src/main/java/com/zy/asrs/controller/SiteController.java
@@ -151,6 +151,8 @@ vo.setLoading(staProtocol.isLoading()?"Y":"N"); // 有物 vo.setInEnable(staProtocol.isInEnable()?"Y":"N"); // 可入 vo.setOutEnable(staProtocol.isOutEnable()?"Y":"N"); // 可出 vo.setLiftArrival(staProtocol.isLiftArrival()?"Y":"N"); // 提升机到位信号 vo.setShuttleTakeEnable(staProtocol.isShuttleTakeEnable()?"Y":"N"); // 穿梭车可取信号 vo.setPakMk(staProtocol.isPakMk()?"Y":"N"); // 入库标记 vo.setEmptyMk(staProtocol.isEmptyMk()?"Y":"N"); // 空板信号 vo.setStaNo(staProtocol.getStaNo()); // 目标站 src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java
@@ -35,4 +35,10 @@ // 目标站 private Short staNo = 0; //提升机到位信号 private String liftArrival = "-"; //四向穿梭车可取信号 private String shuttleTakeEnable = "-"; } src/main/java/com/zy/asrs/mapper/BasDevpMapper.java
@@ -20,5 +20,5 @@ BasDevp queryByLocNo(String locNo); BasDevp queryByQrCode(String qrCodeValue); BasDevp queryByQrCode(Integer qrCodeValue); } src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -96,7 +96,7 @@ WrkMast selectAllC(); WrkMast selectRackInStep48(Short workNo,Integer sourceStaNo); WrkMast selectRackInStep48(Short workNo,Integer staNo); WrkMast selectByWorkNo(Integer workNo);
@@ -48,6 +48,6 @@ BasDevp queryByLocNo(String locNo); BasDevp queryByQrCode(String qrCodeValue); BasDevp queryByQrCode(Integer qrCodeValue); } src/main/java/com/zy/asrs/service/impl/BasDevpServiceImpl.java
@@ -76,7 +76,7 @@ } @Override public BasDevp queryByQrCode(String qrCodeValue) { public BasDevp queryByQrCode(Integer qrCodeValue) { return this.baseMapper.queryByQrCode(qrCodeValue); } } src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,7 +4,6 @@ import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.SpringUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.*; @@ -60,13 +59,13 @@ @Autowired private StaDescService staDescService; @Autowired private BasCrnpService basCrnpService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasSteErrLogService basSteErrLogService; @Autowired private BasShuttleService basShuttleService; @Autowired private BasShuttleErrLogService basShuttleErrLogService; @Autowired @@ -152,11 +151,12 @@ } continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { ) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); @@ -167,10 +167,10 @@ if(!Cools.isEmpty(barcode)) { // News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) { staProtocol.setWorkNo((short) 32002); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // staProtocol.setWorkNo((short) 32002); // staProtocol.setStaNo(inSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); @@ -181,10 +181,10 @@ continue; } } else { staProtocol.setWorkNo((short) 32002); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // staProtocol.setWorkNo((short) 32002); // staProtocol.setStaNo(inSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); @@ -235,6 +235,18 @@ if (!result) { throw new CoolException("更新plc站点信息失败"); } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else if (code == 500){ if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); @@ -595,6 +607,9 @@ continue; } LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (liftProtocol == null) { continue; } if (!liftProtocol.isIdle()) { continue; } @@ -602,7 +617,6 @@ //提升机处于空闲状态，进行任务的恢复 liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号 liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态 liftProtocol.setLiftLock(true);//提升机锁定 }else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务 ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class); @@ -616,6 +630,9 @@ continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } if (!shuttleProtocol.isIdle()) { continue; } @@ -635,19 +652,10 @@ // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库站 for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) { for (DevpSlave.StaRack staRack : devp.getRackInStn()) { // 获取入库站信息 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 staProtocol = devpThread.getStation().get(staRack.getStaNo()); if (staProtocol == null) { continue; } else { @@ -655,8 +663,8 @@ } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件 if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) { // 判断是否满足入库条件，自动、有物、四向穿梭车可取信号 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) { WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId()); if (wrkMast != null) { if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) { @@ -697,18 +705,15 @@ assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置) String locNo = wrkMast.getLocNo();//当前工作档库位号 Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//当前工作档库位层高 Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//小车当前层高 Integer currentLev = Utils.getLev(currentLocNo);//小车当前层高 //获取提升机 LiftSlave liftSlave = slaveProperties.getLift().get(0); //提升机库位号 String liftLocNo = liftSlave.getLiftLocNo(currentLev); //提升机口站点库位号 String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev); if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) { //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(currentLocNo, liftLocNo, locNo, assignCommand,shuttleThread); List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, locNo, assignCommand,shuttleThread); if (wrkMast.getWrkSts() == 8) { //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 BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息 @@ -716,7 +721,7 @@ Short distCode = commands.get(0).getStartCodeNum();//提升机口二维码 Short runDirection = commands.get(0).getRunDirection();//运行方向 //获取命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection); ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection, (short) 1, 0); commands.add(0, moveCommand);//将该指令添加到队头 } assignCommand.setCommands(commands); @@ -729,11 +734,11 @@ //不同层，将目标库位分配成提升机库位号 //小车移动到提升机口，计算路径 List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread); List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread); //分配目标库位 shuttleProtocol.setLocNo(liftLocNo); shuttleProtocol.setLocNo(liftSiteLocNo); //目标库位 assignCommand.setLocNo(liftLocNo); assignCommand.setLocNo(liftSiteLocNo); assignCommand.setCommands(commands); wrkMast.setWrkSts(5L);//小车迁移状态 } @@ -752,8 +757,18 @@ } //获取起点-终点指令。mapType：1=》无货地图，2=》有货地图 //获取起点-终点指令。mapType：0=>无货物地图，1=》携带货物出入库地图 public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) { //获取小车移动速度 BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo()); Integer runSpeed = 1000; if (basShuttle != null) { Integer runSpeed1 = basShuttle.getRunSpeed(); if (runSpeed1 != null) { runSpeed = runSpeed1; } } //计算小车起点到中点所需命令 List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType); List<ShuttleCommand> commands = new ArrayList<>(); @@ -770,15 +785,20 @@ for (ArrayList<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //通过xy坐标小车二维码 Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); //通过xy坐标小车二维码 Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); //获取移动命令 ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id); ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed); commands.add(command); } @@ -792,33 +812,47 @@ //获取起点-中点-终点指令 public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) { //计算小车起点到中点所需命令 List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//小车无货，走入库地图 List<ShuttleCommand> commands = new ArrayList<>(); if (calc == null) { return null; //获取小车移动速度 BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo()); Integer runSpeed = 1000; if (basShuttle != null) { Integer runSpeed1 = basShuttle.getRunSpeed(); if (runSpeed1 != null) { runSpeed = runSpeed1; } } List<NavigateNode> allNode = new ArrayList<>(); allNode.addAll(calc); //获取分段路径 ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc); //将每一段路径分成command指令 for (ArrayList<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 //计算小车起点到中点所需命令 List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//小车无货，走入库地图 List<ShuttleCommand> commands = new ArrayList<>(); //通过xy坐标小车二维码 Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); //获取移动命令 ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id); commands.add(command); if (calc != null) { allNode.addAll(calc); //获取分段路径 ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc); //将每一段路径分成command指令 for (ArrayList<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //通过xy坐标小车二维码 Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); //通过xy坐标小车二维码 Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); //获取移动命令 ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed); commands.add(command); } } //小车指令到达目标位置后，再发出一条顶升指令 @@ -837,15 +871,20 @@ for (ArrayList<NavigateNode> nodes : data2) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //通过xy坐标小车二维码 Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); //通过xy坐标小车二维码 Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id); ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed); commands.add(moveCommand); } @@ -915,11 +954,11 @@ String currentLocNo = shuttleProtocol.getCurrentLocNo(); //小车当前层高 Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); Integer currentLev = Utils.getLev(currentLocNo); //获取提升机 LiftSlave liftSlave = slaveProperties.getLift().get(0); //提升机库位号 String liftLocNo = liftSlave.getLiftLocNo(currentLev); //当前楼层提升机输送站点库位号 String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev); //分配任务号 shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue()); @@ -939,8 +978,11 @@ //判断小车和库位是否在同一层 if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) { //同一层(将小车移动到货物位置) List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread); List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread); if (commands == null) { //未找到路径，等待下一次 continue; } //分配目标库位 shuttleProtocol.setLocNo(wrkMast.getSourceLocNo()); //目标库位 @@ -951,21 +993,21 @@ //不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置) //小车到提升机口指令 List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread); shuttleProtocol.setLocNo(liftLocNo); List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread); shuttleProtocol.setLocNo(liftSiteLocNo); //目标库位 assignCommand.setLocNo(liftLocNo); assignCommand.setLocNo(liftSiteLocNo); assignCommand.setCommands(commands); wrkMast.setWrkSts(22L);//小车迁移状态 } } else if (wrkMast.getWrkSts() == 25) { List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread); List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread); //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 BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息 short startCode = Short.parseShort(basDevp.getQrCodeValue());//提升机二维码 Short distCode = commands.get(0).getStartCodeNum();//目标二维码 //获取移动命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection()); ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection(), (short) 1, 0); commands.add(0, moveCommand);//将该指令添加到队头 //分配目标库位 @@ -992,7 +1034,7 @@ HashMap<String, Object> map = new HashMap<>(); String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号 LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录 String lay = locNo.substring(locNo.length() - 2, locNo.length());//当前工作档库位层高 int lev = Utils.getLev(locNo);//当前工作档库位层高 ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { @@ -1007,8 +1049,8 @@ } String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号 String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//库位号对应层高 if (lay.equals(shuttleLocNoLay)) { int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高 if (lev == shuttleLocNoLey) { //当前四向穿梭车和工作档任务在同一层，则调配该车辆 map.put("sameLay", true);//同一层 map.put("result", shuttleThread); @@ -1024,10 +1066,8 @@ String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//库位号对应层高 int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay); int layInt = Integer.parseInt(lay); int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay); int i = Math.abs(layInt - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值 int j = Math.abs(layInt - shuttleLocNoLayInt);//工作档楼层减当前穿梭车楼层，取绝对值 int i = Math.abs(lev - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值 int j = Math.abs(lev - shuttleLocNoLey);//工作档楼层减当前穿梭车楼层，取绝对值 if (i < j) { //更新最近穿梭车 recentShuttle = shuttleThread; @@ -1046,7 +1086,7 @@ LiftSlave liftSlave = slaveProperties.getLift().get(0); //提升机库位号 String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt); String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt); String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLey); //当前最近四向穿梭车到提升机路径 List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id); @@ -1078,9 +1118,11 @@ continue; } //四向穿梭车状态为等待确认 //四向穿梭车状态为等待确认、小车处于空闲状态 if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认 && shuttleProtocol.getTaskNo() != 0) { && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getBusyStatus() == 0 ) { //将任务档标记为完成 WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue()); if (wrkMast != null) { @@ -1198,33 +1240,60 @@ //命令list ArrayList<LiftCommand> commands = new ArrayList<>(); if (wrkMast.getWrkSts() == 2) { DevpThread devpThread = null; Integer devpId = null; for (DevpSlave devp : slaveProperties.getDevp()){ // 获取入库站信息 devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); devpId = devp.getId(); } if (wrkMast.getWrkSts() == 2) {//2.设备上走 //工作档目标库位号 String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo(); String wrkMastLocNo = wrkMast.getLocNo(); //工作档目标库位楼层 int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length())); int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo); //提升机当前楼层 int liftLev = liftProtocol.getLev().intValue(); if (liftLev != 1) { //提升机不在1层，获取到1层的提升机命令 LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) 1); 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 (liftLev != LiftLevType.TWO.realLev) { //提升机不在输送线楼层，获取到输送线层的提升机命令 LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev); commands.add(command1);//将命令添加进list } //输送线将货物运进来(正转) LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1); //输送线将货物运进来(无货正转) LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3); command2.setOperaStaNo((short) 102);//操作102站 command2.setRotationDire(1);//给输送线下发链条转动信号，正转 command2.setDevpId(devpId); commands.add(command2);//将命令添加进list Integer levTmp = wrkMastLocNoLey; if (wrkMastLocNoLey >= 2) { levTmp += 1; } //提升机前往目标楼层(工作档目标楼层) LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), (short) wrkMastLocNoLey); LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp); commands.add(command3);//将命令添加进list //提升机到达指定楼层，输送线将货物移出去(反转) //提升机到达指定楼层，输送线将货物移出去(正转) //输送线将货物移出去 LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2); LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1); Integer distStaNo = Utils.levToOutInStaNo(levTmp); 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); commands.add(command4);//将命令添加进list }else { wrkMast.setWrkSts(3L);//3.提升机搬运中 }else if(wrkMast.getWrkSts() == 6 || wrkMast.getWrkSts() == 23) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中 || 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 @@ -1240,51 +1309,93 @@ //当前穿梭车库位号 String currentLocNo = shuttleProtocol.getCurrentLocNo(); //当前穿梭车楼层 int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); int currentLocNoLey = Utils.getLev(currentLocNo); //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 = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length())); 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 (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(), (short) currentLocNoLey); 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(正转) LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1); //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(), (short) wrkMastLocNoLey); 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(反转) LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2); //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 } switch (wrkMast.getWrkSts().intValue()) { case 2://2.设备上走 wrkMast.setWrkSts(3L);//3.提升机搬运中 break;//3.提升机搬运中 case 6://6.迁移小车至提升机口完成 wrkMast.setWrkSts(7L);//7.提升机迁移小车中 break; case 23://23.迁移小车至提升机口完成 wrkMast.setWrkSts(24L);//24.提升机迁移小车中 break; case 27://27.小车出库搬运完成 wrkMast.setWrkSts(28L);//28.提升机搬运中 break; wrkMast.setWrkSts(wrkMast.getWrkSts() == 6 ? 7L : 24L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中 || 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 //工作档源库位号 String wrkMastLocNo = wrkMast.getSourceLocNo(); //工作档源库位楼层 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 } //判断提升机是否到位 StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey));//起始站点 if (liftLev != wrkMastLocNoLey && wrkMastLocNoLey != 1 || !staProtocol.isLiftArrival()) { //提升机不在工作档源库位楼层，调度提升机 LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey); commands.add(command1);//将命令添加进list } //输送线将货物运进来(无货反转) LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4); command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//输送线操作站点号 command2.setRotationDire(2);//给输送线下发链条转动信号，反转 command2.setDevpId(devpId);//输送线iD command2.setStaNo((short) 104);//写入出库目标站104 commands.add(command2);//将命令添加进list //提升机前往出库口，输送线楼层 LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev); commands.add(command3);//将命令添加进list //提升机到达指定楼层，输送线将货物移出去(反转) //输送线将货物移出去 LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2); command4.setOperaStaNo((short) 102);//操作102站 command4.setRotationDire(2);//给输送线下发链条转动信号，反转 command4.setDevpId(devpId); commands.add(command4);//将命令添加进list //提升机链条执行完毕后，给102站写入资料 LiftCommand command5 = liftThread.getResetCommand(); command5.setDevpId(devpId);//输送线iD command5.setOperaStaNo((short) 102);//操作102站 command5.setStaNo((short) 104);//写入出库目标站104 command5.setRotationDire(0);//链条转动停止 commands.add(command5); wrkMast.setWrkSts(28L);//28.提升机搬运中 } //所需命令组合完毕，更新数据库，提交到线程去工作 @@ -1311,13 +1422,58 @@ continue; } //提升机为等待确认 if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) { // //当提升机状态处于工作中，但提升机实际为空闲状态，且时长超过30秒，自动复位 // if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WORKING.id // && liftProtocol.getTaskNo() != 0 // && !liftProtocol.getRunning() // ) { // if (liftProtocol.getWrkTime() == null) { // continue; // } // // Date wrkTime = liftProtocol.getWrkTime(); // Date now = new Date(); // long interval = (now.getTime() - wrkTime.getTime()) / 1000;//计算时间差 // if (interval >= 30) {//超过30秒自动复位 // //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); // News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo()); // } // } //提升机为等待确认且空闲 if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0 && !liftProtocol.getRunning() ) { DevpThread devpThread = null; Integer devpId = null; for (DevpSlave devp : slaveProperties.getDevp()){ // 获取入库站信息 devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); devpId = devp.getId(); } //将任务档标记为完成 WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue()); if (wrkMast != null) { switch (wrkMast.getWrkSts().intValue()) { case 3://3.提升机搬运中 ==> 4.提升机搬运完成 //给目标站设置工作号 StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } wrkMast.setWrkSts(4L); break; case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成 @@ -1342,40 +1498,30 @@ liftProtocol.setPakMk(true); //任务指令清零 liftProtocol.setAssignCommand(null); //提升机解锁 liftProtocol.setLiftLock(false); News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo()); } else { News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo()); } } //查询是否有充电任务 WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue()); if (wrkCharge != null) { switch (wrkCharge.getWrkSts().intValue()) { case 54://提升机搬运中 wrkCharge.setWrkSts(55L);//提升机搬运完成 break; default: } if (wrkChargeMapper.updateById(wrkCharge) > 0) { //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); News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo()); } else { News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo()); } //不是入出库调度任务、工作档任务，进行提升机的复位 if (liftProtocol.getAssignCommand() != null) { //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); News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo()); // LiftAssignCommand assignCommand = liftProtocol.getAssignCommand(); // if (!assignCommand.getAuto()) { // //手动命令 // // } } } } } @@ -2135,7 +2281,7 @@ //当前穿梭车库位号 String currentLocNo = shuttleProtocol.getCurrentLocNo(); //小车当前层高 Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); Integer currentLev = currentLocNo == null ? 0 : Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length())); //获取提升机 LiftSlave liftSlave = slaveProperties.getLift().get(0); //提升机库位号 @@ -2231,7 +2377,7 @@ if (liftLev != currentLev) { //穿梭车和提升机处于不同楼层 //获取目标楼层(穿梭车所在楼层)命令 LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev.shortValue()); LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev); commands.add(command1);//将命令添加进list } @@ -2241,7 +2387,7 @@ //提升机前往目标楼层 //获取充电库位目标楼层命令 LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev.shortValue()); LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev); 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 src/main/java/com/zy/asrs/utils/Utils.java
@@ -268,6 +268,70 @@ return zerofill(String.valueOf(row), 2) + zerofill(String.valueOf(bay), 3) + zerofill(String.valueOf(lev), 2); } //出入库站点号转换对应楼层 public static Integer outInStaNoToLev(Integer distSta) { Integer distLev = 1;//目标楼层 switch (distSta) { case 102: distLev = 2;//输送线楼层 case 105: distLev = 1;//一楼 case 106: distLev = 3;//二楼 case 107: distLev = 4;//三楼 case 108: distLev = 5;//四楼 } return distLev; } //楼层转换对应出入库站点号 public static Integer levToOutInStaNo(Integer lev) { Integer staNo = null;//站点号 switch (lev) { case 1: staNo = 105; break; case 2://输送线层 staNo = 105; break; case 3: staNo = 106; break; case 4: staNo = 107; break; case 5: staNo = 108; break; } return staNo; } //楼层转换对应出入库站点库位号 public static String levToOutInStaLocNo(Integer lev) { String locNo = null; if (lev >= 2) { lev++; } switch (lev) { case 1: locNo = "1800201"; break; case 3: locNo = "1800202"; break; case 4: locNo = "1800203"; break; case 5: locNo = "1800204"; break; } return locNo; } public static void main(String[] args) { System.out.println(JSON.toJSONString(getGroupOutsideLoc("0200101"))); } src/main/java/com/zy/core/MainProcess.java
@@ -74,21 +74,18 @@ // 其他 ===>> LED显示器复位，显示默认信息 mainService.ledReset(); // 穿梭车 ===>> 小车电量检测充电 mainService.loopShuttleCharge(); mainService.executeShuttleCharge(); //出入库模式 i++; if (i > 1) { mainService.outAndIn(); i = 0; } // mainService.loopShuttleCharge(); // mainService.executeShuttleCharge(); // //出入库模式 // i++; // if (i > 1) { // mainService.outAndIn(); // i = 0; // } // 间隔 Thread.sleep(200); // 穿梭车 ===>> 小车复位至待机库位 // mainService.queryChargeLocOfComplete(); // mainService.steFromChargeToIdleLoc(); } catch (Exception e) { e.printStackTrace(); } src/main/java/com/zy/core/enums/LiftLevType.java
New file @@ -0,0 +1,71 @@ package com.zy.core.enums; /** * 提升机楼层与实际楼层数值转换 */ public enum LiftLevType { ONE(1, (short) 1), TWO(2, (short) 2), THREE(3, (short) 4), FOUR(4, (short) 8), FIVE(5, (short) 16), ; public Integer lev; public Short realLev; LiftLevType(Integer lev, Short realLev) { this.lev = lev; this.realLev = realLev; } public static LiftLevType get(Integer lev) { if (null == lev) { return null; } for (LiftLevType type : LiftLevType.values()) { if (type.lev.equals(lev)) { return type; } } return null; } public static LiftLevType get(LiftLevType type) { if (null == type) { return null; } for (LiftLevType type2 : LiftLevType.values()) { if (type2 == type) { return type2; } } return null; } public static Short getRealLev(Integer lev) { if (null == lev) { return null; } for (LiftLevType type : LiftLevType.values()) { if (type.lev.equals(lev)) { return type.realLev; } } return null; } public static Integer getLev(Short realLev) { if (null == realLev) { return null; } for (LiftLevType type : LiftLevType.values()) { if (type.realLev.equals(realLev)) { return type.lev; } } return null; } } src/main/java/com/zy/core/enums/ShuttleRunDirection.java
@@ -5,8 +5,8 @@ */ public enum ShuttleRunDirection { TOP((short)2, "货物方向+"), BOTTOM((short)1, "货物方向-"), TOP((short)2, "货物方向-"), BOTTOM((short)1, "货物方向+"), LEFT((short)3, "过道方向-"), RIGHT((short)4, "过道方向+"), ; src/main/java/com/zy/core/enums/ShuttleTaskModeType.java
@@ -18,6 +18,7 @@ SEARCH_BOTTOM(13, "负方向(后)寻库位"), MOVE_LOC_NO(14, "移动到目标库位"), CHARGE(15, "充电"), MOVE_LIFT(16, "移动到提升机"), ; public Integer id; src/main/java/com/zy/core/model/command/LiftCommand.java
@@ -1,5 +1,6 @@ package com.zy.core.model.command; import com.zy.core.model.protocol.StaProtocol; import lombok.Data; @@ -59,6 +60,26 @@ */ private Boolean liftLock; /** * 操作输送站点号 */ private Short operaStaNo; /** * 输送线联动转动方向，0：停止转动，1：正向转动，2：反向转动 */ private Integer rotationDire; /** * 输送线ID */ private Integer devpId; /** * 目标站 */ private Short staNo; public Short getLiftLockShortValue() { if (liftLock == null) { return (short) 0; src/main/java/com/zy/core/model/protocol/LiftProtocol.java
@@ -1,15 +1,11 @@ package com.zy.core.model.protocol; import com.core.common.SpringUtils; import com.zy.asrs.service.BasShuttleService; import com.zy.core.News; import com.zy.core.enums.LiftProtocolStatusType; import com.zy.core.enums.ShuttleErrorCodeType; import com.zy.core.enums.ShuttleProtocolStatusType; import com.zy.core.enums.ShuttleStatusType; import com.zy.core.model.command.LiftAssignCommand; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.util.Date; /** * 提升机 @@ -22,6 +18,11 @@ * 提升机号 */ private Short liftNo; /** * 提升机内部二维码 */ private Short barcode = 1699; /** * 任务号 @@ -199,6 +200,31 @@ */ private LiftAssignCommand assignCommand; /** * 出入库模式，1：入库，2：出库 */ private Integer outInModel; /** * 出入库模式起始站点 */ private Integer startSta; /** * 出入库模式目标站点 */ private Integer distSta; /** * 出入库模式步数 */ private Integer outInModelStep; /** * 工作时间 */ private Date wrkTime; public Short getLiftLockShortValue() { return liftLock ? (short) 1 : (short) 0; } @@ -233,7 +259,7 @@ boolean res = this.taskNo == 0 && !this.liftLock && this.ready // && this.ready && !this.running && this.mode && this.pakMk.equals(true) src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -54,7 +54,7 @@ private String sourceLocNo; /** * 目标库位f * 目标库位 */ private String locNo; @@ -246,6 +246,9 @@ // 电量 try { Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine(); if (chargeLine == null) { return false; } return this.getBatteryPower$() > chargeLine; } catch (Exception e) { News.error("fail", e); src/main/java/com/zy/core/model/protocol/StaProtocol.java
@@ -40,6 +40,12 @@ // 满托盘 private boolean fullPlt; //提升机到位信号 private boolean liftArrival; //四向穿梭车可取信号 private boolean shuttleTakeEnable; // 高 private boolean high; @@ -75,6 +81,9 @@ //出入库模式 private Short outInModel; //输送线联动转动方向，0：停止转动，1：正向转动，2：反向转动 private Integer rotationDire; public BasDevp toSqlModel(){ BasDevp basDevp = new BasDevp(); basDevp.setDevNo(siteId); src/main/java/com/zy/core/thread/LiftThread.java
@@ -14,15 +14,19 @@ import com.zy.asrs.service.BasLiftService; import com.zy.common.utils.CommonUtils; import com.zy.common.utils.RedisUtil; import com.zy.core.DevpThread; import com.zy.core.News; import com.zy.core.ThreadHandler; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.DevpSlave; import com.zy.core.model.LiftSlave; import com.zy.core.model.Task; import com.zy.core.model.command.*; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.model.protocol.StaProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; @@ -169,15 +173,13 @@ ///读取提升机状态-end //小车处于运行状态，将标记置为true //提升机处于运行状态，将标记置为true if (liftProtocol.getRunning()) { liftProtocol.setPakMk(true); } //提升机处于锁定、未运行、就绪、标记true、有任务号 if (liftProtocol.getLiftLock() && !liftProtocol.getRunning() && liftProtocol.getReady() //提升机处于未运行、就绪、标记true、有任务号 if (!liftProtocol.getRunning() && liftProtocol.getPakMk() && liftProtocol.getTaskNo() != 0) { //还有未完成的命令 @@ -362,12 +364,33 @@ //取出命令 LiftCommand command = commands.get(commandStep); if (command.getOperaStaNo() != null && command.getDevpId() != null) { //站点和输送线ID不为null，需要下发站点指令调度指定站点进行链条转动 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, command.getDevpId()); StaProtocol staProtocol = devpThread.getStation().get(command.getOperaStaNo().intValue()); if (!staProtocol.isLiftArrival()) {//链条转动条件，需要有提升机到位信号 liftProtocol.setPakMk(true); return false; } staProtocol.setWorkNo(wrkNo);//设置任务号 if (command.getStaNo() != null) { staProtocol.setStaNo(command.getStaNo());//设置目标站 } if (command.getRotationDire() != null) { staProtocol.setRotationDire(command.getRotationDire());//站点链条转动信号 } Integer devpId = command.getDevpId(); boolean result1 = MessageQueue.offer(SlaveType.Devp, devpId, new Task(3, staProtocol));//下发命令使输送线链条运转 } //下发命令 if (!write(command)) { News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command)); return false; }else { News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command)); liftProtocol.setWrkTime(new Date());//更新工作时间 //判断数据是否执行完成 if (commandStep < size - 1) { @@ -396,19 +419,9 @@ //删除redis redisUtil.del("lift_wrk_no_" + redisCommand.getWrkNo()); if (assignCommand.getAuto()) { //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)); }else { //手动模式不抛出等待状态 liftProtocol.setTaskNo((short) 0); 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)); } //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)); } } @@ -443,26 +456,7 @@ public LiftCommand getLiftUpDownCommand(Integer lev) { LiftCommand command = new LiftCommand(); command.setRun((short) 1);//升降 Short position = 1; switch (lev) { case 1: position = 1; break; case 2: position = 2; break; case 3: position = 4; break; case 4: position = 8; break; case 5: position = 16; break; default: position = 1; } Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值 command.setDistPosition(position); command.setSpeed((short) 200); command.setHeight2((short) 180); @@ -475,12 +469,18 @@ /** * 获取提升机上升下降命令 */ public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Short lev) { public LiftCommand getLiftUpDownCommand(Short liftNo, Short taskNo, Integer lev) { LiftCommand command = new LiftCommand(); Short position = LiftLevType.getRealLev(lev);//获取提升机实际楼层数值 command.setRun((short) 1);//升降 command.setLiftNo(liftNo);//提升机号 command.setTaskNo(taskNo);//任务号 command.setDistPosition(lev);//目标楼层1层 command.setDistPosition(position);//目标楼层 command.setSpeed((short) 200); command.setHeight2((short) 180); command.setHeight3((short) 1645); command.setHeight4((short) 3290); command.setHeight5((short) 4945); return command; }
@@ -8,14 +8,8 @@ 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; import com.zy.asrs.entity.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.Utils; import com.zy.common.model.NavigateNode; import com.zy.common.utils.*; @@ -30,6 +24,7 @@ import com.zy.core.model.command.*; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.model.protocol.ShuttleProtocol; import com.zy.core.model.protocol.StaProtocol; import lombok.Data; import lombok.extern.slf4j.Slf4j; @@ -174,18 +169,18 @@ shuttleProtocol.setPakMk(true); } if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) { //出现错误 resetAndTryFix(shuttleProtocol.getTaskNo()); } if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){ //处于故障修复状态 //执行下一步指令 executeWork(shuttleProtocol.getTaskNo()); } // if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) { // //出现错误 // resetAndTryFix(shuttleProtocol.getTaskNo()); // } // // if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING // && shuttleProtocol.getTaskNo() != 0 // && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){ // //处于故障修复状态 // //执行下一步指令 // executeWork(shuttleProtocol.getTaskNo()); // } //四向穿梭车空闲、有任务、标记为true、存在任务指令，需要执行任务的下一条指令 if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE @@ -195,18 +190,18 @@ executeWork(shuttleProtocol.getTaskNo()); } //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) { Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo()); if (o != null) { ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class); if (redisCommand.getLiftSecurityMk()) { //执行下一步指令 executeWork(shuttleProtocol.getTaskNo()); } } } // //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) { // Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo()); // if (o != null) { // ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class); // if (redisCommand.getLiftSecurityMk()) { // //执行下一步指令 // executeWork(shuttleProtocol.getTaskNo()); // } // } // } //将四向穿梭车状态保存至数据库 BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class); @@ -391,11 +386,28 @@ //分配任务 private void assignWork(ShuttleAssignCommand assignCommand) { ShuttleRedisCommand redisCommand = new ShuttleRedisCommand(); if (!assignCommand.getAuto()) { List<NavigateNode> allNode = new ArrayList<>(); List<ShuttleCommand> commands = new ArrayList<>(); LocMastService locMastService = SpringUtils.getBean(LocMastService.class); BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class); NavigateMapData navigateMapData; //获取小车移动速度 BasShuttle basShuttle = shuttleService.selectById(slave.getId()); Integer runSpeed = 1000; if (basShuttle != null) { Integer runSpeed1 = basShuttle.getRunSpeed(); if (runSpeed1 != null) { runSpeed = runSpeed1; } } LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); LiftProtocol liftProtocol = liftThread.getLiftProtocol(); switch (assignCommand.getTaskMode()) { case 1://入库 case 2://出库 @@ -403,9 +415,6 @@ //计算小车起点到中点所需命令 LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString()); List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id); //所使用的路径进行锁定禁用 navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo())); navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用 if (firstMastResult != null) { allNode.addAll(firstMastResult);//将节点进行保存 @@ -415,14 +424,18 @@ for (ArrayList<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //正常移动命令 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1);//开始二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1);//目标二维码 commands.add(getMoveCommand(startCode,distCode,allDistance,ShuttleRunDirection.get(startPath.getDirection()).id)); Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//目标二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码 commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed)); } //托盘顶升 @@ -438,7 +451,6 @@ //计算中点到终点路径 List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id); navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用 if (secMastResult != null) { allNode.addAll(secMastResult);//将节点进行保存 @@ -448,18 +460,32 @@ for (ArrayList<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //正常移动命令 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1);//开始二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1);//目标二维码 commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id)); Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码 commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed)); } //托盘下降 commands.add(getPalletCommand((short) 2)); } navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo())); if (firstMastResult != null) { //所使用的路径进行锁定禁用 navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////所使用的路径进行锁定禁用 } if (secMastResult != null) { navigateMapData.writeNavigateNodeToRedisMap(secMastResult, true);////所使用的路径进行锁定禁用 } break; case 3://托盘顶升 @@ -482,10 +508,10 @@ ShuttleCommand reset = getResetCommand(); commands.add(reset); break; case 10://向正方向(左)寻库位 case 10://正方向(右)寻库位 commands.add(getFindLocCommand((short) 1)); break; case 11://向负方向(右)寻库位 case 11://负方向(左)寻库位 commands.add(getFindLocCommand((short) 2)); break; case 12://向正方向(前)寻库位 @@ -495,13 +521,28 @@ commands.add(getFindLocCommand((short) 3)); break; case 14://移动到目标库位 LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString()); String startQr = shuttleProtocol.getCurrentCode().toString();//起始位置 //如果穿梭车在提升机内，移动时需要先下发出提升机命令 if (liftProtocol.getBarcode().intValue() == shuttleProtocol.getCurrentCode().intValue()) { //穿梭车出提升机 Short liftLev = liftProtocol.getPositionArrivalFeedback();//提升机位置 String liftSiteLocNo = Utils.levToOutInStaLocNo(liftLev.intValue()); LocMast locMast1 = locMastService.selectById(liftSiteLocNo); ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1400, ShuttleRunDirection.BOTTOM.id, liftProtocol.getBarcode(), 1400, runSpeed); commands.add(moveCommand); //起始位置修改为提升机口站点位置 startQr = locMast1.getQrCodeValue(); } LocMast locMast = locMastService.queryByQrCode(startQr); List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id); //所使用的路径进行锁定禁用 navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo())); navigateMapData.writeNavigateNodeToRedisMap(result, true);////所使用的路径进行锁定禁用 if (result != null) { //所使用的路径进行锁定禁用 navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo())); navigateMapData.writeNavigateNodeToRedisMap(result, true);////所使用的路径进行锁定禁用 allNode.addAll(result);//将节点进行保存 //获取分段路径 ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result); @@ -509,20 +550,66 @@ for (ArrayList<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 LocMast distLocMast = locMastService.queryByLoc(assignCommand.getLocNo()); String qrCodeValue = distLocMast.getQrCodeValue(); Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码 //正常移动命令 commands.add(getMoveCommand(shuttleProtocol.getCurrentCode(),(short) Integer.parseInt(qrCodeValue),allDistance,ShuttleRunDirection.get(startPath.getDirection()).id)); commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed)); } } break; case 15://充电开关 commands.add(getChargeSwitchCommand()); break; case 16://移动到提升机 LocMast locMast1 = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString()); int lev = Utils.getLev(locMast1.getLocNo());//穿梭车当前高度 String liftSiteLocNo = Utils.levToOutInStaLocNo(lev);//当前楼层站点库位号 LocMast liftSitelocMast = locMastService.selectById(liftSiteLocNo); List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id); Short endStartCode = null; if (result1 != null) { //所使用的路径进行锁定禁用 navigateMapData = new NavigateMapData(Utils.getLev(locMast1.getLocNo())); navigateMapData.writeNavigateNodeToRedisMap(result1, true);////所使用的路径进行锁定禁用 allNode.addAll(result1);//将节点进行保存 //获取分段路径 ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result1); //将每一段路径分成command指令 for (ArrayList<NavigateNode> nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//开始二维码 Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//中间二维码 Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//目标二维码 endStartCode = distCode; //正常移动命令 commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed)); } } if (endStartCode == null && shuttleProtocol.getCurrentCode() == Short.parseShort(liftSitelocMast.getQrCodeValue())) { //穿梭车已经在提升机站点口 endStartCode = shuttleProtocol.getCurrentCode(); } //增加移动进提升机命令 ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, runSpeed); commands.add(moveCommand); break; default: } @@ -530,7 +617,6 @@ assignCommand.setNodes(allNode);//当前任务所占用的节点list } ShuttleRedisCommand redisCommand = new ShuttleRedisCommand(); redisCommand.setShuttleNo(assignCommand.getShuttleNo());//四向穿梭车号 redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号 redisCommand.setCommandStep(0);//命令执行步序 @@ -657,6 +743,9 @@ } } LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); LiftProtocol liftProtocol = liftThread.getLiftProtocol(); //下发命令 if (!write(command)) { News.error("四向穿梭车命令下发失败，穿梭车号={}，任务数据={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command)); @@ -694,17 +783,17 @@ if (redisCommand.getLiftSecurityMk()) { //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); } } String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo(); //解除锁定的库位路径 NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo)); navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false); if (locNo != null) { //解除锁定的库位路径 NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo)); navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false); } //删除redis redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo()); @@ -743,6 +832,16 @@ return false; } //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; } Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo); if (o == null) { return false; @@ -753,6 +852,21 @@ //检测是否存在提升机口的指令 List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands(); if (commands.size() > 0) { if (commands.get(commandStep).getCommandWord() != 1) { //不是行走命令，直接放行 return true; } if (commands.get(0).getStartCodeNum() == null) { return false; } //命令起始位置就是提升机二维码，则不进行校验 if (commands.get(0).getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()) { return true; } } BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class); ArrayList<Short> qrCodeValues = new ArrayList<>(); for (BasDevp basDevp : basDevpService.selectList(null)) { @@ -762,13 +876,18 @@ //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; Integer siteNo = null;//站点号 ShuttleCommand command = null; for (int i = 1; i < commands.size(); i++) { for (int i = 0; i < commands.size(); i++) { command = commands.get(i); if (qrCodeValues.contains(command.getDistCodeNum())) { //存在 step = i + 1; break; for (Short qrCodeValue : qrCodeValues) { if (qrCodeValue.intValue() == command.getDistCodeNum().intValue()) { //存在 step = i + 1; BasDevp basDevp = basDevpService.queryByQrCode(qrCodeValue.intValue()); siteNo = basDevp.getDevNo(); break; } } } @@ -783,49 +902,37 @@ 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); } Integer shuttleLocNoLev = shuttleLocNo == null ? 0 : Utils.getLev(shuttleLocNo);//库位号对应层高 //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; if (shuttleLocNoLev >= 2) { shuttleLocNoLev++; } //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 //判断输送线站点是否给出提升机到位信号 if (siteNo != null) { SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = siemensDevpThread.getStation().get(siteNo); if (staProtocol.isLiftArrival() && liftProtocol.getPositionArrivalFeedback().intValue() == shuttleLocNoLev) { //输送线反馈提升机到位且提升机楼层反馈为同一层，直接放行 return true; } } if (liftProtocol.getRunning()) { //提升机运行中，禁止下发 return false; } if (redisCommand.getLiftSecurityMk()) { //已经执行过提升机命令，禁止下发 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 @@ -836,12 +943,7 @@ //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 LiftCommand liftCommand = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), shuttleLocNoLev); liftCommands.add(liftCommand);//将命令添加进list LiftAssignCommand liftAssignCommand = new LiftAssignCommand(); @@ -941,20 +1043,27 @@ } /** * 正常移动命令 * @return * 正常移动命令,默认移动速度1000 */ public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) { public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance) { return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 1000); } /** * 正常移动命令 */ public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance, Integer runSpeed) { ShuttleCommand command = new ShuttleCommand(); command.setCommandWord((short) 1); command.setStartCodeNum(startCodeNum); command.setMiddleCodeNum((short) 1); command.setMiddleCodeNum(middleCodeNum); command.setDistCodeNum(distCodeNum); command.setStartToDistDistance(startToDistDistance); command.setMiddleToDistDistance(middleToDistDistance); command.setRunDirection(runDirection); command.setForceMoveDistance(0); command.setIOControl((short) 0); command.setRunSpeed((short) 1000); command.setRunSpeed(runSpeed.shortValue()); command.setCommandEnd((short) 1); return command; } @@ -1027,8 +1136,8 @@ */ public ShuttleCommand getChargeSwitchCommand() { ShuttleCommand command = new ShuttleCommand(); command.setCommandWord((short) 8); command.setIOControl((short) 4); command.setCommandWord((short) 5); command.setChargeSwitch((short) 1); command.setCommandEnd((short) 1); return command; } src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -10,7 +10,6 @@ import com.core.common.SpringUtils; import com.zy.asrs.entity.BasDevp; import com.zy.asrs.service.BasDevpService; import com.zy.common.utils.CommonUtils; import com.zy.core.DevpThread; import com.zy.core.News; import com.zy.core.cache.MessageQueue; @@ -47,6 +46,11 @@ add(100);add(101);add(102); add(103);add(104);add(105); add(106);add(107);add(108); }}; public static final ArrayList<Integer> outInStaNos = new ArrayList<Integer>() {{ add(102);add(105);add(106); add(107);add(108); }}; public boolean charge0; @@ -144,8 +148,8 @@ staProtocol.setOutEnable(status[3]);// 可出 staProtocol.setEmptyMk(status[4]); // 空板信号 staProtocol.setFullPlt(status[5]); // 满托盘 staProtocol.setHigh(status[6]); // 高库位 staProtocol.setLow(status[7]); // 低库位 staProtocol.setLiftArrival(status[6]); // 提升机到位信号 staProtocol.setShuttleTakeEnable(status[7]); // 提升机可取信号 if (!staProtocol.isPakMk() && !staProtocol.isLoading()) { staProtocol.setPakMk(true); @@ -158,9 +162,9 @@ OperateResultExOne<byte[]> result2 = siemensS7Net.Read("DB100.200",(short)24); if (result2.IsSuccess) { for (int i = 0; i <= barcodeSize; i++) { byte[] bytes = siemensS7Net.getByteTransform().TransByte(result2.Content, i * 8, 8); String barcode = CommonUtils.bytesToBarcode(bytes); // String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8"); // byte[] bytes = siemensS7Net.getByteTransform().TransByte(result2.Content, i * 8, 8); // String barcode = CommonUtils.bytesToBarcode(bytes); String barcode = siemensS7Net.getByteTransform().TransString(result2.Content,i*8,8, "UTF-8"); BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, i + 1); if(!Cools.isEmpty(barcodeThread) && !barcodeThread.getBarcode().equals(barcode)) { barcodeThread.setBarcode(barcode); @@ -192,35 +196,39 @@ StaProtocol staProtocol = station.get(102); staProtocol.setOutInModel(outInModel); } // // 外形检测 - 201 // Thread.sleep(50); // OperateResultExOne<byte[]> result201 = siemensS7Net.Read("DB102.112", (short)1); // if (result201.IsSuccess) { // boolean[] status = siemensS7Net.getByteTransform().TransBool(result201.Content, 0, 1); // StaProtocol staProtocol = station.get(201); // staProtocol.setFrontErr(status[0]); // staProtocol.setBackErr(status[1]); // staProtocol.setHighErr(status[2]); // staProtocol.setLeftErr(status[3]); // staProtocol.setRightErr(status[4]); // staProtocol.setWeightErr(status[5]); // staProtocol.setBarcodeErr(status[6]); // } // // 外形检测 - 301 // Thread.sleep(50); // OperateResultExOne<byte[]> result301 = siemensS7Net.Read("DB102.114", (short)1); // if (result301.IsSuccess) { // boolean[] status = siemensS7Net.getByteTransform().TransBool(result301.Content, 0, 1); // StaProtocol staProtocol = station.get(301); // staProtocol.setFrontErr(status[0]); // staProtocol.setBackErr(status[1]); // staProtocol.setHighErr(status[2]); // staProtocol.setLeftErr(status[3]); // staProtocol.setRightErr(status[4]); // staProtocol.setWeightErr(status[5]); // staProtocol.setBarcodeErr(status[6]); // } Thread.sleep(50); for (Integer siteId : outInStaNos) { String dbAddress = "DB100.300"; switch (siteId) { case 102: dbAddress = "DB100.300"; break; case 105: dbAddress = "DB100.302"; break; case 106: dbAddress = "DB100.304"; break; case 107: dbAddress = "DB100.306"; break; case 108: dbAddress = "DB100.308"; break; } OperateResultExOne<byte[]> resultRead = siemensS7Net.Read(dbAddress, (short) 2); if (resultRead.IsSuccess) { //链条转动情况 short direction = siemensS7Net.getByteTransform().TransInt16(resultRead.Content, 0); StaProtocol staProtocol = station.get(siteId); if (direction != 0 && !staProtocol.isLoading()) { //状态为正转或反转且无物时，将链条转动信号位复位 write4(siteId, 0); } } } if (result.IsSuccess && result1.IsSuccess) { OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); @@ -282,11 +290,9 @@ } Short outAndIn = staProtocol.getOutInModel(); Integer siteId = staProtocol.getSiteId(); Short run = 1;//正转 if (outAndIn == 1) {//入库 run = 1;//正转 } else { run = 2;//反转 Short run = 0;//停止转动 if (staProtocol.getRotationDire() != null) { run = staProtocol.getRotationDire().shortValue();//转动方向 } switch (siteId) { case 102: @@ -306,6 +312,10 @@ break; } if (staProtocol.getStaNo() != null && staProtocol.getWorkNo() != null) { write(staProtocol);//写入工作号和目标站 } } /** src/main/resources/mapper/WrkMastMapper.xml
@@ -241,7 +241,7 @@ from dbo.asr_wrk_mast where 1=1 and ((wrk_sts = 4 and shuttle_no is null) or (wrk_sts = 8 and shuttle_no is not null)) and source_sta_no = #{sourceStaNo} and sta_no = #{staNo} and wrk_no=#{workNo} order by io_pri desc,wrk_sts desc </select> src/main/webapp/views/pipeline.html
@@ -102,6 +102,8 @@ <th>入库标记</th> <th>空板信号</th> <th>目标站</th> <th>提升机到位信号</th> <th>穿梭车可取信号</th> </tr> </thead> <!-- 表格内容 --> @@ -287,6 +289,8 @@ setVal(tr.children("td").eq(6), table[i-1].pakMk); setVal(tr.children("td").eq(7), table[i-1].emptyMk); setVal(tr.children("td").eq(8), table[i-1].staNo); setVal(tr.children("td").eq(9), table[i-1].liftArrival); setVal(tr.children("td").eq(10), table[i-1].shuttleTakeEnable); } } else if (res.code === 403){ window.location.href = baseUrl+"/login"; @@ -372,6 +376,8 @@ " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " <td></td>\n" + " </tr>\n"; } $('#site-table tbody').after(html); src/main/webapp/views/shuttle.html
@@ -121,6 +121,7 @@ <button class="item" onclick="shuttleOperator(1)">入库</button> <button class="item" onclick="shuttleOperator(2)">出库</button> <button class="item" onclick="shuttleOperator(14)">移动到目标库位</button> <button class="item" onclick="shuttleOperator(16)">移动到提升机</button> </div> </div> </div>
