From 0f2eaeeb387850acfede95c5c061b5392dae8688 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 28 六月 2023 16:58:25 +0800
Subject: [PATCH] 寻路算法和避障
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 437 ++++++++++++++++++------------------------------------
1 files changed, 146 insertions(+), 291 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 3e5142c..3cecf33 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -571,7 +571,7 @@
//鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
//杞藉叆鍦板浘
NavigateMapData mapData = new NavigateMapData(i);
- List<List<MapNode>> lists = mapData.getJsonData(-1, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+ List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
//瀛樺叆鏁版嵁搴�
basMap = new BasMap();
@@ -826,12 +826,14 @@
}
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
List<ShuttleCommand> commands = new ArrayList<>();
if (calc == null) {
return null;
}
-
+ if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
+ return null;
+ }
List<NavigateNode> allNode = new ArrayList<>();
allNode.addAll(calc);
@@ -881,10 +883,14 @@
List<NavigateNode> allNode = new ArrayList<>();
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id);//灏忚溅鏃犺揣锛岃蛋姝ｅ父搴撲綅閫氶亾
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//灏忚溅鏃犺揣锛岃蛋姝ｅ父搴撲綅閫氶亾
List<ShuttleCommand> commands = new ArrayList<>();
if (calc != null) {
+ if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
+ return null;
+ }
+
allNode.addAll(calc);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -915,11 +921,13 @@
commands.add(shuttleThread.getPalletCommand((short) 1));
//璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
- List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id);//灏忚溅鏈夎揣锛岃蛋绂佺敤杩嘍FX搴撲綅鐨勫湴鍥鹃�氶亾
+ List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//灏忚溅鏈夎揣锛岃蛋绂佺敤杩嘍FX搴撲綅鐨勫湴鍥鹃�氶亾
if (calc2 == null) {
return null;
}
-
+ if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
+ return null;
+ }
allNode.addAll(calc2);
//鑾峰彇鍒嗘璺緞
@@ -1006,8 +1014,11 @@
//鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌浣嶏紝鍒ゆ柇绔欑偣鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙�
String locNo = wrkMast.getSourceLocNo();
int lev = Utils.getLev(locNo);//鐩爣浜岀淮鐮佹墍鍦ㄦゼ灞�
- int liftLev = liftProtocol.getLev().intValue();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
- if (liftLev != lev) {
+ Short liftLev = liftProtocol.getLev();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
+ if (liftLev == null) {//鎻愬崌鏈哄彲鑳藉湪杈撻�佺嚎妤煎眰
+ continue;
+ }
+ if (liftLev.intValue() != lev) {
continue;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傝烦杩�
}
@@ -1069,25 +1080,32 @@
//鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞�
if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
+
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
if (commands == null) {
//鏈壘鍒拌矾寰勶紝绛夊緟涓嬩竴娆�
continue;
}
+ //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
+ NavigateMapData navigateMapData = new NavigateMapData(currentLev);
+ navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
- String disLocNo = "2000202" + Utils.getLev(liftSiteLocNo);//閬胯浣嶇疆
- LocMast locMast1 = locMastService.queryByLoc(disLocNo);
- if (locMast1 == null) {
- continue;//鎵句笉鍒板簱浣�
- }
- short disCode = Short.parseShort(locMast1.getQrCodeValue());
//浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
- commands.add(moveCommand);
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ int distLev = Utils.getLev(liftSiteLocNo);//閬胯妤煎眰
+ String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
+ ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
+ if (moveAssignCommand == null) {//璋冨害灏忚溅鍛戒护涓虹┖
+ continue;
+ }
+ //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
+ navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
+ commands.addAll(moveAssignCommand.getCommands());//灏嗛伩璁╁皬杞︾殑鍛戒护娣诲姞
+ List<NavigateNode> nodes = assignCommand.getNodes();//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
+ nodes.addAll(moveAssignCommand.getNodes());//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
+ assignCommand.setNodes(nodes);
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�
+
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
@@ -1159,27 +1177,33 @@
if (commands == null) {
continue;//鏈壘鍒拌矾寰�
}
+ //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(liftSiteLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
+
+ //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
+ //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
+ int distLev = Utils.getLev(liftSiteLocNo);//閬胯妤煎眰
+ String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);
+ ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
+ if (moveAssignCommand == null) {//璋冨害灏忚溅鍛戒护涓虹┖
+ continue;
+ }
+ //鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿侊紝鐢ㄤ簬鍚庣画璁＄畻
+ navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//鎵�浣跨敤鐨勮矾寰勮繘琛屼复鏃惰В閿�
+ commands.addAll(moveAssignCommand.getCommands());//灏嗛伩璁╁皬杞︾殑鍛戒护娣诲姞
+ List<NavigateNode> nodes = assignCommand.getNodes();//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
+ nodes.addAll(moveAssignCommand.getNodes());//灏嗛伩璁╄矾寰勬坊鍔犺繘鑺傜偣璺緞涓�
+ assignCommand.setNodes(nodes);
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹�
+
+
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
Short distCode = commands.get(0).getStartCodeNum();//鐩爣浜岀淮鐮�
//鑾峰彇绉诲姩鍛戒护
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
-
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
- String disLocNo = "2000202" + Utils.getLev(liftSiteLocNo);//閬胯浣嶇疆
- LocMast locMast1 = locMastService.queryByLoc(disLocNo);
- if (locMast1 == null) {
- continue;//鎵句笉鍒板簱浣�
- }
- short disCode = Short.parseShort(locMast1.getQrCodeValue());
- //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
- ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
- commands.add(moveCommand2);
-
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
@@ -1216,6 +1240,16 @@
ArrayList<ShuttleThread> sameLev = new ArrayList<>();//鐩稿悓妤煎眰鐨勭┛姊溅
ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
+ //鍒ゆ柇鍏朵粬绌洪棽绌挎杞︽槸鍚︾浠诲姟鏈�杩�
+ String distLocNo = null;//鐩爣鍦扮偣锛屽叆搴�=銆嬫彁鍗囨満鍙ｏ紝鍑哄簱=銆嬭揣鐗╁簱浣嶅彿
+ if (wrkMast.getIoType() < 101) {
+ //鍏ュ簱
+ distLocNo = Utils.levToOutInStaLocNo(lev);
+ }else {
+ //鍑哄簱
+ distLocNo = locNo;
+ }
+
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
@@ -1231,6 +1265,14 @@
if (shuttleLocNo == null) {
continue;
}
+
+ if (shuttleLocNo.equals(distLocNo)) {
+ //杞﹁締褰撳墠浣嶇疆宸茬粡鏄洰鏍囧簱浣嶏紝鏃犻渶璁＄畻
+ map.put("sameLay", true);//鍚屽眰
+ map.put("result", shuttleThread);
+ return map;
+ }
+
int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//搴撲綅鍙峰搴斿眰楂�
if (lev == shuttleLocNoLey) {
//宸ヤ綔妗ｆゼ灞傜浉鍚岀殑绌挎杞�
@@ -1250,25 +1292,15 @@
recentShuttle = shuttleThread;
}
- //鍒ゆ柇鍏朵粬绌洪棽绌挎杞︽槸鍚︾浠诲姟鏈�杩�
- String distLocNo = null;//鐩爣鍦扮偣锛屽叆搴�=銆嬫彁鍗囨満鍙ｏ紝鍑哄簱=銆嬭揣鐗╁簱浣嶅彿
- if (wrkMast.getIoType() < 101) {
- //鍏ュ簱
- distLocNo = Utils.levToOutInStaLocNo(lev);
- }else {
- //鍑哄簱
- distLocNo = locNo;
- }
-
//褰撳墠绌挎杞﹀簱浣嶅彿
String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
//鐩墠鏈�杩戠┛姊溅搴撲綅鍙�
String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();
//褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒扮洰鏍囧湴鐐硅窛绂�
- List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(recentShuttle.getSlave().getId(), Utils.getLev(recentLocNo)));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
//褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
- List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
if (recentShuttlePath == null || currentShuttlePath == null) {
continue;
}
@@ -1298,9 +1330,9 @@
int recentLev = Utils.getLev(recentLocNo);
//褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒板綋鍓嶈溅瀛愭墍鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
- List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), recentLev));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
//褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
- List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
+ List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
if (recentShuttlePath == null || currentShuttlePath == null) {
continue;
}
@@ -1336,6 +1368,9 @@
&& shuttleProtocol.getTaskNo() != 0
&& shuttleProtocol.getBusyStatus() == 0
) {
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
+
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
if (wrkMast != null) {
@@ -1364,8 +1399,6 @@
shuttleProtocol.setSourceLocNo(null);
//鐩爣搴撲綅娓呴浂
shuttleProtocol.setLocNo(null);
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
//浠诲姟鎸囦护娓呴浂
shuttleProtocol.setAssignCommand(null);
News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
@@ -1468,6 +1501,12 @@
}
if (liftProtocol.getPlatShuttleCheck()) {
//鎻愬崌鏈烘鏃舵湁鍥涘悜杞︼紝鍙兘鏈夋湭瀹屾垚鐨勪换鍔★紝绂佹鍒嗛厤鏂颁换鍔�
+ continue;
+ }
+
+ //鑾峰彇鐩爣绔�
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
+ if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//鐩爣绔欐湁鐗╋紝涓嶅彲鍏ワ紝绂佹鍒嗛厤浠诲姟
continue;
}
@@ -1694,9 +1733,6 @@
&& !liftProtocol.getRunning()
) {
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
-
DevpThread devpThread = null;
Integer devpId = null;
for (DevpSlave devp : slaveProperties.getDevp()){
@@ -1708,8 +1744,18 @@
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
if (wrkMast != null) {
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀埌杈句换鍔℃ゼ灞�
+ String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
+ int lev = Utils.getLev(locNo);//浠诲姟鐩爣妤煎眰
+
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+
switch (wrkMast.getWrkSts().intValue()) {
case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+ if (liftProtocol.getLev().intValue() != lev) {
+ continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
+ }
//缁欑洰鏍囩珯璁剧疆宸ヤ綔鍙�
StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//鐩爣绔�
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
@@ -1721,16 +1767,23 @@
wrkMast.setWrkSts(4L);
break;
case 7://7.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
+ if (liftProtocol.getLev().intValue() != lev) {
+ continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
+ }
wrkMast.setWrkSts(8L);
break;
case 24://24.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 25.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
+ if (liftProtocol.getLev().intValue() != lev) {
+ continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
+ }
wrkMast.setWrkSts(25L);
break;
case 28://28.鎻愬崌鏈烘惉杩愪腑 ==> 29.鎻愬崌鏈烘惉杩愬畬鎴�
+ if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
+ continue;//鎻愬崌鏈烘槸鍚﹁揪鍒拌緭閫佺嚎妤煎眰
+ }
wrkMast.setWrkSts(29L);
wrkMast.setWrkSts(34L);//34.鍑哄簱瀹屾垚锛屾殏鏃跺厛鐩存帴瀹屾垚鍑哄簱宸ヤ綔妗ｏ紝鍚庣画闇�瑕佹牴鎹緭閫佺嚎缁欏嚭鐨勭姸鎬佹潵纭畾34.鍑哄簱瀹屾垚鐘舵��
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
break;
default:
}
@@ -1740,6 +1793,8 @@
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
//浠诲姟鎸囦护娓呴浂
liftProtocol.setAssignCommand(null);
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
} else {
News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
@@ -1749,6 +1804,9 @@
//鏌ヨ鏄惁鏈夊厖鐢典换鍔�
WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
if (wrkCharge != null) {
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+
switch (wrkCharge.getWrkSts().intValue()) {
case 54://鎻愬崌鏈烘惉杩愪腑
wrkCharge.setWrkSts(55L);//鎻愬崌鏈烘惉杩愬畬鎴�
@@ -1775,8 +1833,11 @@
if (liftProtocol.getAssignCommand() != null) {
//璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
+ //鍒ゆ柇鏄惁涓哄洓鍚戠┛姊溅璋冨害鎻愬崌鏈猴紝濡傛槸鍒欐棤闇�娓呯悊浠诲姟鍙�
+ if (!liftProtocol.getSecurityMk()) {
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
+ }
//鏍囪澶嶄綅
liftProtocol.setPakMk(true);
//浠诲姟鎸囦护娓呴浂
@@ -2470,7 +2531,7 @@
continue;
}
- WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue(), WrkChargeType.charge);
+ WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
if (wrkCharge != null) {//宸叉湁鍏呯數浠诲姟
continue;
}
@@ -2512,7 +2573,7 @@
*/
public synchronized void executeShuttleCharge() {
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
- WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
+ WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
if (wrkCharge == null) {
continue;
}
@@ -2720,23 +2781,33 @@
//鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺锛屾弧鐢�1000鎴栫數鍘�54V浠ヤ笂
if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
//鍏呮弧锛屾柇寮�鍏呯數
- List<ShuttleCommand> commands = new ArrayList<>();
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 0);
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);
+// List<ShuttleCommand> commands = new ArrayList<>();
+// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+// assignCommand.setTaskMode((short) 0);
+// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
+// assignCommand.setCharge(true);
+//
+// //鍒涘缓鍏呯數鎸囦护
+// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
+// commands.add(command);
+//
+// //鎸囦护闆嗗垎閰�
+// assignCommand.setCommands(commands);
+//
+// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
- commands.add(command);
+ //灏嗗皬杞︾Щ鍔ㄥ埌绌洪棽鐨勫贩閬�
+ ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
+ if (assignCommand == null) {
+ continue;
+ }
- //鎸囦护闆嗗垎閰�
- assignCommand.setCommands(commands);
-
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ wrkCharge.setWrkSts(60L);//60.鍏呯數浠诲姟瀹屾垚
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
}
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
@@ -2745,222 +2816,6 @@
}
}
- }
-
- /**
- * 杞鍏呯數妗╂槸鍚︽湁绌洪棽灏忚溅
- */
- @Deprecated
- public synchronized void queryChargeLocOfComplete() {
- // 涓庡厖鐢典换鍔′笉鍚屾杩涜
- if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
- if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- // 妫�绱㈠厖鐢垫々
- for (SteChargeType value : SteChargeType.values()) {
- Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
- if (steNo != null) {
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(steNo);
- if (Cools.isEmpty(steProtocol, basSte)) {
- continue;
- }
- if (steProtocol.getCharge() < 99) {
- continue;
- }
- if (steProtocol.getMode() == 0) {
- continue;
- }
- if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
- continue;
- }
-// // 1鍙峰厖鐢垫々
-// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
-// continue;
-// }
-// // 2鍙峰厖鐢垫々
-// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
-// continue;
-// }
-// // 3鍙峰厖鐢垫々
-// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
-// continue;
-// }
-// // 灏忚溅鏄惁澶勪簬鍏呯數鐘舵��
-// if (steProtocol.getChargeStatus() == 1) {
-// continue;
-// }
- // case 1 : 鑷姩鍏呯數寮� 棣堢數 脳
- // case 2 : 鑷姩鍏呯數寮� 婊＄數 鉁�
- // case 3 : 鑷姩鍏呯數鍏� 棣堢數 鉁�
- // case 4 : 鑷姩鍏呯數鍏� 婊＄數 鉁�
- if (basSte.getAutoCharge().equals("Y")
- && steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
- continue;
- }
-
- WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);
-
- if (wrkCharge == null) {
- // 寮�濮嬬┛姊溅澶嶄綅浠诲姟
- wrkCharge = new WrkCharge();
- wrkCharge.setSteNo(steNo);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
- wrkCharge.setWrkSts(41L); // 41.灏忚溅鍑嗗澶嶄綅
- wrkCharge.setCrnNo(2); // 鍥哄畾2鍙峰爢鍨涙満
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setSourceLocNo(value.locNo);
- wrkCharge.setLocNo(basSte.getIdleLoc());
- wrkCharge.setMemo("reset");
- wrkCharge.setAppeTime(new Date());
- if (!wrkChargeService.insert(wrkCharge)) {
- News.error("淇濆瓨{}鍙风┛姊溅澶嶄綅浠诲姟澶辫触!!!", steNo);
- } else {
- break;
- }
- }
- }
- }
- }
-
- /**
- * 灏忚溅浠庡厖鐢垫々 鑷� 寰呮満搴撲綅
- */
- @Deprecated
- public synchronized void steFromChargeToIdleLoc() {
- WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
- if (wrkCharge == null) { return; }
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
- if (Cools.isEmpty(steProtocol, basSte)) {
- return;
- }
- // 鎼繍鑷冲浐瀹氶�氶亾
- if (wrkCharge.getWrkSts() == 41L) {
- // 鎼皬杞﹁嚦灏忚溅璧板悜閫氶亾
- List<String> channel = slaveProperties.getChannel();
- for (String channelLocNo : channel) {
- Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
- if (null != otherSte) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", wrkCharge.getSteNo(), channelLocNo, otherSte);
- } else {
- // 鍥哄畾鍫嗗灈鏈�
- int crnNo = 1;
- if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
- return;
- }
-
- LocMast channelLoc = locMastService.selectById(channelLocNo);
-
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { continue; }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnNo); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(steProtocol.getRow()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
- News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 41.灏忚溅鍑嗗澶嶄綅 => 42.鍚婅溅鎼繍
- Date now = new Date();
- wrkCharge.setWrkSts(42L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼澶嶄綅浠诲姟鐘舵�� 41.灏忚溅鍑嗗澶嶄綅 => 42.鍚婅溅鎼繍 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- break;
- }
-
- }
- }
- } else if (wrkCharge.getWrkSts() == 43L) {
- // 灏忚溅琛岄┒閫氶亾
- if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(wrkCharge.getSteNo()); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 鍘诲乏绔�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
- if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 43.灏忚溅鍒拌揪 ===> 44.灏忚溅璧拌
- wrkCharge.setWrkSts(44L);
- Date now = new Date();
- wrkCharge.setCrnEndTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼澶嶄綅浠诲姟鐘舵�� 43.灏忚溅鍒拌揪 ===> 44.灏忚溅璧拌 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
- } else if (wrkCharge.getWrkSts() == 45L) {
- if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
- return;
- }
-
- LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());
-
- Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
- if (null != otherSte) {
- News.warn("{}鍙峰皬杞︾Щ鍏}搴撲綅缁勫け璐ワ紝鍘熷洜锛氬瓨鍦▄}鍙风┛姊溅锛�", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
- } else {
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) { return; }
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
- News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 45.灏忚溅寰呮惉 => 46.鏀捐嚦寰呮満浣�
- Date now = new Date();
- wrkCharge.setWrkSts(46L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 45.灏忚溅寰呮惉 => 46.鏀捐嚦寰呮満浣� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
-
- }
- }
}
public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
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