穿梭车到达提升机口前，优先调度提升机。寻路节点增加层高等

Junjie

2023-04-12 32cf315c6ac0cbbac6cc75a5e4e083d5e72bbe04

穿梭车到达提升机口前，优先调度提升机。寻路节点增加层高等

 src/main/java/com/zy/asrs/entity/BasDevp.java

@@ -214,6 +214,20 @@
    @TableField("cart_pos")
    private Integer cartPos;

    /**
     * 四向穿梭车所识别的二维码
     */
    @ApiModelProperty(value= "四向穿梭车所识别的二维码")
    @TableField("qr_code_value")
    private String qrCodeValue;

    /**
     * 库位号
     */
    @ApiModelProperty(value= "库位号")
    @TableField("loc_no")
    private String locNo;


    public String getIoTime$(){
        if (Cools.isEmpty(this.ioTime)){

 src/main/java/com/zy/asrs/mapper/BasDevpMapper.java

@@ -17,4 +17,6 @@
    List<Integer> getAvailableOutSite(@Param("typeNo") Integer typeNo);

    BasDevp selectByWrkNo(Integer wrkNo);

    BasDevp queryByLocNo(String locNo);
}

 src/main/java/com/zy/asrs/service/BasDevpService.java

@@ -46,4 +46,6 @@

    BasDevp selectByWrkNo(Integer wrkNo);

    BasDevp queryByLocNo(String locNo);

}

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

@@ -69,4 +69,9 @@
    public BasDevp selectByWrkNo(Integer wrkNo) {
        return this.baseMapper.selectByWrkNo(wrkNo);
    }

    @Override
    public BasDevp queryByLocNo(String locNo) {
        return this.baseMapper.queryByLocNo(locNo);
    }
}

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

@@ -728,13 +728,13 @@
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
//                StaProtocol staProtocol105 = devpThread.getStation().get(105);
//                staProtocol105.setWorkNo((short) 752);
//                staProtocol105.setStaNo((short) 100);
//
//                StaProtocol staProtocol106 = devpThread.getStation().get(106);
//                staProtocol106.setWorkNo((short) 753);
//                staProtocol106.setStaNo((short) 100);
                StaProtocol staProtocol105 = devpThread.getStation().get(105);
                staProtocol105.setWorkNo((short) 752);
                staProtocol105.setStaNo((short) 100);

                StaProtocol staProtocol106 = devpThread.getStation().get(106);
                staProtocol106.setWorkNo((short) 753);
                staProtocol106.setStaNo((short) 100);

                if (staProtocol == null) {
                    continue;
@@ -851,14 +851,22 @@

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);
@@ -890,14 +898,22 @@

            ShuttleCommand command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);
@@ -930,14 +946,22 @@

            command = new ShuttleCommand();
            command.setCommandWord((short) 1);
            command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
            command.setMiddleCodeNum((short) 0);
            command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

            //通过xy坐标小车二维码
            Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
            command.setStartCodeNum(startCodeNum);

            command.setMiddleCodeNum((short) 1);

            //通过xy坐标小车二维码
            Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
            command.setDistCodeNum(distCodeNum);

            command.setStartToDistDistance(allDistance);
            command.setMiddleToDistDistance(1000);
            command.setMiddleToDistDistance(0);
            command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
            command.setPalletLift((short) 1);
            command.setForceMoveDistance(1000);
            command.setForceMoveDistance(0);
            command.setChargeSwitch((short) 2);
            command.setIOControl((short) 0);
            command.setRunSpeed((short) 1000);

 src/main/java/com/zy/common/model/NavigateNode.java

@@ -10,6 +10,7 @@

    private int x;//坐标x
    private int y;//坐标y
    private int z;//坐标z(高度)
    private int F;//综合花费的步数
    private int G;//已经花费的步数
    private int H;//将要花费的步数

 src/main/java/com/zy/common/utils/NavigatePositionConvert.java

@@ -1,7 +1,9 @@
package com.zy.common.utils;

import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.LocMastService;

/**
@@ -51,9 +53,20 @@
            sb.append("0");
        }
        sb.append(z);
        String position = sb.toString();
        String position = sb.toString();//库位号

        //库位号转小车二维码
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = locMastService.queryByLoc(position);
        if (locMast == null) {
            //当前库位号查不到，可能是站点库位号
            BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
            BasDevp basDevp = basDevpService.queryByLocNo(position);
            if (basDevp == null) {
                return null;
            }
            return Short.parseShort(basDevp.getQrCodeValue());
        }
        return Short.parseShort(locMast.getQrCodeValue());
    }


 src/main/java/com/zy/common/utils/NavigateUtils.java

@@ -1,6 +1,7 @@
package com.zy.common.utils;

import com.alibaba.fastjson.JSONObject;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.core.enums.ShuttleTaskModeType;

@@ -15,6 +16,9 @@
        //通过开始编号和结束编号获取对应的xy轴坐标
        int[] startArr = NavigatePositionConvert.positionToXY(startPoint);//开始节点
        int[] endArr = NavigatePositionConvert.positionToXY(endPoint);//结束节点

        //获取当前节点计算的层高，并赋值到每一个节点中
        int lev = Utils.getLev(startPoint);

        //初始化开始节点
        NavigateNode start = new NavigateNode(startArr[0], startArr[1]);
@@ -35,6 +39,7 @@
            while (res_node != null) {
                res_node.setDirection(null);
                res_node.setIsInflectionPoint(false);
                res_node.setZ(lev);//设置层高

                //寻找拐点
                HashMap<String, Object> result = searchInflectionPoint(res_node, fatherNode, res_node.getFather());//分别传入当前节点、父节点、下一节点

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

@@ -190,6 +190,11 @@
    private Boolean pakMk = true;

    /**
     * 四向穿梭车调度提升机时，需要锁定此标记
     */
    private Boolean securityMk = false;

    /**
     * 任务命令
     */
    private LiftAssignCommand assignCommand;
@@ -232,6 +237,7 @@
                && !this.running
                && this.mode
                && this.pakMk.equals(true)
                && !this.securityMk
                ;
        return res;
    }

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

@@ -412,6 +412,7 @@
                        liftProtocol.setShuttleNo((short) 0);
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        liftProtocol.setPakMk(true);
                        liftProtocol.setSecurityMk(false);
                    }
                    News.info("提升机手动任务执行完成，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
                }

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

@@ -8,9 +8,11 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
@@ -27,8 +29,11 @@
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.LiftAssignCommand;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -196,6 +201,20 @@
                        && shuttleProtocol.getAssignCommand() != null) {
                    //执行下一步指令
                    executeWork(shuttleProtocol.getAssignCommand());
                }

                //检测是否有提升机锁定标记，有则检测提升机是否到位，是否能走下一步命令
                if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
                        && shuttleProtocol.getTaskNo() != 0
                        && shuttleProtocol.getAssignCommand() != null) {
                    Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getAssignCommand().getTaskNo());
                    if (o != null) {
                        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
                        if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
                            //执行下一步指令
                            executeWork(shuttleProtocol.getAssignCommand());
                        }
                    }
                }

                //将四向穿梭车状态保存至数据库
@@ -631,14 +650,18 @@
            return false;
        }

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

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);

        if (!checkLiftStation(assignCommand)) {//检测是否有提升机站点，有则调度提升机
            return false;
        }

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

        List<ShuttleCommand> errorCommands =  JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
        if (errorCommands.size() > 0) {
@@ -765,6 +788,16 @@
                    );
                    shuttleOptService.insert(opt);
                }

                if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
                    //曾锁定过提升机，需要进行解锁
                    LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
                    LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                    if (liftProtocol != null) {
                        liftProtocol.setSecurityMk(false);
                    }
                }

                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

@@ -798,6 +831,126 @@
    }

    /**
     * 检测是否有提升机站点，有则调度提升机
     */
    private boolean checkLiftStation(ShuttleAssignCommand assignCommand) {
        //读取redis数据
        if (assignCommand == null) {
            return false;
        }

        Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
        if (o == null) {
            return false;
        }
        HashMap map = JSON.parseObject(o.toString(), HashMap.class);
        //当前步序
        int commandStep = Integer.parseInt(map.get("commandStep").toString());

        //检测是否存在提升机口的指令
        List<ShuttleCommand> commands = assignCommand.getCommands();
        BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
        ArrayList<Short> qrCodeValues = new ArrayList<>();
        for (BasDevp basDevp : basDevpService.selectList(null)) {
            //将所有提升机口二维码存入list
            qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
        }

        //遍历所有指令，判断是否有到提升机口的指令，并获取到达该提升机口所需步序
        int step = 0;
        ShuttleCommand command = null;
        for (int i = 1; i < commands.size(); i++) {
            command = commands.get(i);
            if (qrCodeValues.contains(command.getDistCodeNum())) {
                //存在
                step = i + 1;
                break;
            }
        }

        if (step == 0) {
            //无需后续检测，直接放行
            return true;
        }

        //判断下一步是否为提升机口
        if (commandStep + 1 != step) {
            //下一步不是提升机口，跳过后续流程
            return true;
        }

        //拿到提升机线程
        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        if (liftThread == null) {
            return false;
        }
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
        if (liftProtocol == null) {
            return false;
        }

        //获取四向穿梭车当前楼层
        String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
        Integer shuttleLocNoLev = Integer.parseInt(shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length()));//库位号对应层高

        //程序走到这，表示提升机可能一直就在当前层，可能经过了移动到达了该层
        if (liftProtocol.getProtocolStatusType() == LiftProtocolStatusType.WAITING) {
            //提升机等待确认
            //设置提升机为空闲状态
            liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
            //任务号清零
            liftProtocol.setTaskNo((short) 0);
            //标记复位
            liftProtocol.setPakMk(true);
            //任务指令清零
            liftProtocol.setAssignCommand(null);
            //提升机解锁
            liftProtocol.setLiftLock(false);
        }

        //判断提升机是否在目标楼层
        if (liftProtocol.getLev().intValue() == shuttleLocNoLev) {
            //同一层，直接放行
            return true;
        }

        //提升机和穿梭车处于不同楼层，需要进行调度
        if (!liftProtocol.isIdle()) {
            //提升机不是空闲
            return false;
        }

        //给提升机分配任务
        liftProtocol.setLiftLock(true);//锁定提升机
        liftProtocol.setTaskNo(shuttleProtocol.getTaskNo());//设置任务号
        liftProtocol.setShuttleNo(shuttleProtocol.getShuttleNo());//设置四向穿梭车号
        liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
        liftProtocol.setSecurityMk(true);//标记置为true，防止其他任务占用当前提升机
        map.put("liftSecurityMk", true);//标记置为true，防止其他任务占用当前提升机
        //任务数据保存到redis
        redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));

        //命令list
        ArrayList<LiftCommand> liftCommands = new ArrayList<>();
        LiftCommand liftCommand = new LiftCommand();
        liftCommand.setLiftNo(liftProtocol.getLiftNo());//提升机号
        liftCommand.setTaskNo(liftProtocol.getTaskNo());//任务号
        liftCommand.setRun((short) 1);//升降
        liftCommand.setDistPosition(shuttleLocNoLev.shortValue());//目标楼层(穿梭车所在楼层)
        liftCommand.setLiftLock(true);//锁定提升机
        liftCommands.add(liftCommand);//将命令添加进list

        LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
        liftAssignCommand.setCommands(liftCommands);
        liftAssignCommand.setLiftNo(liftProtocol.getLiftNo());
        liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
        //下发任务
        MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));

        return false;
    }

    /**
     * 复位并尝试修复错误
     */
    private boolean reset(ShuttleAssignCommand assignCommand) {

 src/main/resources/mapper/BasDevpMapper.xml

@@ -41,6 +41,8 @@
        <result column="max_wt" property="maxWt" />
        <result column="gross_wt" property="grossWt" />
        <result column="cart_pos" property="cartPos" />
        <result column="qr_code_value" property="qrCodeValue" />
        <result column="loc_no" property="locNo" />

    </resultMap>

@@ -73,4 +75,10 @@
        and wrk_no = #{wrkNo}
    </select>

    <select id="queryByLocNo" resultMap="BaseResultMap">
        select top 1 *
        from asr_bas_devp
        where 1=1
        and loc_no = #{locNo}
    </select>
</mapper>

 src/main/webapp/static/js/map.json

@@ -1 +1 @@
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