From 7042950a224eea80226c316a80774983e2074ddc Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 26 九月 2024 15:34:19 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 260 +++++++++++++++++++++++++++++++++++++++------------
1 files changed, 198 insertions(+), 62 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 541a762..54f1ab3 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
@@ -4,13 +4,13 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.exception.CoolException;
+import com.zy.asrs.wcs.common.ExecuteSupport;
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
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.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;
@@ -57,6 +57,8 @@
private ShuttleAction shuttleAction;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
// 璁＄畻
public Boolean accept(Motion motion) {
@@ -69,9 +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())
@@ -82,6 +94,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(deviceNo);
assignCommand.setTaskNo(motion.getTaskNo());
+ assignCommand.setDeviceTaskNo(shuttleThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
assignCommand.setSourceLocNo(motion.getOrigin());
assignCommand.setLocNo(motion.getTarget());
assignCommand.setDeviceId(Integer.parseInt(motion.getDevice()));
@@ -126,36 +139,30 @@
}
// 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;
}
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (!liftProtocol.getLock()) {
-// //閿佸畾鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(motion.getWrkNo(), 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.getWrkNo());
-// 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�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return true;
+ }
+ })) {
+ 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;
// }
- //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);
+ shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
break;
case SHUTTLE_MOVE_TO_LIFT://杩涙彁鍗囨満
@@ -169,28 +176,28 @@
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;
}
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (!liftProtocol.getLiftLock()) {
-// //閿佸畾鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;//绛夊緟涓嬩竴娆¤疆璇�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return true;//鐗涚溂娌℃湁鎻愬崌鏈洪攣锛岀洿鎺ヨ繑鍥瀟rue
+ }
+ })) {
+ 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;
// }
-
- //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;
@@ -213,6 +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�");
}
@@ -227,7 +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
}
@@ -251,11 +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)
@@ -283,7 +296,67 @@
}
break;
case SHUTTLE_MOVE_TO_LIFT:
+ liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
+ if (liftThread == null) {
+ return false;
+ }
+ liftProtocol = liftThread.getStatus();
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return false;
+ }
+ })) {
+ return false;
+ }
+
+ //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()));
+ if (liftThread == null) {
+ return false;
+ }
+ liftProtocol = liftThread.getStatus();
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return false;
+ }
+ })) {
+ return false;
+ }
+
+ //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:
case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
@@ -297,26 +370,32 @@
return false;
}
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (liftProtocol.getLiftLock()) {
-// //瑙ｉ攣鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;
-// }
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return false;
+ }
+ })) {
+ 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.setTaskNo(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:
break;
@@ -361,7 +440,64 @@
//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.getTaskNo(), 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);
+ }
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+
+ return commands;
+ }
+
+ public synchronized List<ShuttleCommand> shuttleInOutLiftCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ NavigateNode startNode = NavigatePositionConvert.locNoToNode(startLocNo);
+ NavigateNode endNode = NavigatePositionConvert.locNoToNode(endLocNo);
+ List<NavigateNode> unlockPath = new ArrayList<>();
+ unlockPath.add(startNode);
+ unlockPath.add(endNode);
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�/瑙ｉ攣
+ boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(endLocNo), shuttleProtocol.getShuttleNo(), unlockPath, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
+ if (!lockResult) {
+ News.error("{} dash {} can't find unlock path!", startLocNo, endLocNo);
+ return null;//瑙ｉ攣澶辫触
+ }
+
+
+ //鑾峰彇灏忚溅绉诲姩閫熷害
+ Integer runSpeed = Optional.ofNullable(basShuttleService.getOne(new LambdaQueryWrapper<BasShuttle>().eq(BasShuttle::getDeviceId, assignCommand.getDeviceId())).getRunSpeed()).orElse(1000);
+ Long hostId = shuttleThread.getDevice().getHostId();
+ List<NavigateNode> nodeList = NavigateUtils.calc(startLocNo, endLocNo, mapType, Utils.getShuttlePoints(Integer.parseInt(shuttleThread.getDevice().getDeviceNo()), Utils.getLev(startLocNo)));
+ if (nodeList == null) {
+ News.error("{} dash {} can't find navigate path!", startLocNo, endLocNo);
+ return null;
+ }
+
+ List<NavigateNode> allNode = new ArrayList<>();
+ for (NavigateNode node : nodeList) {
+ allNode.add(node.clone());
+ }
+
+ List<ShuttleCommand> commands = new ArrayList<>();
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(nodeList);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+
+ //鐩爣璺緞
+ NavigateNode endPath = nodes.get(nodes.size() - 1);
+ Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ String startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ(), hostId);
+ //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, 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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