四向穿梭车主线程完成操作

Junjie

2023-03-27 c05fc7d74a7f706686b2fc6735ebd98459996903

四向穿梭车主线程完成操作

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

@@ -96,5 +96,5 @@

    WrkMast selectAllC();

    List<WrkMast> selectWorkWaiting(Integer workNo);
    WrkMast selectByWorkNo(Integer workNo);
}

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

@@ -651,6 +651,39 @@
    }

    /**
     * 四向穿梭车任务完成
     */
    public synchronized void shuttleFinished() {
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车信息
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                continue;
            }

            //四向穿梭车状态为等待确认
            if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) {
                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
                    wrkMast.setWrkSts(8L);
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        News.error("四向穿梭车处于等待确认且任务完成状态,复位。堆垛机号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                    } else {
                        News.error("四向穿梭车处于等待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());
                    }
                }

            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute(){

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

@@ -59,6 +59,8 @@
                    mainService.crnIoExecute();
                    // 入出库  ===>>  四向穿梭车入出库作业下发
                    mainService.shuttleIoExecute();
                    //四向穿梭车任务完成
                    mainService.shuttleFinished();
                    // 入库  ===>> 执行堆垛机对工作档的完成操作
                    mainService.storeFinished();
                    // 入库 ===>> 执行穿梭车对工作档的完成操作

 src/main/java/com/zy/core/enums/ShuttleProtocolStatusType.java

New file
@@ -0,0 +1,45 @@
package com.zy.core.enums;

/**
 * 四向穿梭车内部状态枚举
 */
public enum ShuttleProtocolStatusType {

    IDLE(1, "空闲"),
    WORKING(2, "作业中"),
    WAITING(3, "等待确认"),
    ;

    public Integer id;
    public String desc;

    ShuttleProtocolStatusType(Integer id, String desc) {
        this.id = id;
        this.desc = desc;
    }

    public static ShuttleProtocolStatusType get(Integer id) {
        if (null == id) {
            return null;
        }
        for (ShuttleProtocolStatusType type : ShuttleProtocolStatusType.values()) {
            if (type.id.equals(id.intValue())) {
                return type;
            }
        }
        return null;
    }

    public static ShuttleProtocolStatusType get(ShuttleProtocolStatusType type) {
        if (null == type) {
            return null;
        }
        for (ShuttleProtocolStatusType type2 : ShuttleProtocolStatusType.values()) {
            if (type2 == type) {
                return type2;
            }
        }
        return null;
    }

}

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

@@ -1,5 +1,6 @@
package com.zy.core.model.protocol;

import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.model.command.ShuttleAssignCommand;
import lombok.Data;
@@ -26,6 +27,16 @@
     * 任务指令
     */
    private ShuttleAssignCommand assignCommand;

    /**
     * 当前小车状态（内部自我维护）
     */
    private Integer protocolStatus;

    /**
     * 当前小车状态枚举
     */
    private ShuttleProtocolStatusType protocolStatusType;

    /**
     * 源库位
@@ -226,4 +237,20 @@
        return (short) (this.batteryPower * 0.1);
    }

    /**
     * 设置小车状态
     */
    public void setProtocolStatus(Integer status) {
        this.protocolStatus = status;
        this.protocolStatusType = ShuttleProtocolStatusType.get(status);
    }

    /**
     * 设置小车状态
     */
    public void setProtocolStatus(ShuttleProtocolStatusType status) {
        this.protocolStatus = status.id;
        this.protocolStatusType = status;
    }

}

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

@@ -20,10 +20,7 @@
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.ShuttleTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -121,6 +118,7 @@
                if (null == shuttleProtocol) {
                    shuttleProtocol = new ShuttleProtocol();
                    shuttleProtocol.setShuttleNo(slave.getId().shortValue());
                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                }

                //----------读取四向穿梭车状态-----------
@@ -415,6 +413,11 @@
                }
                //删除redis
                redisUtil.del("wrk_no_" + map.get("wrk_no").toString());

                //对主线程抛出等待确认状态waiting
                shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.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));
            }

        }

 src/main/resources/mapper/WrkMastMapper.xml

@@ -235,11 +235,14 @@
        </foreach>
    </select>
    
    <select id="selectWorkWaiting" resultMap="BaseResultMap">
        select *
        from dbo.asr_wrk_mast
        where 1=1
        wrk_no=#{workNo} and wrk_sts in (4,7)
    </select>
<!--    <select id="selectWorkWaiting" resultMap="BaseResultMap">-->
<!--        select *-->
<!--        from dbo.asr_wrk_mast-->
<!--        where 1=1-->
<!--        wrk_no=#{workNo} and wrk_sts in (4,7)-->
<!--    </select>-->

    <select id="selectByWorkNo" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo}
    </select>
</mapper>