From d56b8093dc9e3e75f8efe1a0f1aa6d821c9c3dfb Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期二, 15 四月 2025 13:30:35 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java | 852 +++++++++++++++++++++++++++++++++----------------------
1 files changed, 509 insertions(+), 343 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 4851e47..ad64f8b 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
@@ -1,34 +1,38 @@
package com.zy.asrs.wcs.core.kernel.command;
+import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
+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.action.LiftAction;
import com.zy.asrs.wcs.core.action.ShuttleAction;
-import com.zy.asrs.wcs.core.entity.Loc;
+import com.zy.asrs.wcs.core.entity.*;
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.*;
import com.zy.asrs.wcs.core.model.enums.*;
-import com.zy.asrs.wcs.core.service.BasShuttleService;
-import com.zy.asrs.wcs.core.service.LocService;
-import com.zy.asrs.wcs.core.service.TaskService;
+import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
-import com.zy.asrs.wcs.core.entity.Motion;
+import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
+import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
+import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
-import com.zy.asrs.wcs.core.service.MotionService;
+import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
+import com.zy.asrs.wcs.rcs.thread.DevpThread;
+import com.zy.asrs.wcs.rcs.thread.LiftThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
+import com.zy.asrs.wcs.system.entity.Dict;
+import com.zy.asrs.wcs.system.service.DictService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
-import java.util.ArrayList;
-import java.util.List;
-import java.util.Objects;
-import java.util.Optional;
+import java.util.*;
/**
* Created by vincent on 2023/10/23
@@ -53,21 +57,47 @@
private NavigateMapUtils navigateMapUtils;
@Autowired
private ShuttleAction shuttleAction;
+ @Autowired
+ private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
+ @Autowired
+ private BasConveyorService basConveyorService;
+ @Autowired
+ private BasConveyorStaService basConveyorStaService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private DictService dictService;
// 璁＄畻
public Boolean accept(Motion motion) {
Integer deviceNo = Integer.parseInt(motion.getDevice());
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, deviceNo);
+ if (shuttleThread == null) {
+ return false;
+ }
+ Device shuttleDevice = shuttleThread.getDevice();
+
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (null == shuttleProtocol) {
return false;
}
- if (!shuttleProtocol.getIdle()) {//璁惧涓嶇┖闂�
+
+ if (!shuttleThread.isIdle(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ if (Objects.equals(MotionCtgType.get(motion.getMotionCtgEl()), MotionCtgType.SHUTTLE_CHARGE_OFF)) {//闈炲叧闂厖鐢祄otion锛岄渶瑕佸垽鏂澶囩姸鎬�
+ return false;//涓嶉渶瑕佸垽鏂姸鎬�
+ }
+ return true;//闇�瑕佸垽鏂姸鎬�
+ }
+ })) {//璁惧涓嶇┖闂�
return false;
}
- if (!shuttleProtocol.getPakMk()) {
- return false;
- }
+
if (motionService.count(new LambdaQueryWrapper<Motion>()
.eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
.eq(Motion::getDevice, motion.getDevice())
@@ -75,285 +105,234 @@
return false;
}
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
+ if (task == null) {
+ return false;
+ }
+
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(deviceNo.shortValue());
- assignCommand.setTaskNo(motion.getWrkNo().shortValue());
+ assignCommand.setShuttleNo(deviceNo);
+ assignCommand.setTaskNo(motion.getTaskNo());
+ assignCommand.setDeviceTaskNo(shuttleThread.generateDeviceTaskNo(motion.getTaskNo(), MotionCtgType.get(motion.getMotionCtgEl())));
assignCommand.setSourceLocNo(motion.getOrigin());
assignCommand.setLocNo(motion.getTarget());
+ assignCommand.setDeviceId(Integer.parseInt(motion.getDevice()));
List<ShuttleCommand> shuttleCommands = new ArrayList<>();
ShuttleTaskModeType shuttleTaskModeType = null;
-// SiemensLiftThread liftThread = null;
-// LiftProtocol liftProtocol = null;
-
- //鍒ゆ柇灏忚溅鐘舵��
- if (shuttleProtocol.getIdle()
- && shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)
- && shuttleProtocol.getTaskNo() != 0
- ) {
- return false;
- }
+ LiftThread liftThread = null;
+ LiftProtocol liftProtocol = null;
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
case SHUTTLE_MOVE:
// 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
.eq(Loc::getLocNo, motion.getTarget())
- .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
return true;
}
shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
- shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
break;
-// case SHUTTLE_MOVE_LIFT_PALLET://绌挎杞﹂《鍗囧苟绉诲姩
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
-// shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
-// break;
-// case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
-// shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
-// break;
-// case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
-// // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
-// liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
-// if (liftThread == null) {
-// return false;
-// }
-// liftProtocol = liftThread.getLiftProtocol();
-// // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佺┖闂层�佸噯澶囧氨缁�侀摼鏉℃病鏈夎浆鍔ㄣ�佹病鏈夋湭灏辩华鎶ラ敊
-// if (!liftProtocol.getMode()
-// || liftProtocol.getRunning()
-// || !liftProtocol.getReady()
-// || liftProtocol.getForwardRotationFeedback()
-// || liftProtocol.getReverseFeedback()
-// || liftProtocol.getNotReady().intValue() != 0
-// ) {
-// return false;
-// }
-//
-// if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
-// return false;
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (!liftProtocol.getLiftLock()) {
-// //閿佸畾鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;//绛夊緟涓嬩竴娆¤疆璇�
-// }
-//
+ case SHUTTLE_TRANSPORT://绌挎杞﹁浇璐ц璧�
+ // 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
+ if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, motion.getTarget())
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ return true;
+ }
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
+ if (motion.getReleaseLift() == 2) {//鎵ц涓噴鏀炬彁鍗囨満
+ task.setLiftNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ return false;
+ }
+ }
+
+ break;
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(motion.getDockNo());//鑾峰彇杈撻�佺珯鐐�
+ if (originStaObj == null) {
+ return false;
+ }
+
+ BasConveyor basConveyor = basConveyorService.getById(originStaObj.getConveyorId());
+ if(basConveyor == null) {
+ return false;
+ }
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
+ if (devpThread == null) {
+ return false;
+ }
+ StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(motion.getDockNo()));//杈撻�佺珯
+ if (staProtocol == null) {
+ return false;
+ }
+ if (!(staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable())) {
+ return false;
+ }
+
+ // 濡傛灉宸茬粡鍦ㄥ綋鍓嶆潯鐮佸垯杩囨护
+ if (String.valueOf(shuttleProtocol.getCurrentCode()).equals(locService.getOne(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocNo, motion.getTarget())
+ .eq(Loc::getHostId, motion.getHostId())).getCode())) {
+ return true;
+ }
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.TRANSPORT_TO_CONVEYOR;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
+ break;
+ case SHUTTLE_MOVE_LIFT_PALLET://绌挎杞﹂《鍗囧苟绉诲姩
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_LIFT;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
+ shuttleCommands.add(0, shuttleThread.getLiftCommand(motion.getTaskNo(), true));
+ break;
+ case SHUTTLE_MOVE_DOWN_PALLET://绌挎杞︾Щ鍔ㄥ苟鎵樼洏涓嬮檷
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_PALLET_DOWN;
+
+ if (!checkSimilarityPath(motion, assignCommand)) {
+ return false;
+ }
+
+ shuttleCommands.add(shuttleCommands.size(), shuttleThread.getLiftCommand(motion.getTaskNo(), false));
+ break;
+ case SHUTTLE_MOVE_FROM_LIFT://鍑烘彁鍗囨満
+ // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
+ liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
+ if (liftThread == null) {
+ return false;
+ }
+
+ liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_FROM_LIFT)) {
+ return false;
+ }
+
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return true;
+ }
+ })) {
+ return false;
+ }
+
// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
-// if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
// return false;
// }
-//
-// shuttleCommands = this.shuttleAssignCommand(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
-// // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
-// liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
-// if (liftThread == null) {
-// return false;
-// }
-// liftProtocol = liftThread.getLiftProtocol();
-// // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佺┖闂层�佸噯澶囧氨缁�侀摼鏉℃病鏈夎浆鍔ㄣ�佹病鏈夋湭灏辩华鎶ラ敊
-// if (!liftProtocol.getMode()
-// || liftProtocol.getRunning()
-// || !liftProtocol.getReady()
-// || liftProtocol.getForwardRotationFeedback()
-// || liftProtocol.getReverseFeedback()
-// || liftProtocol.getNotReady().intValue() != 0
-// ) {
-// return false;
-// }
-//
-// if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
-// return false;
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (!liftProtocol.getLiftLock()) {
-// //閿佸畾鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;//绛夊緟涓嬩竴娆¤疆璇�
-// }
-//
+
+ shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_OUT_LIFT;
+ break;
+ case SHUTTLE_MOVE_TO_LIFT://杩涙彁鍗囨満
+ // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
+ liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
+ if (liftThread == null) {
+ return false;
+ }
+ liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+ // 鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ if (!liftThread.isIdle(MotionCtgType.SHUTTLE_MOVE_TO_LIFT)) {
+ return false;
+ }
+
+ if (liftProtocol.getLev() != liftDispatcher.getLiftLevOffset(liftThread.getDevice().getId().intValue(), Utils.getLev(motion.getTarget()))) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return true;//鐗涚溂娌℃湁鎻愬崌鏈洪攣锛岀洿鎺ヨ繑鍥瀟rue
+ }
+ })) {
+ return false;
+ }
+
// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
-// if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
// return false;
// }
-//
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
-// break;
-// case SHUTTLE_MOVE_FROM_CONVEYOR:
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
-// break;
-// case SHUTTLE_MOVE_TO_CONVEYOR:
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
-// break;
-// case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR://绌挎杞﹀嚭鎻愬崌鏈哄幓杈撻�佺嚎
-// // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
-// liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
-// if (liftThread == null) {
-// return false;
-// }
-// liftProtocol = liftThread.getLiftProtocol();
-// // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佺┖闂层�佸噯澶囧氨缁�侀摼鏉℃病鏈夎浆鍔ㄣ�佹病鏈夋湭灏辩华鎶ラ敊
-// if (!liftProtocol.getMode()
-// || liftProtocol.getRunning()
-// || !liftProtocol.getReady()
-// || liftProtocol.getForwardRotationFeedback()
-// || liftProtocol.getReverseFeedback()
-// || liftProtocol.getNotReady().intValue() != 0
-// ) {
-// return false;
-// }
-//
-// if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
-// return false;
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (!liftProtocol.getLiftLock()) {
-// //閿佸畾鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;//绛夊緟涓嬩竴娆¤疆璇�
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
-// if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
-// return false;
-// }
-//
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
-// break;
-// case SHUTTLE_TRANSPORT:
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
-//
-// shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
-// shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
-// break;
-// case SHUTTLE_TRANSPORT_FROM_LIFT://绌挎杞﹁浇璐у嚭鎻愬崌鏈�
-// // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
-// liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
-// if (liftThread == null) {
-// return false;
-// }
-// liftProtocol = liftThread.getLiftProtocol();
-// // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佺┖闂层�佸噯澶囧氨缁�侀摼鏉℃病鏈夎浆鍔ㄣ�佹病鏈夋湭灏辩华鎶ラ敊
-// if (!liftProtocol.getMode()
-// || liftProtocol.getRunning()
-// || !liftProtocol.getReady()
-// || liftProtocol.getForwardRotationFeedback()
-// || liftProtocol.getReverseFeedback()
-// || liftProtocol.getNotReady().intValue() != 0
-// ) {
-// return false;
-// }
-//
-// if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
-// return false;
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (!liftProtocol.getLiftLock()) {
-// //閿佸畾鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;//绛夊緟涓嬩竴娆¤疆璇�
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
-// if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
-// return false;
-// }
-//
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
-// shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
-//// shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
-// break;
-// case SHUTTLE_TRANSPORT_TO_LIFT://绌挎杞﹁浇璐ц繘鎻愬崌鏈�
-// // 鍒ゆ柇鎻愬崌鏈虹姸鎬�
-// liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
-// if (liftThread == null) {
-// return false;
-// }
-// liftProtocol = liftThread.getLiftProtocol();
-// // 鍒ゆ柇鎻愬崌鏈烘槸鍚﹁嚜鍔ㄣ�佺┖闂层�佸噯澶囧氨缁�侀摼鏉℃病鏈夎浆鍔ㄣ�佹病鏈夋湭灏辩华鎶ラ敊
-// if (!liftProtocol.getMode()
-// || liftProtocol.getRunning()
-// || !liftProtocol.getReady()
-// || liftProtocol.getForwardRotationFeedback()
-// || liftProtocol.getReverseFeedback()
-// || liftProtocol.getNotReady().intValue() != 0
-// ) {
-// return false;
-// }
-//
-// if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//鍒ゆ柇鎻愬崌鏈烘槸鍚﹁揪鍒扮洰鏍囧眰
-// return false;
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (!liftProtocol.getLiftLock()) {
-// //閿佸畾鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(true);//鑾峰彇鎻愬崌鏈洪攣瀹氬懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;//绛夊緟涓嬩竴娆¤疆璇�
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
-// if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
-// return false;
-// }
-//
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
-//// shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
-// shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
-// break;
-// case SHUTTLE_TRANSPORT_FROM_CONVEYOR:
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
-//
-// shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
-// shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
-// break;
-// case SHUTTLE_TRANSPORT_TO_CONVEYOR:
-// shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
-// shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
-//
-// shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
-// shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
-// break;
-// case SHUTTLE_CHARGE_ON:
-// shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
-// shuttleCommands.add(shuttleThread.getChargeSwitchCommand((short) 1));
-// assignCommand.setCharge(Boolean.TRUE);
-// break;
+
+ shuttleCommands = this.shuttleInOutLiftCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+ shuttleTaskModeType = ShuttleTaskModeType.MOVE_TO_LIFT;
+ break;
+ case SHUTTLE_CHARGE_ON://鍏呯數寮�
+ shuttleTaskModeType = ShuttleTaskModeType.CHARGE_ON;
+ shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), true));
+ assignCommand.setCharge(Boolean.TRUE);
+ break;
+ case SHUTTLE_CHARGE_OFF://鍏呯數鍏�
+ shuttleTaskModeType = ShuttleTaskModeType.CHARGE_OFF;
+ shuttleCommands.add(shuttleThread.getChargeCommand(motion.getTaskNo(), false));
+ assignCommand.setCharge(Boolean.TRUE);
+ break;
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+ shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT;
+ shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), true));
+ break;
+ case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+ shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
+ shuttleCommands.add(shuttleThread.getLiftCommand(motion.getTaskNo(), false));
+ break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_UPDATE_LOCATION;
+ shuttleCommands.add(shuttleThread.getUpdateLocationCommand(motion.getTaskNo(), motion.getTarget()));
+ break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE;
+
+ //鑾峰彇鍏ㄩ儴寰呮満浣�
+ List<String> standbyLocs = JSON.parseArray(motion.getTemp(), String.class);
+ //鑾峰彇鍙敤寰呮満浣�
+ String shuttleFromLiftStandbyLoc = shuttleDispatcher.searchAvailableLocNo(Integer.valueOf(shuttleDevice.getDeviceNo()), shuttleDevice.getHostId(), shuttleThread.getStatus().getCurrentLocNo(), standbyLocs);
+ shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), shuttleFromLiftStandbyLoc, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
+
+ //鏇存柊鍔ㄤ綔鍙敤寰呮満浣�
+ motion.setTarget(shuttleFromLiftStandbyLoc);
+ motion.setUpdateTime(new Date());
+ motionService.updateById(motion);
+
+ break;
default:
throw new CoolException(motion.getMotionCtgEl() + "娌℃湁鎸囧畾浠诲姟浣滀笟娴佺▼锛侊紒锛�");
}
@@ -363,12 +342,12 @@
}
assert null != shuttleTaskModeType;
- assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());//鍏ュ嚭搴撴ā寮�
+ assignCommand.setTaskMode(shuttleTaskModeType.id);//鍏ュ嚭搴撴ā寮�
assignCommand.setCommands(shuttleCommands);
if (motion.getOrigin() != null && motion.getTarget() != null) {
//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodes(), true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ boolean lockResult = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(motion.getTarget()), shuttleProtocol.getShuttleNo(), assignCommand.getNodesDeepCopy(), true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
if (!lockResult) {
return false;//閿佸畾澶辫触
}
@@ -386,17 +365,19 @@
return false;
}
- if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
+ if (shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
return false;
}
//鍏呯數浠诲姟
if (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).equals(MotionCtgType.SHUTTLE_CHARGE_ON)) {
- // 澶嶄綅绌挎杞�
- shuttleProtocol.setTaskNo(0);
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleProtocol.setPakMk(true);
- return true;
+ if (shuttleProtocol.getHasCharge() || shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.CHARGING_WAITING)) {
+ // 澶嶄綅绌挎杞�
+ shuttleThread.setSyncTaskNo(0);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setPakMk(true);
+ return true;
+ }
}
if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.WAITING)
@@ -405,12 +386,18 @@
return false;
}
- if (!shuttleProtocol.getIdle()) {
+ //鍒ゆ柇璁惧鏄惁绌洪棽
+ if (!shuttleThread.isIdle()) {
return false;
}
-// SiemensLiftThread liftThread = null;
-// LiftProtocol liftProtocol = null;
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, motion.getTaskNo()));
+ if (task == null) {
+ return false;
+ }
+
+ LiftThread liftThread = null;
+ LiftProtocol liftProtocol = null;
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
case SHUTTLE_MOVE:
@@ -418,105 +405,180 @@
case SHUTTLE_MOVE_DOWN_PALLET:
case SHUTTLE_MOVE_TO_CONVEYOR:
case SHUTTLE_MOVE_FROM_CONVEYOR:
+ case SHUTTLE_TRANSPORT_TO_CONVEYOR://绌挎杞﹁浇璐ц繘杈撻�佺嚎
+ case SHUTTLE_TRANSPORT://绌挎杞﹁浇璐ц璧�
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:
-// case SHUTTLE_MOVE_FROM_LIFT:
-// case SHUTTLE_TRANSPORT_FROM_LIFT:
-// case SHUTTLE_TRANSPORT_TO_LIFT:
-// case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
-// liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
-// if (liftThread == null) {
-// return false;
-// }
-// liftProtocol = liftThread.getLiftProtocol();
-//
-// if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
-// return false;
-// }
-//
-// //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
-// if (liftProtocol.getLiftLock()) {
-// //瑙ｉ攣鎻愬崌鏈�
-// LiftCommand lockCommand = liftThread.getLockCommand(false);//鑾峰彇鎻愬崌鏈鸿В閿佸懡浠�
-// lockCommand.setLiftNo(liftProtocol.getLiftNo());
-// lockCommand.setTaskNo(motion.getWrkNo().shortValue());//鑾峰彇浠诲姟鍙�
-// liftThread.assignWork(lockCommand);
-// return false;
-// }
-//
+ case SHUTTLE_MOVE_TO_LIFT:
+ liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
+ if (liftThread == null) {
+ return false;
+ }
+ liftProtocol = liftThread.getStatus();
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return false;
+ }
+ })) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁宸插埌浣�
+ if (!liftProtocol.getHasCar()) {
+ return false;
+ }
+
// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
-// if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
// return false;
// }
-//
-// if (liftProtocol.getTaskNo().intValue() != 0) {
-// //娓呯┖鎻愬崌鏈哄彿
-// liftThread.setTaskNo(0);
+ break;
+ case SHUTTLE_MOVE_FROM_LIFT:
+ liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
+ if (liftThread == null) {
+ return false;
+ }
+ liftProtocol = liftThread.getStatus();
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (!liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return false;
+ }
+ })) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁宸茬寮�
+ if (liftProtocol.getHasCar()) {
+ return false;
+ }
+
+// //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+// if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+// return false;
// }
-//
-// break;
+ break;
+ case SHUTTLE_TRANSPORT_FROM_LIFT:
+ case SHUTTLE_TRANSPORT_TO_LIFT:
+ case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
+ liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
+ if (liftThread == null) {
+ return false;
+ }
+ liftProtocol = liftThread.getStatus();
+
+ if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹁閿佸畾
+ if (liftThread.isLock(new ExecuteSupport() {
+ @Override
+ public Boolean judgement() {
+ return false;
+ }
+ })) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄伐浣滃彿鏄惁鍜屽綋鍓嶄换鍔＄浉鍚�
+ if (liftProtocol.getTaskNo().intValue() != motion.getTaskNo()) {
+ return false;
+ }
+ break;
+ case SHUTTLE_UPDATE_LOCATION://灏忚溅鍧愭爣鏇存柊
+ break;
+ case SHUTTLE_PALLET_LIFT://鎵樼洏椤跺崌
+ if (!shuttleProtocol.getHasLift()) {
+ return false;
+ }
+ break;
+ case SHUTTLE_PALLET_DOWN://鎵樼洏涓嬮檷
+ if (shuttleProtocol.getHasLift()) {
+ return false;
+ }
+ break;
+ case SHUTTLE_MOVE_STANDBY://绌挎杞︾Щ鍔ㄥ埌寰呮満浣�
+ 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;
default:
break;
}
// 澶嶄綅绌挎杞�
- shuttleProtocol.setTaskNo(0);
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- shuttleProtocol.setPakMk(true);
+ shuttleThread.setSyncTaskNo(0);
+ shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ shuttleThread.setPakMk(true);
return true;
}
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String endLocNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//鑾峰彇灏忚溅绉诲姩閫熷害
- Integer runSpeed = Optional.ofNullable(basShuttleService.getById(assignCommand.getShuttleNo()).getRunSpeed()).orElse(1000);
+ 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)));
+ 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<>(nodeList);
+
+ 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);
+ 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);
- //涓棿璺緞
- NavigateNode middlePath = null;
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- String middleCodeNum = null;
- Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 3);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ(), hostId);
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 2);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ(), hostId);
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- }
-
//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�
+ 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.getTaskNo().intValue(), startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id.intValue(), runSpeed);
+ 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);
}
@@ -526,5 +588,109 @@
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;
+ }
+
+ private boolean checkSimilarityPath(Motion motion, ShuttleAssignCommand assignCommand) {
+ String movePath = motion.getMovePath();
+ if (Cools.isEmpty(movePath)) {
+ return false;
+ }
+
+ Double similarityRef = 0.9D;
+ Dict similarityRefDict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "similarityRef")
+ .eq(Dict::getStatus, 1));
+ if (similarityRefDict != null) {
+ similarityRef = Double.parseDouble(similarityRefDict.getValue());
+ }
+
+ List<NavigateNode> originPath = JSON.parseArray(movePath, NavigateNode.class);
+ List<NavigateNode> finalPath = assignCommand.getNodes();
+
+ if (finalPath == null) {
+ return false;
+ }
+
+ Double similarity = navigateUtils.similarityPath(originPath, finalPath);
+ if (similarity <= similarityRef) {
+ Object object = redisUtil.get(DeviceRedisConstant.SIMILARITY_TIMES + motion.getTaskNo());
+ if (object == null) {
+ redisUtil.set(DeviceRedisConstant.SIMILARITY_TIMES + motion.getTaskNo(), System.currentTimeMillis(), 60 * 60 * 24);
+ }else {
+ long similarityTimeoutRef = 20L;//榛樿瓒呮椂20s
+ Dict similarityTimeoutDict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "similarityTimeout")
+ .eq(Dict::getStatus, 1));
+ if (similarityTimeoutDict != null) {
+ similarityTimeoutRef = Long.parseLong(similarityTimeoutDict.getValue());
+ }
+
+ long recordTime = Long.parseLong(object.toString());
+ if (System.currentTimeMillis() - recordTime > (60 * similarityTimeoutRef)) {
+ //瓒呮椂锛岀洿鎺ユ斁琛�
+ return true;
+ }
+ }
+ News.error("{} dash {} path similarity mismatch!", motion.getOrigin(), motion.getTarget());
+ return false;
+ }
+
+ return true;
+ }
+
}
--
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