From a4996f162b0ca63113f573e315e3ce4f5dce7ad3 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 05 六月 2024 15:39:37 +0800
Subject: [PATCH] #算法优化
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 45 +++++++++++++++++++++++++++++++++++++++++----
1 files changed, 41 insertions(+), 4 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
index 32d18d7..bcd4c5a 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java
@@ -10,6 +10,7 @@
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.common.ExecuteSupport;
+import com.zy.asrs.wcs.core.domain.param.ShuttleMoveLocParam;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Loc;
import com.zy.asrs.wcs.core.model.NavigateNode;
@@ -184,6 +185,7 @@
basShuttle.setStatus(1);
basShuttle.setDeleted(0);
basShuttle.setHostId(device.getHostId());
+ basShuttle.setDeviceId(device.getId().intValue());
shuttleService.save(basShuttle);
}
//浠诲姟鍙�
@@ -217,10 +219,15 @@
@Override
public ShuttleProtocol getStatus() {
+ return getStatus(true);
+ }
+
+ @Override
+ public ShuttleProtocol getStatus(boolean clone) {
if (this.shuttleProtocol == null) {
return null;
}
- return this.shuttleProtocol.clone();
+ return clone ? this.shuttleProtocol.clone() : this.shuttleProtocol;
}
@Override
@@ -257,11 +264,11 @@
NavigateNode targetPath = sectionNodes.get(sectionNodes.size() - 1);
if (ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.LEFT
|| ShuttleRunDirection.get(startPath.getDirection()) == ShuttleRunDirection.RIGHT) {
- //姣嶈建鏂瑰悜
- oper = 5;
- } else {
//瀛愯建鏂瑰悜
oper = 6;
+ } else {
+ //姣嶈建鏂瑰悜
+ oper = 5;
}
for (int i = 0; i < sectionNodes.size(); i++) {
@@ -299,7 +306,11 @@
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
Integer code = jsonObject.getInteger("code");
+ System.out.println("璺緞涓嬪彂" + taskNo);
+ System.out.println(JSON.toJSONString(jsonObject));
+ System.out.println(JSON.toJSONString(param));
if (code.equals(200)) {
+ System.out.println("璺緞涓嬪彂" + taskNo);
return true;
}
} catch (Exception e) {
@@ -329,6 +340,7 @@
.doPost();
JSONObject jsonObject = JSON.parseObject(response);
Integer code = jsonObject.getInteger("code");
+ System.out.println(JSON.toJSONString(command.getBody()));
if (code.equals(200)) {
this.shuttleProtocol.setSendTime(System.currentTimeMillis());//鎸囦护涓嬪彂鏃堕棿
return true;
@@ -405,6 +417,7 @@
public synchronized boolean reset(ShuttleCommand command) {
setSyncTaskNo(0);
setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ enableMoveLoc(null, false);
return true;
}
@@ -608,6 +621,30 @@
}
@Override
+ public boolean enableMoveLoc(ShuttleMoveLocParam param, boolean enable) {
+ if (enable) {
+ shuttleProtocol.setMoveLoc(true);//寮�鍚窇搴�
+ shuttleProtocol.setMoveType(param.getMoveType());
+ shuttleProtocol.setXStart(param.getStartX());
+ shuttleProtocol.setXTarget(param.getTargetX());
+ shuttleProtocol.setXCurrent(param.getStartX());
+ shuttleProtocol.setYStart(param.getStartY());
+ shuttleProtocol.setYTarget(param.getTargetY());
+ shuttleProtocol.setYCurrent(param.getStartY());
+ }else {
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ }
+ return true;
+ }
+
+ @Override
public ShuttleCommand getMoveCommand(Integer taskNo, String startCodeNum, String distCodeNum, Integer allDistance, Integer runDirection, Integer runSpeed, List<NavigateNode> nodes) {
HashMap<String, Object> body = new HashMap<>();
body.put("messageName", "runOrder");
--
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