From 0d04e9440d19f30a8220f498ebdde5a8bfcc48a8 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 10 十月 2023 13:50:03 +0800
Subject: [PATCH] #机械臂任务下发
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 63 ++++++++++++++++++++++++++++---
1 files changed, 57 insertions(+), 6 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index e627a9f..23a86ea 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -336,6 +336,7 @@
);
opt.setSend(1);//宸蹭笅鍙�
opt.setResponse(JSON.toJSONString(result));//璇锋眰鍝嶅簲
+ opt.setDeviceWrk(command.getWrkNo().toString());//璁惧宸ヤ綔鍙�
shuttleOptService.insert(opt);
}
@@ -369,6 +370,7 @@
}
WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());
Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
if (o == null) {
@@ -446,8 +448,9 @@
}
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
- //鍋滄鍏呯數
- if(!(command.getRequest().getBody().get("requestType").equals("stopCharge") && shuttleProtocol.getChargState() == 1)){
+ String requestType = command.getRequest().getBody().get("requestType").toString();
+ //鍋滄鍏呯數 绠″埗鍛戒护
+ if(!(requestType.equals("stopCharge") && shuttleProtocol.getChargState() == 1) && !requestType.equals("resume")){
return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
}
}
@@ -463,8 +466,15 @@
}
if (command.getRequest().getBody().get("requestType").equals("move")) {
+ ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆鑺傜偣鐨勭櫧鍚嶅崟
+ if (wrkMast != null && (wrkMast.getIoType() > 100 && wrkMast.getIoType() < 200)) {
+ //鍑哄簱浠诲姟锛屼笉妫�娴嬮鑺傜偣
+ int[] startArr = NavigatePositionConvert.positionToXY(wrkMast.getSourceLocNo());//寮�濮嬭妭鐐�
+ whiteList.add(startArr);
+ }
+
//妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
- if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
+ if (!checkPath(command.getNodes(), nextNodes, whiteList)) {
return false;
}
@@ -634,17 +644,17 @@
* 妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
* 濡傛灉璺緞涓虹洰鏍囧簱浣嶏紝浣嗕笉鍙璧帮紝绯荤粺灏嗗皾璇曢噸鏂拌绠楄矾寰�
*/
- private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, ShuttleRedisCommand redisCommand) {
+ private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, List<int[]> whitePoints) {
//妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
//妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
- boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
if (nextNodes == null) {
if (checkPathIsAvailable) {
return true;//鍙璧�
}
return false;
}else {
- boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
if (checkPathIsAvailable && checkPathIsAvailable2) {
return true;//鍙璧�
}
@@ -705,6 +715,19 @@
return;
}
+ 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++) {
@@ -735,7 +758,35 @@
}
}
}else {//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);
+ LocMast target = locMastService.selectById(locNo);
+ 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 {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
+ if (result) {//璋冨害鎴愬姛
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ }
+ }
}
}
--
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