From 877a0dafe0da9f60e09b6b29742573ac33c00f56 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 19 六月 2024 08:07:12 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 334 +++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 238 insertions(+), 96 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 e276f9a..62e16cb 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
@@ -1,12 +1,17 @@
package com.zy.asrs.wcs.core.kernel.command;
+import com.alibaba.fastjson.JSON;
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.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.enums.*;
@@ -17,6 +22,7 @@
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;
@@ -28,10 +34,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Objects;
-import java.util.Optional;
+import java.util.*;
/**
* Created by vincent on 2023/10/23
@@ -63,16 +66,26 @@
public Boolean accept(Motion motion) {
Integer deviceNo = Integer.parseInt(motion.getDevice());
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
+ if (shuttleThread == null) {
+ return false;
+ }
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (null == shuttleProtocol) {
return false;
}
- if (!shuttleProtocol.getIdle()) {//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 (!shuttleProtocol.getPakMk()) {
- return false;
- }
+
if (motionService.count(new LambdaQueryWrapper<Motion>()
.eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
.eq(Motion::getDevice, motion.getDevice())
@@ -82,9 +95,11 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(deviceNo);
- assignCommand.setTaskNo(motion.getWrkNo());
+ 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()));
List<ShuttleCommand> shuttleCommands = new ArrayList<>();
ShuttleTaskModeType shuttleTaskModeType = null;
@@ -92,20 +107,12 @@
LiftThread liftThread = null;
LiftProtocol liftProtocol = null;
- //鍒ゆ柇灏忚溅鐘舵��
- if (shuttleProtocol.getIdle()
- && shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)
- && shuttleProtocol.getTaskNo() != 0
- ) {
- return false;
- }
-
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
case SHUTTLE_MOVE:
// 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
.eq(Loc::getLocNo, motion.getTarget())
- .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
return true;
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
@@ -114,12 +121,12 @@
case SHUTTLE_MOVE_LIFT_PALLET://绌挎杞﹂《鍗囧苟绉诲姩
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
- shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getWrkNo(), true));
+ shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
break;
case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
- shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getWrkNo(), false));
+ shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
// 鍒ゆ柇鎻愬崌鏈虹姸鎬�
@@ -142,24 +149,29 @@
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;
+ }
+ })) {
+ //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.getWrkNo()) {
+ if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
@@ -185,18 +197,32 @@
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;
+ }
+ })) {
+ //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.getWrkNo()) {
+ if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
@@ -205,21 +231,21 @@
break;
case SHUTTLE_CHARGE_ON://鍏呯數寮�
shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
- shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), true));
+ shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
assignCommand.setCharge(Boolean.TRUE);
break;
case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
- shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), false));
+ shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
assignCommand.setCharge(Boolean.TRUE);
break;
case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT;
- shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), true));
+ shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), true));
break;
case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
- shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), false));
+ shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
@@ -253,17 +279,19 @@
return false;
}
- if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
+ if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
//鍏呯數浠诲姟
if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
- // 澶嶄綅绌挎杞�
- shuttleProtocol.setTaskNo(0);
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleProtocol.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)
@@ -291,7 +319,126 @@
}
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;
+ }
+ })) {
+ //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);
+ }
+ 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;
+ }
+ })) {
+ //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);
+ }
+ break;
case SHUTTLE_TRANSPORT_FROM_LIFT:
case SHUTTLE_TRANSPORT_TO_LIFT:
case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
@@ -305,49 +452,63 @@
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;
+ }
+ })) {
+ //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.getWrkNo()) {
+ if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
-// if (liftProtocol.getTaskNo() != 0) {
-// //娓呯┖鎻愬崌鏈哄彿
-// liftThread.setTaskNo(0);
-// }
-
+ if (liftProtocol.getTaskNo() != 0) {
+ //娓呯┖鎻愬崌鏈哄彿
+ liftThread.setSyncTaskNo(0);
+ }
break;
default:
break;
}
// 澶嶄綅绌挎杞�
- shuttleProtocol.setTaskNo(0);
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleProtocol.setPakMk(true);
+ shuttleThread.setSyncTaskNo(0);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setPakMk(true);
return true;
}
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//鑾峰彇灏忚溅绉诲姩閫熷害
- Integer runSpeed = Optional.ofNullable(basShuttleService.getById(assignCommand.getShuttleNo()).getRunSpeed()).orElse(1000);
+ 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<>(nodeList);
+
+ 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
@@ -357,25 +518,6 @@
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
- //涓棿璺緞
- NavigateNode middlePath = null;
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- String middleCodeNum = null;
- Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 3);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ(), hostId);
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 2);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ(), hostId);
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- }
-
//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�
@@ -384,7 +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.getTaskNo().intValue(), 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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