From 0b83448133a1af459273318bc5b0c2a4bc6e0448 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 08 四月 2023 17:09:14 +0800
Subject: [PATCH] 四向穿梭车逻辑优化
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 411 +++++++++++++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 375 insertions(+), 36 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index b273267..a970778 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -10,8 +10,10 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.entity.LocMast;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
@@ -21,10 +23,10 @@
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
+import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
@@ -137,7 +139,12 @@
//閿欒缂栧彿
shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
//Plc杈撳嚭鐘舵�両O
- shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
+ boolean[] booleans = modbusTcpNet.getByteTransform().TransBool(content, 10, 2);
+ shuttleProtocol.setPlcOutputLift(booleans[1]);
+ shuttleProtocol.setPlcOutputTransfer(booleans[2]);
+ shuttleProtocol.setPlcOutputBrake(booleans[3]);
+ shuttleProtocol.setPlcOutputCharge(booleans[4]);
+ shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
//閿欒淇℃伅鐮�
shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
//PLC杈撳叆鐘舵��
@@ -166,6 +173,20 @@
//灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
shuttleProtocol.setPakMk(true);
+ }
+
+ if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
+ //鍑虹幇閿欒
+ reset(shuttleProtocol.getAssignCommand());
+ }
+
+ if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+ && shuttleProtocol.getAssignCommand() != null){
+ //澶勪簬鏁呴殰淇鐘舵��
+ //鎵ц涓嬩竴姝ユ寚浠�
+ executeWork(shuttleProtocol.getAssignCommand());
}
//鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
@@ -349,39 +370,20 @@
private void assignWork(ShuttleAssignCommand assignCommand) {
//灏嗘map瀛樺叆redis涓�
HashMap<String, Object> map = new HashMap<>();
-
-// if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
-// || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
-// //鍏ュ簱鎴栧嚭搴撴ā寮忥紝璁＄畻璺緞
-// //璁＄畻璺緞
-// List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), assignCommand.getTaskMode().intValue());
-// if (calc != null) {
-// //鑾峰彇鍒嗘璺緞
-// ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
-// //璺緞鏁版嵁
-// map.put("path", data);
-// //璺緞娆℃暟
-// map.put("pathSize", data.size());
-// }else {
-// if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
-// //灞炰簬鍏ュ簱鍑哄簱锛屽繀椤昏璁＄畻璺緞锛屽垯鎶涘嚭寮傚父
-// throw new Exception("鏈兘鎵惧埌杩愯璺緞");
-// }
-// }
-// }
-
if (!assignCommand.getAuto()) {
List<ShuttleCommand> commands = new ArrayList<>();
ShuttleCommand command = new ShuttleCommand();
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
switch (assignCommand.getTaskMode()) {
case 1://鍏ュ簱
case 2://鍑哄簱
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
- if (calc != null) {
+ LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ if (firstMastResult != null) {
//鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
//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�
@@ -392,27 +394,108 @@
ShuttleCommand command1 = new ShuttleCommand();
command1.setCommandWord((short) 1);
- command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command1.setMiddleCodeNum((short) 0);
- command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+ command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
+ command1.setMiddleCodeNum((short) 1);
+ command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
command1.setStartToDistDistance(allDistance);
- command1.setMiddleToDistDistance(1000);
command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command1.setPalletLift((short) 1);
- command1.setForceMoveDistance(1000);
- command1.setChargeSwitch((short) 2);
+ command1.setForceMoveDistance(0);
command1.setIOControl((short) 0);
command1.setRunSpeed((short) 1000);
- command1.setRadarTmp((short) 0);
command1.setCommandEnd((short) 1);
commands.add(command1);
}
+
+ //鎵樼洏椤跺崌
+ ShuttleCommand command2 = new ShuttleCommand();
+ command2.setCommandWord((short) 2);
+ command2.setStartCodeNum((short) 0);
+ command2.setMiddleCodeNum((short) 0);
+ command2.setDistCodeNum((short) 0);
+ command2.setStartToDistDistance(0);
+ command2.setMiddleToDistDistance(0);
+ command2.setRunDirection((short) 0);
+ command2.setForceMoveDistance(0);
+ command2.setPalletLift((short) 1);
+ command2.setRunSpeed((short) 0);
+ command2.setCommandEnd((short) 1);
+ commands.add(command2);
+ }else {
+ //娌℃湁璁＄畻鍒拌矾寰勶紝鍙兘瀛樺湪灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆
+ if (currentLocMast.getLocNo().equals(assignCommand.getSourceLocNo())) {
+ //灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆锛屾棤闇�绉诲姩锛岀洿鎺ラ《鍗�
+ //鎵樼洏椤跺崌
+ ShuttleCommand command2 = new ShuttleCommand();
+ command2.setCommandWord((short) 2);
+ command2.setStartCodeNum((short) 0);
+ command2.setMiddleCodeNum((short) 0);
+ command2.setDistCodeNum((short) 0);
+ command2.setStartToDistDistance(0);
+ command2.setMiddleToDistDistance(0);
+ command2.setRunDirection((short) 0);
+ command2.setForceMoveDistance(0);
+ command2.setPalletLift((short) 1);
+ command2.setRunSpeed((short) 0);
+ command2.setCommandEnd((short) 1);
+ commands.add(command2);
+ }
+ }
+
+ //璁＄畻涓偣鍒扮粓鐐硅矾寰�
+ List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ if (secMastResult != null) {
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
+ //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�
+
+ ShuttleCommand command1 = new ShuttleCommand();
+ command1.setCommandWord((short) 1);
+ command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
+ command1.setMiddleCodeNum((short) 1);
+ command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
+ command1.setStartToDistDistance(allDistance);
+ command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+ command1.setForceMoveDistance(0);
+ command1.setIOControl((short) 0);
+ command1.setRunSpeed((short) 1000);
+ command1.setCommandEnd((short) 1);
+ commands.add(command1);
+ }
+
+ //鎵樼洏涓嬮檷
+ ShuttleCommand command2 = new ShuttleCommand();
+ command2.setCommandWord((short) 2);
+ command2.setStartCodeNum((short) 0);
+ command2.setMiddleCodeNum((short) 0);
+ command2.setDistCodeNum((short) 0);
+ command2.setStartToDistDistance(0);
+ command2.setMiddleToDistDistance(0);
+ command2.setRunDirection((short) 0);
+ command2.setForceMoveDistance(0);
+ command2.setPalletLift((short) 2);
+ command2.setRunSpeed((short) 0);
+ command2.setCommandEnd((short) 1);
+ commands.add(command2);
}
break;
case 3://鎵樼洏椤跺崌
case 4://鎵樼洏涓嬮檷
command.setCommandWord((short) 2);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(0);
+ command.setMiddleToDistDistance(0);
+ command.setRunDirection((short) 0);
+ command.setForceMoveDistance(0);
command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
+ command.setRunSpeed((short) 0);
command.setCommandEnd((short) 1);
commands.add(command);
break;
@@ -421,13 +504,99 @@
case 7://寮哄埗涓婄Щ
case 8://寮哄埗涓嬬Щ
command.setCommandWord((short) 3);
- command.setForceMoveDistance(1000);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(600);
command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
+ command.setForceMoveDistance(600);
+ command.setIOControl((short) 0);
command.setCommandEnd((short) 1);
+ command.setRunSpeed((short) 1000);
commands.add(command);
break;
case 9://鐘舵�佸浣�
- command.setCommandWord((short) 0);
+ command.setCommandWord((short) 6);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(0);
+ command.setMiddleToDistDistance(0);
+ command.setRunDirection((short) 0);
+ command.setPalletLift((short) 0);
+ command.setPalletLift((short) 0);
+ command.setForceMoveDistance(0);
+ command.setChargeSwitch((short) 0);
+ command.setIOControl((short) 0);
+ command.setRunSpeed((short) 0);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ break;
+ case 10://鍚戞鏂瑰悜(宸�)瀵诲簱浣�
+ command.setCommandWord((short) 4);
+ command.setRunDirection((short) 1);
+ command.setStartToDistDistance(3000);
+ command.setRunSpeed((short) 1000);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ break;
+ case 11://鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�
+ command.setCommandWord((short) 4);
+ command.setRunDirection((short) 2);
+ command.setStartToDistDistance(3000);
+ command.setRunSpeed((short) 1000);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ break;
+ case 12://鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
+ command.setCommandWord((short) 4);
+ command.setRunDirection((short) 4);
+ command.setStartToDistDistance(3000);
+ command.setRunSpeed((short) 1000);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ break;
+ case 13://鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�
+ command.setCommandWord((short) 4);
+ command.setRunDirection((short) 3);
+ command.setStartToDistDistance(3000);
+ command.setRunSpeed((short) 1000);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ break;
+ case 14://绉诲姩鍒扮洰鏍囧簱浣�
+ LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ if (result != null) {
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
+ //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�
+
+ LocMast distLocMast = locMastService.queryByLoc(assignCommand.getLocNo());
+ String qrCodeValue = distLocMast.getQrCodeValue();
+ command.setCommandWord((short) 1);
+ command.setStartCodeNum(shuttleProtocol.getCurrentCode());
+ command.setMiddleCodeNum((short) 1);
+ command.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
+ command.setStartToDistDistance(allDistance);
+ command.setRunSpeed((short) 1000);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+ command.setForceMoveDistance(0);
+ command.setIOControl((short) 0);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ }
+ }
+ break;
+ case 15://鍏呯數寮�鍏�
+ command.setCommandWord((short) 8);
+ command.setIOControl((short) 4);
command.setCommandEnd((short) 1);
commands.add(command);
break;
@@ -444,6 +613,8 @@
map.put("commandStep", 0);
//鍛戒护
map.put("assignCommand", assignCommand);
+ //鍙戠敓閿欒鏃跺皾璇曟墽琛岀殑鎸囦护锛屼紭鍏堢骇鏈�楂�
+ map.put("errorCommands", new ArrayList<ShuttleCommand>());
shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
shuttleProtocol.setAssignCommand(assignCommand);
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
@@ -468,6 +639,80 @@
return false;
}
HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+
+ List<ShuttleCommand> errorCommands = JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
+ if (errorCommands.size() > 0) {
+ //浼樺厛鎵ц璇ユ寚浠�
+ ShuttleCommand errorCommand = errorCommands.get(0);//鍙栧嚭鎸囦护
+
+ if(errorCommand.getCommandWord() == 1){//姝ｅ父琛岃蛋鍛戒护锛岄渶瑕佸厛鎵ц瀹屾壘搴撲綅鍛戒护鍚庯紝鍐嶆墽琛�
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ LocMast distLocMast = locMastService.queryByQrCode(errorCommand.getStartCodeNum().toString());
+ if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
+ //璧风偣鍜岀粓鐐瑰睘浜庡悓涓�搴撲綅锛屾棤闇�鍐嶆墽琛岀Щ鍔ㄦ搷浣�
+ errorCommands.remove(0);//绉婚櫎璇ュ懡浠�
+ map.put("errorCommands", new ArrayList<ShuttleCommand>());
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
+ //褰撳墠姝ュ簭
+ int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ //姝ュ簭鍥為��
+ commandStep--;
+ map.put("commandStep", commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ shuttleProtocol.setPakMk(true);
+ return true;
+ }else {
+ List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ if (result != null) {
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
+ //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�
+
+ String qrCodeValue = distLocMast.getQrCodeValue();
+ errorCommand.setCommandWord((short) 1);
+ errorCommand.setStartCodeNum(shuttleProtocol.getCurrentCode());
+ errorCommand.setMiddleCodeNum((short) 1);
+ errorCommand.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
+ errorCommand.setStartToDistDistance(allDistance);
+ errorCommand.setRunSpeed((short) 1000);
+ errorCommand.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+ errorCommand.setForceMoveDistance(0);
+ errorCommand.setIOControl((short) 0);
+ errorCommand.setCommandEnd((short) 1);
+ break;
+ }
+ }
+ }
+
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
+ //褰撳墠姝ュ簭
+ int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ //姝ュ簭鍥為��
+ commandStep--;
+ map.put("commandStep", commandStep);
+ }
+
+ if (!write(errorCommand)) {
+ 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(errorCommand));
+ return false;
+ } 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(errorCommand));
+ errorCommands.remove(0);
+ map.put("errorCommands", errorCommands);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ return true;
+ }
+ }
+
List<ShuttleCommand> commands = assignCommand.getCommands();
//褰撳墠姝ュ簭
int commandStep = Integer.parseInt(map.get("commandStep").toString());
@@ -476,6 +721,15 @@
//鍙栧嚭鍛戒护
ShuttleCommand command = commands.get(commandStep);
+
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
+ || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()
+ ) {
+ //灏忚溅澶卞幓鍧愭爣锛岀姝笅鍙戝懡浠�
+ if (shuttleProtocol.getCurrentCode() == 0) {
+ return false;
+ }
+ }
//涓嬪彂鍛戒护
if (!write(command)) {
@@ -543,6 +797,91 @@
return true;
}
+ /**
+ * 澶嶄綅骞跺皾璇曚慨澶嶉敊璇�
+ */
+ private boolean reset(ShuttleAssignCommand assignCommand) {
+ //璇诲彇redis鏁版嵁
+ if (assignCommand == null) {
+ return false;
+ }
+
+ Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ if (o == null) {
+ return false;
+ }
+
+ HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+ //褰撳墠姝ュ簭
+ int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ //path璺緞鏁扮洰
+ int size = commands.size();
+
+ ArrayList<ShuttleCommand> list = new ArrayList<>();
+
+ //鍙栧嚭鍛戒护
+ ShuttleCommand command = commands.get(commandStep - 1);
+
+ //澶嶄綅鍛戒护
+ ShuttleCommand resetCommand = new ShuttleCommand();
+ resetCommand.setCommandWord((short) 6);
+ resetCommand.setStartCodeNum((short) 0);
+ resetCommand.setMiddleCodeNum((short) 0);
+ resetCommand.setDistCodeNum((short) 0);
+ resetCommand.setStartToDistDistance(0);
+ resetCommand.setMiddleToDistDistance(0);
+ resetCommand.setRunDirection((short) 0);
+ resetCommand.setPalletLift((short) 0);
+ resetCommand.setPalletLift((short) 0);
+ resetCommand.setForceMoveDistance(0);
+ resetCommand.setChargeSwitch((short) 0);
+ resetCommand.setIOControl((short) 0);
+ resetCommand.setRunSpeed((short) 0);
+ resetCommand.setCommandEnd((short) 1);
+ list.add(resetCommand);
+
+ //杞﹁締绌洪棽锛岀瓑寰呭啓鍏ユ壘搴撲綅鍛戒护
+ //鎵惧簱浣嶅懡浠�
+ ShuttleCommand searchCommand = new ShuttleCommand();
+ searchCommand.setCommandWord((short) 4);
+ short direction = 1;
+ switch (command.getRunDirection()) {
+ case 1:
+ direction = 2;
+ break;
+ case 2:
+ direction = 1;
+ break;
+ case 3:
+ direction = 4;
+ break;
+ case 4:
+ direction = 3;
+ break;
+ default:
+ direction = 1;
+ }
+
+ searchCommand.setRunDirection(direction);//杩愯鏂瑰悜
+ searchCommand.setStartToDistDistance(1200);
+ searchCommand.setRunSpeed((short) 1000);
+ searchCommand.setCommandEnd((short) 1);
+ list.add(searchCommand);
+
+ //绉诲姩杞﹁締锛岄渶瑕佸湪鎵ц瀹屽鎵惧畾浣嶇偣鍚庡啀鎵ц
+ ShuttleCommand moveCommand = new ShuttleCommand();
+ moveCommand.setCommandWord((short) 1);
+ moveCommand.setStartCodeNum(command.getStartCodeNum());//瀛樺叆鐩爣搴撲綅鍙�
+ list.add(moveCommand);
+
+ map.put("errorCommands", list);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
+ return true;
+ }
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
--
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