From 2d07710d47f88a1d76e12cda1144cb2f288bf5ae Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 23 四月 2024 13:14:15 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 75 ++++++++++++++++++++++++++-----------
1 files changed, 53 insertions(+), 22 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 515b53e..977fba7 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
@@ -1,9 +1,9 @@
package com.zy.asrs.wcs.core.action;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
-import com.zy.asrs.wcs.core.entity.BasShuttle;
+import com.fasterxml.jackson.core.JsonProcessingException;
+import com.fasterxml.jackson.databind.ObjectMapper;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.NavigateNode;
@@ -11,6 +11,7 @@
import com.zy.asrs.wcs.core.model.command.ShuttleCommand;
import com.zy.asrs.wcs.core.model.command.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
+import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.LocService;
import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
@@ -44,6 +45,8 @@
private LocService locService;
@Autowired
private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private ObjectMapper objectMapper;
public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -59,17 +62,22 @@
ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
redisCommand.setShuttleNo(assignCommand.getShuttleNo());//鍥涘悜绌挎杞﹀彿
- redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
+ redisCommand.setTaskNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
redisCommand.setAssignCommand(assignCommand);//鍛戒护
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
if (redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
- //涓嬪彂琛岄┒璺緞
- boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getTaskNo().intValue());
- if (!result) {
- return false;
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id
+ || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id
+ || assignCommand.getTaskMode() == ShuttleTaskModeType.MOVE_LOC_NO.id
+ || assignCommand.getTaskMode() == ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id) {
+ //涓嬪彂琛岄┒璺緞
+ boolean result = shuttleThread.movePath(assignCommand.getNodes(), assignCommand.getDeviceTaskNo());
+ if (!result) {
+ return false;
+ }
}
- shuttleProtocol.setTaskNo(assignCommand.getTaskNo().intValue());
+ shuttleProtocol.setSyncTaskNo(assignCommand.getTaskNo());
return true;
}
return false;
@@ -80,7 +88,14 @@
if (obj == null) {
return false;
}
- ShuttleRedisCommand redisCommand = JSON.parseObject(obj.toString(), ShuttleRedisCommand.class);
+
+ ShuttleRedisCommand redisCommand = null;
+ try {
+ redisCommand = objectMapper.readValue(String.valueOf(obj), ShuttleRedisCommand.class);
+ } catch (JsonProcessingException e) {
+ throw new RuntimeException(e);
+ }
+
if (redisCommand == null) {
return false;
}
@@ -96,7 +111,17 @@
}
//鍒ゆ柇璁惧鏄惁绌洪棽
- if (!shuttleThread.isIdle()) {
+ if (!shuttleThread.isDeviceIdle()) {
+ return false;
+ }
+// if (!shuttleThread.isIdle(() -> {
+// return shuttleProtocol.getTaskNo().equals(taskNo);
+// })) {
+// return false;
+// }
+
+ //鍒ゆ柇宸ヤ綔鍙锋槸鍚︾浉鍚�
+ if (!shuttleProtocol.getTaskNo().equals(taskNo)) {
return false;
}
@@ -133,10 +158,11 @@
// 鎵樼洏椤跺崌
//鍒ゆ柇鏄惁椤跺崌鍒颁綅
if (shuttleProtocol.getHasLift()) {
- //鍒ゆ柇鏄惁鏈夌墿
- if (shuttleProtocol.getHasPallet()) {
- command.setComplete(true);
- }
+ command.setComplete(true);
+// //鍒ゆ柇鏄惁鏈夌墿
+// if (shuttleProtocol.getHasPallet()) {
+// command.setComplete(true);
+// }
}
} else if (command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {
// 鎵樼洏涓嬮檷鍛戒护
@@ -155,7 +181,7 @@
}
// 鏇存柊redis鏁版嵁
- redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+ redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));
if (!command.getComplete()) {
return false;
@@ -170,25 +196,25 @@
if (assignCommand.getAuto()) {
if (!assignCommand.getCharge()) {
//瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
}else {
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
}
News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
// 鎵嬪姩浠诲姟
} else {
//鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬侊紝鐩存帴澶嶄綅绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
//浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo(0);
+ shuttleThread.setSyncTaskNo(0);
//鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
+ shuttleThread.setPakMk(true);
News.info("鍥涘悜绌挎杞︽墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
}
//鍒犻櫎redis
- redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getWrkNo());
+ redisUtil.del(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo());
return false;//绂佹鍐嶄笅鍙戝懡浠�
}
}
@@ -202,6 +228,12 @@
return false;
}
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
+ commandStep++;
+ //鏇存柊redis鏁版嵁
+ redisCommand.setCommandStep(commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set(DeviceRedisConstant.SHUTTLE_WORK_FLAG + redisCommand.getTaskNo(), JSON.toJSONString(redisCommand));
return true;
}
@@ -211,7 +243,6 @@
if (shuttleThread == null) {
return;
}
-
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
return;
--
Gitblit v1.9.1