提升机状态6，8迁移小车问题

Junjie

2023-06-19 2acd428a1254175dbf6f0cdb1bdb9772a4f4f938

提升机状态6，8迁移小车问题

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

@@ -695,7 +695,7 @@
                                    continue;//提升机不在目标楼层跳过
                                }

                                Integer staNo = Utils.levToOutInStaNo(lev);
                                Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
                                //获取目标站信息
                                StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
                                if (staProtocol1 == null) {
@@ -743,9 +743,12 @@
                                //同一层直接取货无需经过提升机
                                //直接计算车到提升机取货再到库位路径指令
                                List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
                                if (commands == null) {
                                    continue;//找不到路径等待下一次
                                }
                                if (wrkMast.getWrkSts() == 8) {
                                    //此时车在提升机内部，下达一步指令让车移动到提升机口
                                    Integer staNo = Utils.levToOutInStaNo(currentLev);//站点号
                                    Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
                                    BasDevp basDevp = basDevpService.selectById(staNo);

                                    short startCode = liftProtocol.getBarcode();//提升机内部二维码
@@ -1447,16 +1450,36 @@
                command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点
                command4.setRotationDire(1);//给输送线下发链条转动信号，正转
                command4.setDevpId(devpId);
                command4.setStaNo(distStaNo.shortValue());//设置目标站
                commands.add(command4);//将命令添加进list

                wrkMast.setWrkSts(3L);//3.提升机搬运中
            } else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
                liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                //判断小车是否在提升机内，且处于空闲状态
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                if (shuttleThread == null) {
                    continue;
                }
                ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                if (shuttleProtocol == null) {
                    continue;
                }
                if (!shuttleProtocol.isIdle()) {
                    continue;//小车状态忙
                }
                if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
                    continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
                }

                //工作档目标库位号
                String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
                //工作档目标库位楼层
                int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
                if (wrkMastLocNoLey >= 2) {
                    wrkMastLocNoLey++;
                }

                //提升机前往目标楼层(工作档目标楼层)
                LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
@@ -1466,7 +1489,7 @@
            } else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
                liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                //找到四向穿梭车的线程
                //判断小车是否在提升机内，且处于空闲状态
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                if (shuttleThread == null) {
                    continue;
@@ -1476,44 +1499,24 @@
                    continue;
                }

                //当前穿梭车库位号
                String currentLocNo = shuttleProtocol.getCurrentLocNo();
                //当前穿梭车楼层
                int currentLocNoLey = Utils.getLev(currentLocNo);
                if (!shuttleProtocol.isIdle()) {
                    continue;//小车状态忙
                }
                if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
                    continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
                }

                //工作档目标库位号
                String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
                //工作档目标库位楼层
                int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

                //提升机当前楼层
                int liftLev = liftProtocol.getLev().intValue();
                if (liftLev == 0) {//提升机当前楼层为0，提升机失去位置信息，让提升机前往一楼
                    LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
                    commands.add(command);//将命令添加进list
                if (wrkMastLocNoLey >= 2) {
                    wrkMastLocNoLey++;
                }

                if (liftLev != currentLocNoLey) {
                    //不同楼层
                    //获取目标楼层(穿梭车所在楼层)命令
                    LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLocNoLey);
                    commands.add(command1);//将命令添加进list
                }

                //输送线将四向穿梭车移动进来(反转)
                LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
                commands.add(command2);//将命令添加进list

                if (liftLev != currentLocNoLey) {
                    //提升机前往目标楼层(工作档目标楼层)
                    LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
                    commands.add(command3);//将命令添加进list
                }

                //提升机到达指定楼层，输送线将四向穿梭车移出去
                //输送线将四向穿梭车移动出去(正转)
                LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
                commands.add(command4);//将命令添加进list
                //提升机前往目标楼层(工作档目标楼层)
                LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
                commands.add(command1);//将命令添加进list

                wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
            } else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成

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

@@ -436,8 +436,7 @@

                //对主线程抛出等待确认状态waiting
                liftProtocol.setProtocolStatus(LiftProtocolStatusType.WAITING);
                News.info("提升机任务执行完成等待确认中，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));

                News.info("提升机任务执行下发完成等待执行结束，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
            }
        }


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

@@ -364,14 +364,13 @@
        //指令结束位
        array[16] = command.getCommandEnd();

        try {
            Thread.sleep(1000);//命令下发前休眠1s
        } catch (InterruptedException e) {
            throw new RuntimeException(e);
        }

        OperateResult result = modbusTcpNet.Write("0", array);;
        if (result != null && result.IsSuccess) {
            try {
                Thread.sleep(3000);//命令下发后休眠1s
            } catch (InterruptedException e) {
                throw new RuntimeException(e);
            }
            News.info("四向穿梭车命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.SHUTTLE.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
@@ -856,7 +855,7 @@
                    }else {
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
                    }
                    News.info("四向穿梭车任务执行完成等待确认中，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                    News.info("四向穿梭车任务执行下发完成等待执行结束，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
                }

            }