From f305e5244e059c5e43566412f69b180e2e790026 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 05 三月 2026 19:11:43 +0800
Subject: [PATCH] #双工位堆垛机任务下发控制优化
---
src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java | 144 ++++++++++++++++++++++++++++++++++--------------
1 files changed, 102 insertions(+), 42 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
index 84b76a6..ab72c7b 100644
--- a/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
+++ b/src/main/java/com/zy/core/thread/impl/ZySiemensDualCrnThread.java
@@ -85,7 +85,16 @@
if (step == 2) {
List<SendDualCrnCommandParam> commandList = (List<SendDualCrnCommandParam>) task.getData();
- redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo(), JSON.toJSONString(commandList, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
+ for (SendDualCrnCommandParam sendDualCrnCommandParam : commandList) {
+ DualCrnCommand dualCrnCommand = sendDualCrnCommandParam.getCommands().get(0);
+ redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + dualCrnCommand.getTaskNo(), 0, 60 * 60 * 24);
+ redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + dualCrnCommand.getTaskNo(), JSON.toJSONString(sendDualCrnCommandParam, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
+ if (sendDualCrnCommandParam.getStation() == 1) {
+ redisUtil.set(RedisKeyType.DUAL_CRN_STATION1_FLAG.key + crnProtocol.getCrnNo(), dualCrnCommand.getTaskNo(), 60 * 60 * 24);
+ }else {
+ redisUtil.set(RedisKeyType.DUAL_CRN_STATION2_FLAG.key + crnProtocol.getCrnNo(), dualCrnCommand.getTaskNo(), 60 * 60 * 24);
+ }
+ }
} else if (step == 3) {
sendCommand((DualCrnCommand) task.getData());
}
@@ -109,28 +118,17 @@
continue;
}
-// if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) {
-// Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
-// if (wait != null) {
-// redisUtil.del(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
-// }
-// }
-
- Object commandListObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo());
- if (commandListObj == null) {
+ if (!((crnProtocol.getStatusType().equals(DualCrnStatusType.IDLE) || crnProtocol.getStatusType().equals(DualCrnStatusType.FETCH_COMPLETE))
+ && (crnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.IDLE) || crnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.FETCH_COMPLETE)))
+ ) {
continue;
}
- List<SendDualCrnCommandParam> commandList = JSON.parseArray(commandListObj.toString(), SendDualCrnCommandParam.class);
- List<SendDualCrnCommandParam> newCommandList = new ArrayList<>();
+ List<SendDualCrnCommandParam> commandList = getDualCrnCommandList();
for (SendDualCrnCommandParam commandParam : commandList) {
- SendDualCrnCommandParam processed = processStation(commandParam);
- if(processed != null) {
- newCommandList.add(processed);
- }
+ processStation(commandParam);
}
- redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getCrnNo(), JSON.toJSONString(newCommandList, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
Thread.sleep(100);
} catch (Exception e) {
log.error("DualCrnCommand Fail", e);
@@ -140,44 +138,61 @@
commandThread.start();
}
- private SendDualCrnCommandParam processStation(SendDualCrnCommandParam commandParam) {
+ private void processStation(SendDualCrnCommandParam commandParam) {
Integer station = commandParam.getStation();
- Integer idx = commandParam.getCommandIdx();
List<DualCrnCommand> commandList = commandParam.getCommands();
+ DualCrnCommand firstCommand = commandList.get(0);
+ Object idxObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + firstCommand.getTaskNo());
+ if(idxObj == null) {
+ return;
+ }
+ Integer idx = (Integer) idxObj;
if (idx >= commandList.size()) {
- return commandParam;
+ return;
}
DualCrnCommand dualCommand = commandList.get(idx);
boolean send = false;
if (station == 1) {
- if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)
- || crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)
- ) {
- send = true;
+ if (crnProtocol.getTaskSend() == 0) {
+ if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
+ if (crnProtocol.getStatus().equals(DualCrnStatusType.IDLE.id)) {
+ send = true;
+ }
+ } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
+ if (crnProtocol.getStatus().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
+ send = true;
+ }
+ }
}
}else {
- if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)
- || crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)
- ) {
- send = true;
+ if (crnProtocol.getTaskSendTwo() == 0) {
+ if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PICK.id) {
+ if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.IDLE.id)) {
+ send = true;
+ }
+ } else if (dualCommand.getTaskMode().intValue() == DualCrnTaskModeType.PUT.id) {
+ if (crnProtocol.getStatusTwo().equals(DualCrnStatusType.FETCH_COMPLETE.id)) {
+ send = true;
+ }
+ }
}
}
if (idx == 0) {
if(send) {
idx++;
- commandParam.setCommandIdx(idx);
+ redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + firstCommand.getTaskNo(), idx, 60 * 60 * 24);
sendCommand(dualCommand);
redisUtil.set(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo(), "lock", 5);
}
- return commandParam;
+ return;
}else {
if (dualCommand.getTaskMode() == DualCrnTaskModeType.PUT.id.shortValue()) {
//绛夊緟涓嬩竴涓换鍔�
Object wait = redisUtil.get(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnProtocol.getCrnNo());
if (wait != null) {
- return commandParam;
+ return;
}
Integer taskNo = dualCommand.getTaskNo();
@@ -187,35 +202,35 @@
StationObjModel stationObjModel = JSON.parseObject(outTaskStationInfoObj.toString(), StationObjModel.class);
StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
if (stationThread == null) {
- return commandParam;
+ return;
}
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
if (stationProtocol == null) {
- return commandParam;
+ return;
}
if (!stationProtocol.isAutoing()) {
- return commandParam;
+ return;
}
if (stationProtocol.isLoading()) {
- return commandParam;
+ return;
}
if (stationProtocol.getTaskNo() > 0) {
- return commandParam;
+ return;
}
}
}
if(send) {
idx++;
- commandParam.setCommandIdx(idx);
+ redisUtil.set(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + firstCommand.getTaskNo(), idx, 60 * 60 * 24);
sendCommand(dualCommand);
}
- return commandParam;
+ return;
}
}
@@ -231,6 +246,7 @@
//宸ヤ綅1
crnProtocol.setTaskNo(0);
+ crnProtocol.setDeviceTaskNo(0);
crnProtocol.setStatus(-1);
crnProtocol.setBay(0);
crnProtocol.setLevel(0);
@@ -241,6 +257,7 @@
//宸ヤ綅2
crnProtocol.setTaskNoTwo(0);
+ crnProtocol.setDeviceTaskNoTwo(0);
crnProtocol.setStatusTwo(-1);
crnProtocol.setBayTwo(0);
crnProtocol.setLevelTwo(0);
@@ -300,18 +317,20 @@
crnProtocol.setMode(crnStatus.getMode());
//宸ヤ綅1
- crnProtocol.setTaskNo(crnStatus.getTaskNo());
+ crnProtocol.setDeviceTaskNo(crnStatus.getTaskNo());
crnProtocol.setStatus(crnStatus.getStatus());
crnProtocol.setForkPos(crnStatus.getForkPos());
crnProtocol.setLoaded(crnStatus.getLoaded());
crnProtocol.setTaskReceive(crnStatus.getTaskReceive());
+ crnProtocol.setTaskSend(crnStatus.getTaskSend());
//宸ヤ綅2
- crnProtocol.setTaskNoTwo(crnStatus.getTaskNoTwo());
+ crnProtocol.setDeviceTaskNoTwo(crnStatus.getTaskNoTwo());
crnProtocol.setStatusTwo(crnStatus.getStatusTwo());
crnProtocol.setForkPosTwo(crnStatus.getForkPosTwo());
crnProtocol.setLoadedTwo(crnStatus.getLoadedTwo());
crnProtocol.setTaskReceiveTwo(crnStatus.getTaskReceiveTwo());
+ crnProtocol.setTaskSendTwo(crnStatus.getTaskSendTwo());
crnProtocol.setBay(crnStatus.getBay());
crnProtocol.setLevel(crnStatus.getLevel());
@@ -474,10 +493,10 @@
}
@Override
- public DualCrnCommand getResetCommand(Integer crnNo, Integer station) {
+ public DualCrnCommand getResetCommand(Integer taskNo, Integer crnNo, Integer station) {
DualCrnCommand crnCommand = new DualCrnCommand();
crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(0); // 宸ヤ綔鍙�
+ crnCommand.setTaskNo(taskNo); // 宸ヤ綔鍙�
crnCommand.setTaskMode(DualCrnTaskModeType.CONFIRM.id); // 浠诲姟妯″紡: 纭
crnCommand.setSourcePosX(0); // 婧愬簱浣嶆帓
crnCommand.setSourcePosY(0); // 婧愬簱浣嶅垪
@@ -522,4 +541,45 @@
}
}
}
+
+ public List<SendDualCrnCommandParam> getDualCrnCommandList() {
+ List<SendDualCrnCommandParam> commandList = new ArrayList<>();
+ SendDualCrnCommandParam command1 = getDualCrnCommandList(1);
+ SendDualCrnCommandParam command2 = getDualCrnCommandList(2);
+ if (command1 != null) {
+ commandList.add(command1);
+ }
+
+ if (command2 != null) {
+ commandList.add(command2);
+ }
+
+ return commandList;
+ }
+
+ public SendDualCrnCommandParam getDualCrnCommandList(int station) {
+ SendDualCrnCommandParam sendDualCrnCommandParam = null;
+ String key = null;
+ if (station == 1 && crnProtocol.getTaskNo() > 0) {
+ key = RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getTaskNo();
+ } else if (station == 2 && crnProtocol.getTaskNoTwo() > 0) {
+ key = RedisKeyType.DUAL_CRN_COMMAND_.key + crnProtocol.getTaskNoTwo();
+ }
+
+ if (key == null) {
+ return null;
+ }
+
+ Object commandObj = redisUtil.get(key);
+ if (commandObj == null) {
+ return null;
+ }
+
+ sendDualCrnCommandParam = JSON.parseObject(commandObj.toString(), SendDualCrnCommandParam.class);
+ if (sendDualCrnCommandParam == null) {
+ return null;
+ }
+
+ return sendDualCrnCommandParam;
+ }
}
--
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