From 06bd2d6dbd31315b68e768d6b59139c753f8ff96 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 27 三月 2023 09:28:38 +0800
Subject: [PATCH] 四向穿梭车线程代码逻辑
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 97 ++++++++----------------------------------------
1 files changed, 16 insertions(+), 81 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index 538cced..b76cabc 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -22,10 +22,7 @@
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.*;
-import com.zy.core.model.command.CrnCommand;
-import com.zy.core.model.command.LedCommand;
-import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.command.SteCommand;
+import com.zy.core.model.command.*;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
@@ -631,85 +628,23 @@
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkSts.getLocNo());
- //璁＄畻璺緞
- List<NavigateNode> calc = NavigateUtils.calc(wrkSts.getSourceLocNo(), wrkSts.getLocNo(), "in");
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘map瀛樺叆redis涓�
- HashMap<String, Object> map = new HashMap<>();
- //鎵ц姝ュ簭
- map.put("step", 0);
- //璺緞鏁版嵁
- map.put("path", data);
- //宸ヤ綔鍙�
- map.put("wrk_no", wrkSts.getWrkNo());
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + wrkSts.getWrkNo().shortValue(), JSON.toJSONString(map));
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ //鍥涘悜绌挎杞﹀彿
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ //浠诲姟鍙�
+ assignCommand.setTaskNo(wrkSts.getWrkNo().shortValue());
+ //鍏ュ嚭搴撴ā寮�
+ assignCommand.setTaskMode(0);
+ //婧愬簱浣�
+ assignCommand.setSourceLocNo(wrkSts.getSourceLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setDistLocNo(wrkSts.getLocNo());
+
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
}
- } else if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0) {
- //鍥涘悜绌挎杞︾┖闂� 骞朵笖鏈変换鍔�
- Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getTaskNo());
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
- //褰撳墠姝ュ簭
- int step = Integer.parseInt(map.get("step").toString());
- //褰撳墠璺緞鏁版嵁
- Object data = map.get("path");
- ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
- //鍙栫涓�鏉¤矾寰�
- Object o1 = pathList.get(step);
- ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);
-
- int size = path.size();
- //寮�濮嬭矾寰�
- JSONObject startPath = JSON.parseObject(path.get(0).toString());
- System.out.println(startPath);
- //鐩爣璺緞
- JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
- System.out.println(endPath);
-
- //涓嬪彂鍛戒护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
- command.setStartToDistDistance(1000);
- command.setMiddleToDistDistance(1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRunSpeed((short) 1000);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
-
- if (!MessageQueue.offer(SlaveType.Shuttle, shuttleProtocol.getShuttleNo().intValue(), new Task(2, command))) {
- 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));
- } else {
- News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
-
- //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (step < size) {
- //鏇存柊redis鏁版嵁
- //姝ュ簭澧炲姞
- step++;
- map.put("step", step);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
- }else {
- //宸叉墽琛屽畬鎴�
- //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
- //鍒犻櫎redis
- redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
-
- //銆傘�傘��
- //1銆佸懡浠や笅鏂归渶瑕佸垽鏂皬杞︾┖闂茬姸鎬�
- //2銆�
- }
-
- }
}
}
--
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