#小车增加提升机进出状态(给牛眼使用)

Junjie

2023-10-14 996ecb891a2a33ddfffd8032ec7c784377470537

#小车增加提升机进出状态(给牛眼使用)

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

@@ -32,6 +32,7 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -87,6 +88,8 @@
                    case 3:
                        assignWork((LiftAssignCommand) task.getData());
                        break;
                    case 4:
                        write2((HashMap<String, Object>) task.getData());
                    default:
                        break;
                }
@@ -418,6 +421,35 @@
        return true;
    }

    //给提升机写入进出状态
    private void write2(HashMap<String,Object> data) {
//        //出
//        status = true;
//        //进
//        status = false;
        int lev = Integer.parseInt(data.get("lev").toString());
        boolean status = Boolean.parseBoolean(data.get("status").toString());

        ArrayList<String> list = new ArrayList<String>(){{
            add("83.8.0");
            add("83.8.1");
            add("83.8.2");
            add("83.8.3");
            add("83.8.4");
            add("83.8.5");
            add("83.8.6");
            add("83.8.7");
            add("83.9.0");
            add("83.9.1");
        }};
        OperateResult result = siemensS7Net.Write("DB" + list.get(lev - 1), status);
        if (result != null && result.IsSuccess) {
            News.info("提升机命令下发[id:{}]", slave.getId());
        } else {
            News.error("写入提升机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        }
    }

    /******************************************************************************************/
    /**************************************** 测试专用 *****************************************/
    /*****************************************************************************************/

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

@@ -35,6 +35,7 @@
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
import java.util.HashMap;
import java.util.List;

/**
@@ -385,6 +386,8 @@
        if (commands.size() == 0) {
            return false;
        }

        checkIOSta(commands, commandStep);//检测小车是否进出提升机输送站

        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));

@@ -803,4 +806,64 @@
        }
    }

    //检测小车是否进出提升机输送站
    public void checkIOSta(List<NyShuttleHttpCommand> commands, int commandStep) {
        if (commandStep != 0) {
            NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);//上一步命令
            if (lastCommand.getRequest().getBody().get("requestType").equals("move")) {
                //检测起点是否为提升机输送站点
                NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(lastCommand.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
                int[] startPoint = NavigatePositionConvert.NyXyzToWCSXyz(start.getX(), start.getY(), start.getZ());
                if (startPoint[0] == 13 && (startPoint[1] == 22 || startPoint[1] == 38 || startPoint[1] == 57)) {
                    //输送站点位置

                    int liftNo;
                    if (startPoint[1] == 22) {
                        liftNo = 1;
                    } else if (startPoint[1] == 38) {
                        liftNo = 2;
                    } else {
                        liftNo = 3;
                    }

                    HashMap<String, Object> data = new HashMap<>();
                    data.put("lev", startPoint[2]);
                    data.put("status", false);//出输送站

                    //下发任务
                    MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
                }
            }
        }

        if (commands.size() == commandStep) {
            return;
        }
        NyShuttleHttpCommand command = commands.get(commandStep);//当前命令
        if (command.getRequest().getBody().get("requestType").equals("move")) {
            NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(command.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
            int[] targetPoint = NavigatePositionConvert.NyXyzToWCSXyz(target.getX(), target.getY(), target.getZ());
            //检测目标位置是否为提升机输送站点
            if (targetPoint[0] == 13 && (targetPoint[1] == 22 || targetPoint[1] == 38 || targetPoint[1] == 57)) {
                //输送站点位置

                int liftNo;
                if (targetPoint[1] == 22) {
                    liftNo = 1;
                } else if (targetPoint[1] == 38) {
                    liftNo = 2;
                } else {
                    liftNo = 3;
                }

                HashMap<String, Object> data = new HashMap<>();
                data.put("lev", targetPoint[2]);
                data.put("status", true);//进输送站

                //下发任务
                MessageQueue.offer(SlaveType.Lift, liftNo, new Task(4, data));
            }
        }
    }

}