.getWrkNo());
                    //任务数据保存到redis
                    redisUtil.set("wrk_no_" + wrkSts.getWrkNo().shortValue(), JSON.toJSONString(map));

                    ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                    //四向穿梭车号
                    assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                    //任务号
                    assignCommand.setTaskNo(wrkSts.getWrkNo().shortValue());
                    //入出库模式
                    assignCommand.setTaskMode(0);
                    //源库位
                    assignCommand.setSourceLocNo(wrkSts.getSourceLocNo());
                    //目标库位
                    assignCommand.setDistLocNo(wrkSts.getLocNo());

                    //下发任务
                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                }

            } else if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0) {
                //四向穿梭车空闲 并且有任务
                Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getTaskNo());
                HashMap map = JSON.parseObject(o.toString(), HashMap.class);
                //当前步序
                int step = Integer.parseInt(map.get("step").toString());
                //当前路径数据
                Object data = map.get("path");
                ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
                //取第一条路径
                Object o1 = pathList.get(step);
                ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);

                int size = path.size();
                //开始路径
                JSONObject startPath = JSON.parseObject(path.get(0).toString());
                System.out.println(startPath);
                //目标路径
                JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
                System.out.println(endPath);

                //下发命令
                ShuttleCommand command = new ShuttleCommand();
                command.setCommandWord((short) 1);
                command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
                command.setMiddleCodeNum((short) 0);
                command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
                command.setStartToDistDistance(1000);
                command.setMiddleToDistDistance(1000);
                command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
                command.setPalletLift((short) 1);
                command.setForceMoveDistance(1000);
                command.setChargeSwitch((short) 2);
                command.setIOControl((short) 0);
                command.setRunSpeed((short) 1000);
                command.setRadarTmp((short) 0);
                command.setCommandEnd((short) 1);

                if (!MessageQueue.offer(SlaveType.Shuttle, shuttleProtocol.getShuttleNo().intValue(), new Task(2, command))) {
                    News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                } else {
                    News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

                    //判断数据是否执行完成
                    if (step < size) {
                        //更新redis数据
                        //步序增加
                        step++;
                        map.put("step", step);
                        //任务数据保存到redis
                        redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
                    }else {
                        //已执行完成
                        //保存数据到数据库做流水
                        //删除redis
                        redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                        //。。。
                        //1、命令下方需要判断小车空闲状态
                        //2、
                    }

                }
            }
        }


 src/main/java/com/zy/core/ServerBootstrap.java

@@ -1,5 +1,6 @@
package com.zy.core;

import com.zy.common.utils.RedisUtil;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
@@ -25,6 +26,8 @@
    private SlaveProperties slaveProperties;
    @Autowired
    private MainProcess mainProcess;
    @Autowired
    private RedisUtil redisUtil;


    @PostConstruct
@@ -108,7 +111,7 @@
        // 初始化四向穿梭车
        News.info("初始化四向穿梭车......................................................");
        for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
            ShuttleThread shuttleThread = new ShuttleThread(shuttleSlave);
            ShuttleThread shuttleThread = new ShuttleThread(shuttleSlave,redisUtil);
            new Thread(shuttleThread).start();
            SlaveConnection.put(SlaveType.Shuttle, shuttleSlave.getId(), shuttleThread);
        }

 src/main/java/com/zy/core/model/command/ShuttleAssignCommand.java

New file
@@ -0,0 +1,35 @@
package com.zy.core.model.command;

import lombok.Data;

@Data
public class ShuttleAssignCommand {

    /**
     * 四向穿梭车号
     */
    private Short shuttleNo = 0;

    /**
     * 任务号
     */
    private Short taskNo = 0;

    /**
     * 作业类型
     * 0: 入库
     * 1： 出库
     */
    private Integer taskMode = 0;

    /**
     * 源库位
     */
    private String sourceLocNo;

    /**
     * 目标库位
     */
    private String distLocNo;

}

 src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java

@@ -19,32 +19,32 @@
    /**
     * 任务号
     */
    public Short taskNo = 0;
    private Short taskNo = 0;

    /**
     * 源库位
     */
    public String sourceLocNo;
    private String sourceLocNo;

    /**
     * 目标库位
     */
    public String locNo;
    private String locNo;

    /**
     * 排
     */
    public Short row;
    private Short row;

    /**
     * 列
     */
    public Short bay;
    private Short bay;

    /**
     * 层
     */
    public Short lev;
    private Short lev;

    /**
     * 小车忙状态位
@@ -142,7 +142,7 @@
    /**
     * 作业标记
     */
    private String pakMk = "-";
    private Boolean pakMk = true;

    // 任务信息 ---------------------------------------------------------
    /**

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

@@ -5,23 +5,34 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
import com.core.exception.CoolException;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
 * 四向穿梭车线程
@@ -33,9 +44,11 @@
    private ModbusTcpNet modbusTcpNet;
    private ShuttleSlave slave;
    private ShuttleProtocol shuttleProtocol;
    private RedisUtil redisUtil;

    public ShuttleThread(ShuttleSlave slave) {
    public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
        this.slave = slave;
        this.redisUtil = redisUtil;
    }

    @Override
@@ -53,9 +66,13 @@
                    case 1:
                        readStatus();
                        break;
                    // 写入数据
                    case 2:
                        write((ShuttleCommand) task.getData());
//                    // 写入数据
//                    case 2:
//                        write((ShuttleCommand) task.getData());
//                        break;
                    //下发任务
                    case 3:
                        assignWork((ShuttleAssignCommand) task.getData());
                        break;
                    default:
                        break;
@@ -145,8 +162,16 @@
                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()));

                // 根据实时信息更新数据库
                //.....
                //小车处于忙碌状态，将标记置为true
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
                    shuttleProtocol.setPakMk(true);
                }

                //四向穿梭车空闲、有任务且标记为true，需要执行任务的下一条指令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getTaskNo());
                }

            }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()));
@@ -226,9 +251,97 @@
        if (null == shuttleProtocol) {
            shuttleProtocol = new ShuttleProtocol();
        }
//        shuttleProtocol.setShuttleNo(slave.getId().shortValue());
//        shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
//        shuttleProtocol.setCurrentCode("0");
    }

    //分配任务
    private void assignWork(ShuttleAssignCommand assignCommand) {
        //计算路径
        List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), "in");
        //获取分段路径
        ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
        //将此map存入redis中
        HashMap<String, Object> map = new HashMap<>();
        //命令执行步序
        map.put("commandStep", 0);
        //路径数据
        map.put("path", data);
        //工作号
        map.put("wrk_no", assignCommand.getTaskNo());
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));

        //执行下发任务
        executeWork(assignCommand.getTaskNo());
    }

    //执行下发的指令
    private void executeWork(Short taskNo) {
        //读取redis数据
        Object o = redisUtil.get("wrk_no_" + taskNo);
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());
        //当前路径数据
        Object data = map.get("path");
        ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
        //取第一条路径
        Object o1 = pathList.get(commandStep);
        ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);

        int size = path.size();
        //开始路径
        JSONObject startPath = JSON.parseObject(path.get(0).toString());
        System.out.println(startPath);
        //目标路径
        JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
        System.out.println(endPath);

        //下发命令
        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 1);
        command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
        command.setMiddleCodeNum((short) 0);
        command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
        command.setStartToDistDistance(1000);
        command.setMiddleToDistDistance(1000);
        command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
        command.setPalletLift((short) 1);
        command.setForceMoveDistance(1000);
        command.setChargeSwitch((short) 2);
        command.setIOControl((short) 0);
        command.setRunSpeed((short) 1000);
        command.setRadarTmp((short) 0);
        command.setCommandEnd((short) 1);

        //下发命令
        if (!write(command)) {
            News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
        } else {
            News.info("四向穿梭车命令下发成功，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));

            //将标记置为false(防止重发)
            shuttleProtocol.setPakMk(false);

            //判断数据是否执行完成
            if (commandStep < size) {
                //更新redis数据
                //步序增加
                commandStep++;
                map.put("commandStep", commandStep);
                //任务数据保存到redis
                redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
            }else {
                //已执行完成
                //保存数据到数据库做流水
                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                //。。。
                //1、命令下方需要判断小车空闲状态
                //2、
            }

        }
    }

    /******************************************************************************************/
@@ -239,26 +352,26 @@
        slave.setId(1);
        slave.setIp("192.168.4.24");
        slave.setPort(502);
        ShuttleThread thread = new ShuttleThread(slave);
        thread.connect();
        thread.readStatus();

        ShuttleCommand command = new ShuttleCommand();
        command.setCommandWord((short) 0);
        command.setStartCodeNum((short) 12323);
        command.setMiddleCodeNum((short) 22323);
        command.setDistCodeNum((short) 29999);
        command.setStartToDistDistance(109999);
        command.setMiddleToDistDistance(5000);
        command.setRunDirection((short) 1);
        command.setPalletLift((short) 2);
        command.setForceMoveDistance(3000);
        command.setChargeSwitch((short) 2);
        command.setIOControl((short) 0);
        command.setRunSpeed((short) 0);
        command.setRadarTmp((short) 0);
        command.setCommandEnd((short) 1);
        thread.write(command);
//        ShuttleThread thread = new ShuttleThread(slave);
//        thread.connect();
//        thread.readStatus();
//
//        ShuttleCommand command = new ShuttleCommand();
//        command.setCommandWord((short) 0);
//        command.setStartCodeNum((short) 12323);
//        command.setMiddleCodeNum((short) 22323);
//        command.setDistCodeNum((short) 29999);
//        command.setStartToDistDistance(109999);
//        command.setMiddleToDistDistance(5000);
//        command.setRunDirection((short) 1);
//        command.setPalletLift((short) 2);
//        command.setForceMoveDistance(3000);
//        command.setChargeSwitch((short) 2);
//        command.setIOControl((short) 0);
//        command.setRunSpeed((short) 0);
//        command.setRadarTmp((short) 0);
//        command.setCommandEnd((short) 1);
//        thread.write(command);

    }
}