From baebeeb3275273f96055c33f9eb6daa1c9ffde2f Mon Sep 17 00:00:00 2001
From: luxiaotao1123 <t1341870251@163.com>
Date: 星期二, 09 四月 2024 10:33:53 +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/timer/DeviceTimer.java | 6 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/SurayShuttleThread.java | 7 +
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java | 67 ++++++++++++++++
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/action/ShuttleAction.java | 147 ++++++++++++++++++++++++++++++++++++
4 files changed, 226 insertions(+), 1 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 0314e53..6f55847 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
@@ -2,15 +2,20 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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.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.service.LocService;
import com.zy.asrs.wcs.core.utils.NavigateMapUtils;
import com.zy.asrs.wcs.core.utils.RedisUtil;
+import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
@@ -23,6 +28,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
+import java.util.ArrayList;
import java.util.List;
@Component
@@ -34,6 +40,10 @@
private NavigateMapUtils navigateMapUtils;
@Autowired
private BasShuttleService basShuttleService;
+ @Autowired
+ private LocService locService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
public synchronized boolean assignWork(Device device, ShuttleAssignCommand assignCommand) {
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
@@ -195,6 +205,143 @@
return true;
}
+ //璺戝簱绋嬪簭
+ public synchronized void moveLoc(Device device) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ return;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return;
+ }
+
+ //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
+ if (!(shuttleThread.isIdle() && shuttleProtocol.getMoveLoc())) {
+ return;
+ }
+
+ int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//灏忚溅褰撳墠妤煎眰
+ if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //璺戝簱缁撴潫
+ 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;
+ }
+
+ 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());
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ return;
+ }
+
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ Loc target = locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, locNo)
+ .eq(Loc::getHostId, device.getHostId()));
+ if (target == null) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ return;
+ }
+
+// if (!target.getLocSts().equals("O")) {
+// shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+// return;
+// }
+
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
+ } else {
+ shuttleDispatcher.generateMoveTask(device, target.getLocNo());
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ }
+ } else if (shuttleProtocol.getMoveType() == 2) {//姣嶈建閬撳惊鐜窇
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
+ if (yCurrent.equals(shuttleProtocol.getYStart())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ } else {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }
+ } else {
+ Task result = shuttleDispatcher.generateMoveTask(device, locNo);
+ if (result != null) {//璋冨害鎴愬姛
+ if (yCurrent.equals(shuttleProtocol.getYStart())) {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYTarget());//鍒囨崲搴撲綅
+ } else {
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYStart());//鍒囨崲搴撲綅
+ }
+ }
+ }
+ } else if (shuttleProtocol.getMoveType() == 3) {//瀛愯建閬撳惊鐜窇
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
+ if (xCurrent.equals(shuttleProtocol.getXStart())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ } else {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝鍒囨崲搴撲綅
+ }
+ } else {
+ Task result = shuttleDispatcher.generateMoveTask(device, locNo);
+ if (result != null) {//璋冨害鎴愬姛
+ if (xCurrent.equals(shuttleProtocol.getXStart())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXTarget());//鍒囨崲搴撲綅
+ } else {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());//鍒囨崲搴撲綅
+ }
+ }
+ }
+ }
+ }
+
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�");
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java
index b5a01f7..cfca0db 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/BasShuttleController.java
@@ -23,6 +23,14 @@
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.News;
+import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
+import com.zy.asrs.wcs.rcs.entity.Device;
+import com.zy.asrs.wcs.rcs.entity.DeviceType;
+import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
+import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
+import com.zy.asrs.wcs.rcs.service.DeviceService;
+import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.utils.ExcelUtil;
import org.springframework.beans.factory.annotation.Autowired;
@@ -49,6 +57,10 @@
private AnalyzeService analyzeService;
@Autowired
private MotionService motionService;
+ @Autowired
+ private DeviceService deviceService;
+ @Autowired
+ private DeviceTypeService deviceTypeService;
@PreAuthorize("hasAuthority('core:basShuttle:list')")
@PostMapping("/basShuttle/page")
@@ -120,10 +132,11 @@
ExcelUtil.build(ExcelUtil.create(basShuttleService.list(), BasShuttle.class), response);
}
+ //鎵嬪姩鎿嶄綔
@PreAuthorize("hasAuthority('core:basShuttle:operator')")
@PostMapping("/basShuttle/operator/shuttle")
@Transactional
- public R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
+ public synchronized R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
return R.error("鍙傛暟涓虹┖");
}
@@ -183,4 +196,56 @@
return R.ok();
}
+ //璺戝簱绯荤粺
+ @PreAuthorize("hasAuthority('core:basShuttle:operator')")
+ @PostMapping("/basShuttle/moveLoc")
+ @Transactional
+ public synchronized R shuttleMoveLoc(@RequestParam Integer shuttleNo,
+ @RequestParam Integer moveType,
+ @RequestParam Integer xStart,
+ @RequestParam Integer xTarget,
+ @RequestParam Integer yStart,
+ @RequestParam Integer yTarget) {
+ DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
+ .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
+ .eq(DeviceType::getStatus, 1)
+ .eq(DeviceType::getHostId, getHostId()));
+ if (deviceType == null) {
+ return R.error();
+ }
+
+ Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, deviceType.getId())
+ .eq(Device::getStatus, 1)
+ .eq(Device::getHostId, getHostId())
+ .eq(Device::getDeviceNo, shuttleNo));
+ if (device == null) {
+ return R.error();
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ return R.error();
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return R.error();
+ }
+
+ if (!shuttleThread.isIdle()) {
+ return R.error("灏忚溅蹇欑涓�");
+ }
+
+ shuttleProtocol.setMoveLoc(true);//寮�鍚窇搴�
+ shuttleProtocol.setMoveType(moveType);
+ shuttleProtocol.setXStart(xStart);
+ shuttleProtocol.setXTarget(xTarget);
+ shuttleProtocol.setXCurrent(xStart);
+ shuttleProtocol.setYStart(yStart);
+ shuttleProtocol.setYTarget(yTarget);
+ shuttleProtocol.setYCurrent(yStart);
+ return R.ok();
+ }
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/DeviceTimer.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/DeviceTimer.java
index 6446488..c127569 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/DeviceTimer.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/DeviceTimer.java
@@ -4,12 +4,15 @@
import com.zy.asrs.wcs.core.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
import com.zy.asrs.wcs.core.utils.RedisUtil;
+import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.entity.DeviceType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
+import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.service.DeviceTypeService;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
@@ -55,6 +58,9 @@
//瀛樺湪浠诲姟闇�瑕佹墽琛�
boolean result = shuttleAction.executeWork(device, taskNo);
}
+
+ //灏忚溅绌洪棽涓旀湁璺戝簱绋嬪簭
+ shuttleAction.moveLoc(device);
}
}
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 bee13fe..fe13fcb 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
@@ -441,6 +441,13 @@
@Override
public boolean isChargingCompleted() {
+ if (this.shuttleProtocol.getBatteryPower() == null) {
+ return false;
+ }
+
+ if (Integer.valueOf(this.shuttleProtocol.getBatteryPower()) >= 100) {
+ return true;
+ }
return false;
}
--
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