From 0f5a5a759221bde50ace126eae797326837f5f72 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 16 十月 2024 16:15:12 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 65 ++++++++++++++++++++++----------
1 files changed, 45 insertions(+), 20 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
index 1be358f..61cd617 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java
@@ -36,6 +36,7 @@
import java.util.ArrayList;
import java.util.List;
import java.util.Objects;
+import java.util.Optional;
@Component
public class ShuttleAction {
@@ -132,13 +133,36 @@
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
int commandStep = redisCommand.getCommandStep();
+ Integer mode = -1;
+ if(commandStep < commands.size()) {
+ //鍙栧嚭鍛戒护
+ ShuttleCommand currentCommand = commands.get(commandStep);
+ mode = currentCommand.getMode();
+ }
+
+ //鍒ゆ柇璁惧鏄惁绌洪棽
+ Integer finalMode = mode;
+ if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(finalMode)) {//鍏抽棴鍏呯數motion
+ return false;//涓嶉渶瑕佸垽鏂姸鎬�
+ }
+ return true;//闇�瑕佸垽鏂姸鎬�
+ }
+ })) {
+ return false;
+ }
+
// 瀹岀粨涓婁竴鏉″懡浠�
+ boolean updateCommand = false;
if (commandStep != 0) {
ShuttleCommand command = commands.get(commandStep - 1);
if (command.getMode() == ShuttleCommandModeType.MOVE.id) {
// 姝ｅ父绉诲姩
if (command.getTargetLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
command.setComplete(true);
+ updateCommand = true;
//瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰�
List<NavigateNode> nodes = null;
try {
@@ -166,6 +190,7 @@
//鍒ゆ柇鏄惁椤跺崌鍒颁綅
if (shuttleProtocol.getHasLift()) {
command.setComplete(true);
+ updateCommand = true;
// //鍒ゆ柇鏄惁鏈夌墿
// if (shuttleProtocol.getHasPallet()) {
// command.setComplete(true);
@@ -176,19 +201,24 @@
// 鍒ゆ柇鏄惁涓嬮檷鍒颁綅
if (!shuttleProtocol.getHasLift()) {
command.setComplete(true);
+ updateCommand = true;
}
} else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
// 鍏呯數寮�
//鍒ゆ柇灏忚溅鍏呯數鐘舵��
if (shuttleProtocol.getHasCharge()) {
command.setComplete(true);
+ updateCommand = true;
}
}else {
command.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
+ updateCommand = true;
}
- // 鏇存柊redis鏁版嵁
- redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
+ if(updateCommand) {
+ // 鏇存柊redis鏁版嵁
+ redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand, SerializerFeature.DisableCircularReferenceDetect));
+ }
if (!command.getComplete()) {
return false;
@@ -228,20 +258,6 @@
//鍙栧嚭鍛戒护
ShuttleCommand command = commands.get(commandStep);
-
- Integer mode = command.getMode();
- //鍒ゆ柇璁惧鏄惁绌洪棽
- if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
- @Override
- public Boolean judgement() {
- if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(mode)) {//鍏抽棴鍏呯數motion
- return false;//涓嶉渶瑕佸垽鏂姸鎬�
- }
- return true;//闇�瑕佸垽鏂姸鎬�
- }
- })) {
- return false;
- }
// 涓嬪彂鍛戒护
if (!write(command, device)) {
@@ -323,8 +339,10 @@
shuttleDispatcher.generateMoveTask(device, start.getLocNo());
}else {
//鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
- shuttleDispatcher.generateMoveTask(device, target.getLocNo());
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//鍒囨崲y杞�
+ Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
+ if (task != null) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//鍒囨崲y杞�
+ }
if(shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
//y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
@@ -362,8 +380,10 @@
shuttleDispatcher.generateMoveTask(device, start.getLocNo());
}else {
//鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
- shuttleDispatcher.generateMoveTask(device, target.getLocNo());
- shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//鍒囨崲x杞�
+ Task task = shuttleDispatcher.generateMoveTask(device, target.getLocNo());
+ if (task != null) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//鍒囨崲x杞�
+ }
if(shuttleProtocol.getXCurrent() > shuttleProtocol.getXTarget()) {
//y杞翠篃璺戝畬浜嗭紝缁撴潫璺戝簱
@@ -486,6 +506,7 @@
return;
}
}
+ return;
}
//璋冨害鍘诲簱浣�
@@ -641,7 +662,11 @@
result = shuttleThread.charge(command);
} else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//澶嶄綅
result = shuttleThread.reset(command);
+ } else if (command.getMode() == ShuttleCommandModeType.UPDATE_LOCATION.id) {//鏇存柊鍧愭爣
+ result = shuttleThread.updateLocation(command);
}
+
+ News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戯紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", device.getDeviceNo(), JSON.toJSON(command));
return result;
}
--
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