From 433acf23bda611bdb208c55d82e4a78de74cf02f Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 19 六月 2024 10:40:48 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 54 +++++++++++++++++++++++++++++++++---------------------
1 files changed, 33 insertions(+), 21 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..402c46e 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
@@ -73,9 +73,19 @@
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())
@@ -147,13 +157,13 @@
}
})) {
//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�
+ List<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);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -195,7 +205,7 @@
}
})) {
//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�
+ List<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;
}
@@ -204,7 +214,7 @@
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(lockCommand);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -275,11 +285,13 @@
//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)
@@ -325,13 +337,13 @@
}
})) {
//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�
+ List<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);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -340,7 +352,7 @@
//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�
+ List<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) {
@@ -348,7 +360,7 @@
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(signalCommand);
+ list.addAll(signalCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
return false;
@@ -385,13 +397,13 @@
}
})) {
//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�
+ List<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);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -400,7 +412,7 @@
//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�
+ List<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) {
@@ -409,7 +421,7 @@
liftAssignCommand.setLiftNo(liftThread.getStatus().getLiftNo());
liftAssignCommand.setTaskNo(motion.getTaskNo());
ArrayList<LiftCommand> list = new ArrayList<>();
- list.add(signalCommand);
+ list.addAll(signalCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
return false;
@@ -448,13 +460,13 @@
}
})) {
//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�
+ List<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);
+ list.addAll(lockCommand);
liftAssignCommand.setCommands(list);
liftAction.assignWork(liftThread.getDevice(), liftAssignCommand);
@@ -514,7 +526,7 @@
//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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