From 99573d3503e32befd853dda7cc0180e01a4c8597 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期日, 13 十月 2024 12:17:44 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 74 ++++++++++++++++++++++++++++++++++++
1 files changed, 73 insertions(+), 1 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 71b7906..d0725bc 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
@@ -9,6 +9,7 @@
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.entity.Task;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.command.*;
import com.zy.asrs.wcs.core.model.enums.*;
@@ -162,7 +163,7 @@
// 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
@@ -282,6 +283,11 @@
return false;
}
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
+ if (task == null) {
+ return false;
+ }
+
LiftThread liftThread = null;
LiftProtocol liftProtocol = null;
@@ -294,6 +300,15 @@
if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
return false;
}
+
+ if (Optional.ofNullable(motion.getReleaseShuttle()).orElse(0) == 1) {//閲婃斁绌挎杞�
+ task.setShuttleNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+ }
+
break;
case SHUTTLE_MOVE_TO_LIFT:
liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
@@ -450,5 +465,62 @@
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);
+ }
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+
+ return commands;
+ }
+
}
--
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