From 9d0acfb65c80c4948c305ca01338f894b87346a0 Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期一, 08 四月 2024 09:44:37 +0800
Subject: [PATCH] Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master into Four-Way-Rack
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 52 ++++++++++++++++++++++++++++++++++++++++++++++------
1 files changed, 46 insertions(+), 6 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 873cb42..0314e53 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
@@ -1,11 +1,14 @@
package com.zy.asrs.wcs.core.action;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
+import com.zy.asrs.wcs.core.entity.BasShuttle;
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.ShuttleRedisCommand;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
+import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
import com.zy.asrs.wcs.core.utils.Utils;
@@ -29,6 +32,8 @@
private RedisUtil redisUtil;
@Autowired
private NavigateMapUtils navigateMapUtils;
+ @Autowired
+ private BasShuttleService basShuttleService;
public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -49,6 +54,11 @@
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;
+ }
shuttleProtocol.setTaskNo(assignCommand.getTaskNo().intValue());
return true;
}
@@ -75,10 +85,8 @@
return false;
}
- //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
- if (!shuttleProtocol.getIdle()
- || shuttleProtocol.getTaskNo() == 0
- || !shuttleProtocol.getPakMk()) {
+ //鍒ゆ柇璁惧鏄惁绌洪棽
+ if (!shuttleThread.isIdle()) {
return false;
}
@@ -126,8 +134,8 @@
if (!shuttleProtocol.getHasLift()) {
command.setComplete(true);
}
- } else if (command.getMode() == ShuttleCommandModeType.CHARGE.id) {
- // 鍏呯數寮�鍏�
+ } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id) {
+ // 鍏呯數寮�
//鍒ゆ柇灏忚溅鍏呯數鐘舵��
if (shuttleProtocol.getHasCharge()) {
command.setComplete(true);
@@ -175,7 +183,39 @@
}
}
+ //鍙栧嚭鍛戒护
+ ShuttleCommand command = commands.get(commandStep);
+
+ // 涓嬪彂鍛戒护
+ if (!write(command, device)) {
+ News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
+ return false;
+ }
+
return true;
}
+ private synchronized boolean write(ShuttleCommand command, Device device) {
+ if (null == command) {
+ News.error("鍥涘悜绌挎杞﹀啓鍏ュ懡浠や负绌�");
+ return false;
+ }
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ boolean result = false;
+ if (command.getMode() == ShuttleCommandModeType.MOVE.id
+ || command.getMode() == ShuttleCommandModeType.IN_LIFT.id
+ || command.getMode() == ShuttleCommandModeType.OUT_LIFT.id) {//绉诲姩
+ result = shuttleThread.move(command);
+ } else if (command.getMode() == ShuttleCommandModeType.PALLET_LIFT.id
+ || command.getMode() == ShuttleCommandModeType.PALLET_DOWN.id) {//椤跺崌
+ result = shuttleThread.lift(command);
+ } else if (command.getMode() == ShuttleCommandModeType.CHARGE_OPEN.id
+ || command.getMode() == ShuttleCommandModeType.CHARGE_CLOSE.id) {//鍏呯數
+ result = shuttleThread.charge(command);
+ } else if (command.getMode() == ShuttleCommandModeType.RESET.id) {//澶嶄綅
+ result = shuttleThread.reset(command);
+ }
+ return result;
+ }
+
}
--
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