From a7d5e6c4a45ca1f7bb1560ef4e76f4c1680c41db Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期六, 18 五月 2024 10:43:29 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 89 +++++++++++++++++++++++---------------------
1 files changed, 47 insertions(+), 42 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 8ce012d..9ca36f9 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
@@ -4,12 +4,14 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.ObjectMapper;
+import com.zy.asrs.wcs.common.ExecuteSupport;
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.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.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.ShuttleCommandModeType;
import com.zy.asrs.wcs.core.model.enums.ShuttleTaskModeType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
@@ -26,12 +28,12 @@
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
-import org.aspectj.apache.bcel.generic.RET;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
import java.util.ArrayList;
import java.util.List;
+import java.util.Objects;
@Component
public class ShuttleAction {
@@ -110,16 +112,6 @@
if (shuttleProtocol == null) {
return false;
}
-
- //鍒ゆ柇璁惧鏄惁绌洪棽
- if (!shuttleThread.isDeviceIdle()) {
- return false;
- }
-// if (!shuttleThread.isIdle(() -> {
-// return shuttleProtocol.getTaskNo().equals(taskNo);
-// })) {
-// return false;
-// }
//鍒ゆ柇宸ヤ綔鍙锋槸鍚︾浉鍚�
if (!shuttleProtocol.getTaskNo().equals(taskNo)) {
@@ -223,6 +215,20 @@
//鍙栧嚭鍛戒护
ShuttleCommand command = commands.get(commandStep);
+ Integer mode = command.getMode();
+ //鍒ゆ柇璁惧鏄惁绌洪棽
+ if (!shuttleThread.isDeviceIdle(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ if (ShuttleCommandModeType.CHARGE_CLOSE.id.equals(mode)) {//鍏抽棴鍏呯數motion
+ return false;//涓嶉渶瑕佸垽鏂姸鎬�
+ }
+ return true;//闇�瑕佸垽鏂姸鎬�
+ }
+ })) {
+ return false;
+ }
+
// 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));
@@ -244,8 +250,7 @@
if (shuttleThread == null) {
return;
}
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(false);
if (shuttleProtocol == null) {
return;
}
@@ -275,35 +280,6 @@
}
if (shuttleProtocol.getMoveType() == 0) {//璺戣建閬�
- ArrayList<String> locs = new ArrayList<>();
- for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
- String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
- locs.add(locNo);
- }
-
- List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
- .in(Loc::getLocNo, locs));
- if (locList.isEmpty()) {
- //绌哄簱浣�
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
- return;
- }
-
- Loc start = locList.get(0);
- Loc target = locList.get(locList.size() - 1);
- //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
- if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
- shuttleDispatcher.generateMoveTask(device, start.getLocNo());
- }else {
- //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
- if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
- }else {
- shuttleDispatcher.generateMoveTask(device, start.getLocNo());
- shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
- }
- }
- } else if (shuttleProtocol.getMoveType() == 1) {//璺戝簱浣�
Integer xCurrent = shuttleProtocol.getXCurrent();
if (xCurrent > shuttleProtocol.getXTarget()) {//褰揦鍊煎ぇ浜嶺鐩爣鍊硷紝杩涜褰掗浂涓擸鏂瑰悜+1
shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
@@ -333,6 +309,35 @@
shuttleDispatcher.generateMoveTask(device, target.getLocNo());
shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
}
+ } else if (shuttleProtocol.getMoveType() == 1) {//璺戝簱浣�
+ ArrayList<String> locs = new ArrayList<>();
+ for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
+ String locNo = Utils.getLocNo(i, shuttleProtocol.getYCurrent(), lev);
+ locs.add(locNo);
+ }
+
+ List<Loc> locList = locService.list(new LambdaQueryWrapper<Loc>()
+ .in(Loc::getLocNo, locs));
+ if (locList.isEmpty()) {
+ //绌哄簱浣�
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ return;
+ }
+
+ Loc start = locList.get(0);
+ Loc target = locList.get(locList.size() - 1);
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄨ捣鐐逛綅缃�
+ if (!shuttleProtocol.getCurrentLocNo().equals(start.getLocNo())) {//涓嶅湪璧风偣浣嶇疆锛岃皟搴﹀幓璧风偣浣嶇疆
+ shuttleDispatcher.generateMoveTask(device, start.getLocNo());
+ }else {
+ //鍦ㄨ捣鐐逛綅缃紝璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
+ }else {
+ shuttleDispatcher.generateMoveTask(device, start.getLocNo());
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ }
+ }
} else if (shuttleProtocol.getMoveType() == 2) {//姣嶈建閬撳惊鐜窇
Integer xCurrent = shuttleProtocol.getXCurrent();
Integer yCurrent = shuttleProtocol.getYCurrent();
--
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