From 2cfa8856fb1fd1ad7f642fd998d1644879abcdb5 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 25 七月 2024 10:02:24 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 218 ++++++++++++++++++------------------------------------
1 files changed, 72 insertions(+), 146 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
index 2669988..71b7906 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java
@@ -10,10 +10,7 @@
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
-import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
-import com.zy.asrs.wcs.core.model.command.LiftCommand;
-import com.zy.asrs.wcs.core.model.command.ShuttleAssignCommand;
-import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
+import com.zy.asrs.wcs.core.model.command.*;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
@@ -22,7 +19,6 @@
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.core.entity.Motion;
-import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
@@ -61,6 +57,8 @@
private ShuttleAction shuttleAction;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -73,9 +71,19 @@
if (null == shuttleProtocol) {
return false;
}
- if (!shuttleThread.isIdle()) {//璁惧涓嶇┖闂�
+
+ if (!shuttleThread.isIdle(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ if (Objects.equals(MotionCtgType.get(motion.getMotionCtgEl()), MotionCtgType.SHUTTLE_CHARGE_OFF)) {//闈炲叧闂厖鐢祄otion锛岄渶瑕佸垽鏂澶囩姸鎬�
+ return false;//涓嶉渶瑕佸垽鏂姸鎬�
+ }
+ return true;//闇�瑕佸垽鏂姸鎬�
+ }
+ })) {//璁惧涓嶇┖闂�
return false;
}
+
if (motionService.count(new LambdaQueryWrapper<Motion>()
.eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
.eq(Motion::getDevice, motion.getDevice())
@@ -131,11 +139,11 @@
}
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftThread.isIdle()) {
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_FROM_LIFT)) {
return false;
}
- if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
return false;
}
@@ -146,24 +154,13 @@
return true;
}
})) {
- //閿佸畾鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
@@ -179,11 +176,11 @@
return false;
}
// 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftThread.isIdle()) {
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_TO_LIFT)) {
return false;
}
- if (liftProtocol.getLev() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
return false;
}
@@ -191,30 +188,16 @@
if (!liftThread.isLock(new ExecuteSupport() {
@Override
public Boolean judgement() {
- return true;
+ return true;//鐗涚溂娌℃湁鎻愬崌鏈洪攣锛岀洿鎺ヨ繑鍥瀟rue
}
})) {
- //閿佸畾鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
- if (lockCommand == null) {
- return false;
- }
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
@@ -237,6 +220,10 @@
shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
+ shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
+ break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
}
@@ -251,7 +238,7 @@
if (motion.getOrigin() != null && motion.getTarget() != null) {
//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodes(), true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
if (!lockResult) {
return false;//閿佸畾澶辫触
}
@@ -275,11 +262,13 @@
//鍏呯數浠诲姟
if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
- // 澶嶄綅绌挎杞�
- shuttleThread.setSyncTaskNo(0);
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleThread.setPakMk(true);
- return true;
+ if (shuttleProtocol.getHasCharge() || shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)) {
+ // 澶嶄綅绌挎杞�
+ shuttleThread.setSyncTaskNo(0);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setPakMk(true);
+ return true;
+ }
}
if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
@@ -318,53 +307,24 @@
}
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
- if (liftThread.isLock(new ExecuteSupport() {
+ if (!liftThread.isLock(new ExecuteSupport() {
@Override
public Boolean judgement() {
return false;
}
})) {
- //瑙ｉ攣鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇灏忚溅鏄惁宸插埌浣�
- if (liftProtocol.getHasCar()) {
- LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), true);//鑾峰彇灏忚溅宸插埌浣嶅懡浠�
- if(signalCommand != null) {
- boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
- if (!hasKey) {
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(signalCommand);
- liftAssignCommand.setCommands(list);
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;
- }
- }
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
- if (liftProtocol.getTaskNo() != 0) {
- //娓呯┖鎻愬崌鏈哄彿
- liftThread.setSyncTaskNo(0);
+ //鍒ゆ柇灏忚溅鏄惁宸插埌浣�
+ if (!liftProtocol.getHasCar()) {
+ return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
break;
case SHUTTLE_MOVE_FROM_LIFT:
liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
@@ -378,54 +338,24 @@
}
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
- if (liftThread.isLock(new ExecuteSupport() {
+ if (!liftThread.isLock(new ExecuteSupport() {
@Override
public Boolean judgement() {
return false;
}
})) {
- //瑙ｉ攣鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鍒ゆ柇灏忚溅鏄惁宸茬寮�
- if (!liftProtocol.getHasCar()) {
- LiftCommand signalCommand = liftThread.getShuttleSignalCommand(motion.getTaskNo(), false);//鑾峰彇灏忚溅宸查┚绂诲懡浠�
- if(signalCommand != null) {
- boolean hasKey = redisUtil.hasKey(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo());
- if (!hasKey) {
- redisUtil.set(DeviceRedisConstant.COMMAND_TMP + motion.getTaskNo(), JSON.toJSONString(signalCommand), 120);
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(signalCommand);
- liftAssignCommand.setCommands(list);
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;
- }
- }
- }
-
- //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
- if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
- if (liftProtocol.getTaskNo() != 0) {
- //娓呯┖鎻愬崌鏈哄彿
- liftThread.setSyncTaskNo(0);
+ //鍒ゆ柇灏忚溅鏄惁宸茬寮�
+ if (liftProtocol.getHasCar()) {
+ return false;
}
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
+// }
break;
case SHUTTLE_TRANSPORT_FROM_LIFT:
case SHUTTLE_TRANSPORT_TO_LIFT:
@@ -447,28 +377,24 @@
return false;
}
})) {
- //瑙ｉ攣鎻愬崌鏈�
- LiftCommand lockCommand = liftThread.getLockCommand(motion.getTaskNo(), false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-
- LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
- liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
- liftAssignCommand.setTaskNo(motion.getTaskNo());
- ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
- liftAssignCommand.setCommands(list);
-
- liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
- return false;//绛夊緟涓嬩竴娆¤疆璇�
+ return false;
}
//鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
-
- if (liftProtocol.getTaskNo() != 0) {
- //娓呯┖鎻愬崌鏈哄彿
- liftThread.setSyncTaskNo(0);
+ break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ break;
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+ if (!shuttleProtocol.getHasLift()) {
+ return false;
+ }
+ break;
+ case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+ if (shuttleProtocol.getHasLift()) {
+ return false;
}
break;
default:
@@ -514,7 +440,7 @@
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
String distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ(), hostId);
//鑾峰彇绉诲姩鍛戒护
- ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed);
+ ShuttleCommand command = shuttleThread.getMoveCommand(assignCommand.getDeviceTaskNo(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed, nodes);
command.setNodes(nodes);//灏嗚璧拌妭鐐规坊鍔犲埌姣忎竴姝ュ懡浠や腑
commands.add(command);
}
--
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