优化出库小车避让

Junjie

2023-06-28 97aa2cd09e92f73cd4dff3d99eaef64e748c80b3

优化出库小车避让

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

@@ -1086,26 +1086,6 @@
                                //未找到路径，等待下一次
                                continue;
                            }
                            //所使用的路径进行临时解锁，用于后续计算
                            NavigateMapData navigateMapData = new NavigateMapData(currentLev);
                            navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁

                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            //搜索一条没有小车的空巷道，并调度小车
                            int distLev = Utils.getLev(liftSiteLocNo);//避让楼层
                            String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
                            ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                            if (moveAssignCommand == null) {//调度小车命令为空
                                continue;
                            }
                            //所使用的路径进行临时解锁，用于后续计算
                            navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁
                            commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加
                            List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中
                            nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中
                            assignCommand.setNodes(nodes);
                            navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定


                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
@@ -1177,26 +1157,6 @@
                        if (commands == null) {
                            continue;//未找到路径
                        }
                        //所使用的路径进行临时解锁，用于后续计算
                        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(liftSiteLocNo));
                        navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁

                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                        //搜索一条没有小车的空巷道，并调度小车
                        int distLev = Utils.getLev(liftSiteLocNo);//避让楼层
                        String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
                        ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                        if (moveAssignCommand == null) {//调度小车命令为空
                            continue;
                        }
                        //所使用的路径进行临时解锁，用于后续计算
                        navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁
                        commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加
                        List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中
                        nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中
                        assignCommand.setNodes(nodes);
                        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定


                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口
                        short startCode = liftProtocol.getBarcode();//提升机内部二维码
@@ -1373,6 +1333,7 @@

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                ShuttleAssignCommand moveAssignCommand = null;//避让命令
                if (wrkMast != null) {
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 9://9.小车入库搬运中 ==> 14.入库完成
@@ -1385,6 +1346,15 @@
                            wrkMast.setWrkSts(23L);
                            break;
                        case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            //搜索一条没有小车的空巷道，并调度小车
                            int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
                            String startLocNo = "180020" + distLev;
                            moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                            if (moveAssignCommand == null) {//调度小车命令为空
                                continue;
                            }

                            wrkMast.setWrkSts(27L);
                            break;
                        default:
@@ -1402,6 +1372,15 @@
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                        News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());

                        if (wrkMast.getWrkSts() == 27) {
                            if (moveAssignCommand != null) {
                                //下发任务
                                shuttleProtocol.setPakMk(true);
                                MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
                            }
                        }

                    } else {
                        News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                    }

 src/main/java/com/zy/asrs/utils/Utils.java

@@ -9,6 +9,7 @@
import com.zy.asrs.service.impl.MainServiceImpl;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateMapData;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
@@ -525,6 +526,7 @@
    public static ShuttleAssignCommand searchEmptyGroupToMoveShuttle(int z, Integer currentShuttleId, ShuttleThread shuttleThread, String startLocNo) {
        LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
        MainServiceImpl mainServiceImpl = SpringUtils.getBean(MainServiceImpl.class);
        CommonService commonService = SpringUtils.getBean(CommonService.class);

        if (shuttleThread == null) {
            return null;
@@ -579,7 +581,7 @@
            //创建分配命令
            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
            assignCommand.setTaskNo((short) 9998);//任务号
            assignCommand.setTaskNo((short) commonService.getWorkNo(7));//任务号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id.shortValue());//移动到目标库位
            assignCommand.setSourceLocNo(startLocNo);//源库位


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

@@ -729,6 +729,9 @@
//            }
//        }

        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();

        List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
        //当前步序
        int commandStep = redisCommand.getCommandStep();
@@ -744,6 +747,14 @@
                if (command.getDistCodeNum().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
                    //上一条指令的目标位置和当前小车位置相同，则认定上一条任务完成
                    command.setComplete(true);

                    //上一条指令起点是提升机二维码，则清零提升机任务号
                    if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()) {
                        //判断提升机是否处于空闲
                        if (liftProtocol.isIdleNoTask()) {
                            liftProtocol.setTaskNo((short) 0);//清空任务号
                        }
                    }
                }
            } else if (command.getCommandWord().intValue() == 2) {
                //托盘顶升命令
@@ -805,9 +816,6 @@
            }
        }

        LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
        LiftProtocol liftProtocol = liftThread.getLiftProtocol();
        

        //判断小车当前二维码是否为提升机二维码
        if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
@@ -844,6 +852,9 @@
                if (!staProtocol.isLiftArrival()) {
                    return false;//站点提升机到位信号false，禁止下发命令
                }

                //条件满足，占用提升机
                liftProtocol.setTaskNo(wrkNo);
            }
        }

@@ -1046,6 +1057,7 @@
                return true;
            }else {
                if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
                    liftProtocol.setTaskNo(wrkNo);//给提升机写工作号，防止被占用
                    return true;//提升机到位
                }
                executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//调度提升机