From 1de44cff79c5e4219e49cd45a5dd044c5dc4c23a Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 03 十一月 2023 12:48:03 +0800
Subject: [PATCH] #路径锁定问题(temp)
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 137 +++++++++++++++++++++++++++++++++++++--------
1 files changed, 111 insertions(+), 26 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 443f207..bcdd0f3 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -108,6 +108,8 @@
private BasLiftOptService basLiftOptService;
@Autowired
private ConfigService configService;
+ @Autowired
+ private NavigateMapUtils navigateMapUtils;
/**
@@ -861,6 +863,12 @@
return false;//鍑哄簱绔欑偣涓嶅彲鍑�
}
+ Integer liftNo = basDevp.getLiftNo();//鎼滅储鍑哄簱鎻愬崌鏈烘槸鍚﹀瓨鍦ㄥ叆搴撲换鍔★紝濡傚瓨鍦ㄧ姝㈠嚭搴�
+ List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
+ if (!liftWrkMasts.isEmpty()) {
+ return false;//瀛樺湪鍏ュ簱浠诲姟锛岀姝㈠嚭搴�
+ }
+
//鑾峰彇婧愮珯
LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
if (liftStaProtocol == null) {
@@ -1105,6 +1113,18 @@
if (!sourceBasDevp.getInEnable().equals("Y")) {
return false;//绔欑偣涓嶅彲鍏�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘暣涓笁妤兼槸鍚﹂兘澶勪簬鍏ュ簱妯″紡
+ Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
+ Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
+ Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
+ if (outInModel1 == null || outInModel2 == null || outInModel3 == null) {
+ return false;//涓嶅瓨鍦ㄥ嚭鍏ュ簱妯″紡
+ }
+
+ if (outInModel1 == 2 || outInModel2 == 2 && outInModel3 == 2) {
+ return false;//鍙鏈変竴涓浜庡嚭搴撴ā寮忥紝绂佹鍏ュ簱
}
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
@@ -2013,10 +2033,10 @@
}
/**
- * AGV琛ヨ揣 => 鏈烘鑷傛嫞鏂�
+ * AGV琛ヨ揣 => 鐢熸垚鍏ュ簱閫氱煡妗�
*/
- public void agvRestockByRobot() {
- //妫�娴�300绔欐槸鍚﹁嚜鍔ㄣ�佹湁鐗┿�佸伐浣滃彿
+ public void robotGenerateAgvTask() {
+//妫�娴�300绔欐槸鍚﹁嚜鍔ㄣ�佹湁鐗┿�佸伐浣滃彿
for (DevpSlave devp : slaveProperties.getDevp()) {
// 鑾峰彇鍏ュ簱绔欎俊鎭�
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -2046,7 +2066,7 @@
} else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
//鑷姩銆佹棤鐗�
targetSta = (short) 317;
- }else {
+ } else {
continue;//娌℃湁绌洪棽绔欑偣
}
@@ -2067,6 +2087,7 @@
//瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
wrkMast.setStaNo(targetSta.intValue());
wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
if (wrkMastMapper.updateById(wrkMast) > 0) {
//鍚�300绔欏啓鍏ョ洰鏍囩珯
staProtocol = staProtocol.clone();
@@ -2088,6 +2109,7 @@
// //瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
// wrkMast.setStaNo(targetSta.intValue());
// wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+// wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
// if (wrkMastMapper.updateById(wrkMast) > 0) {
// //鍚�300绔欏啓鍏ョ洰鏍囩珯
// staProtocol = staProtocol.clone();
@@ -2103,9 +2125,23 @@
}
}
}
+ }
+ }
+ /**
+ * AGV琛ヨ揣 => 鏈烘鑷傛嫞鏂�
+ */
+ public void agvRestockByRobot() {
+ //妫�娴�300绔欐槸鍚﹁嚜鍔ㄣ�佹湁鐗┿�佸伐浣滃彿
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
StaProtocol staProtocol303 = devpThread.getStation().get(303);
StaProtocol staProtocol317 = devpThread.getStation().get(317);
+ if (staProtocol303 == null || staProtocol317 == null) {
+ continue;
+ }
+
if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
//璋冨害鏈烘鑷�
//鏌ヨ鏄惁鏈夊伐浣滄。
@@ -2159,27 +2195,31 @@
continue;
}
- if (staProtocol309.isAutoing() && staProtocol309.isLoading()) {
+ if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 11);//308绔欐潯鐮佸櫒
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308绔欐潯鐮佸櫒
if (barcodeThread == null) {
continue;
}
String barcode = barcodeThread.getBarcode();
if(!Cools.isEmpty(barcode)) {
//閫氱煡AGV鍙栬揣
- agvRestockCall("CS-301-001-01@3", barcode);
+ agvRestockCall("301-1", barcode);
+ log.info("閫氱煡AGV鍙栬揣锛屾潯鐮佸彿锛�" + barcode);
}
- } else if (staProtocol312.isAutoing() && staProtocol312.isLoading()) {
+ }
+
+ if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 12);//311绔欐潯鐮佸櫒
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311绔欐潯鐮佸櫒
if (barcodeThread == null) {
continue;
}
String barcode = barcodeThread.getBarcode();
if(!Cools.isEmpty(barcode)) {
//閫氱煡AGV鍙栬揣
- agvRestockCall("CS-302-001-01@3", barcode);
+ agvRestockCall("302-1", barcode);
+ log.info("閫氱煡AGV鍙栬揣锛屾潯鐮佸彿锛�" + barcode);
}
}
}
@@ -2698,6 +2738,22 @@
return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
}
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+ List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
+ if (targetNodes == null) {
+ return false;//鏈幏鍙栧埌鑺傜偣
+ }
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null);
+ if (!checkPathIsAvailable) {
+ return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
+ }
+ //灏濊瘯閿佸畾鐩爣绔欒矾寰�
+ boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ if (!result2) {
+ return false;//璺緞閿佸畾澶辫触
+ }
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+
//鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
List<NyShuttleHttpCommand> commands = result.getCommands();
@@ -3053,6 +3109,7 @@
if (basLift.getPoint() == null) {
return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
}
+
NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
liftNode.setZ(liftSta.getLev());
@@ -3117,22 +3174,26 @@
return false;
}
-// //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
-// BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
-// if (targetBasDevp == null) {
-// return false;//缂哄皯绔欑偣淇℃伅
-// }
+// //璺ㄦゼ灞傜Щ鍔ㄤ换鍔�
+// if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
+// //鑾峰彇鐩爣绔�
+// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+// if (liftSta == null) {
+// return false;//鎵句笉鍒扮珯鐐�
+// }
//
-// //鑾峰彇鎻愬崌鏈烘暟鎹�
-// BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
-// if (basLift == null) {
-// return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+// //*************灏濊瘯瑙ｉ攣鐩爣绔欒矾寰�***************
+// List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
+// if (targetNodes == null) {
+// return false;//鏈幏鍙栧埌鑺傜偣
+// }
+// //灏濊瘯瑙ｉ攣鐩爣绔欒矾寰�
+// boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
+// if (!result) {
+// return false;//璺緞瑙ｉ攣澶辫触
+// }
+// //*************灏濊瘯瑙ｉ攣鐩爣绔欒矾寰�***************
// }
-// if (basLift.getPoint() == null) {
-// return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
-// }
-// NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
-// liftNode.setZ(basLift.getPoint$().getZ());
//灏忚溅宸茬粡鍦ㄧ洰鏍囧簱浣嶏紝鐩存帴璁ゅ畾灏忚溅绉诲姩浠诲姟瀹屾垚
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
@@ -3161,8 +3222,32 @@
return false;
}
- //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
+ NyShuttleOperaResult result = null;
+ //璺ㄦゼ灞傜Щ鍔ㄤ换鍔�
+ if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
+ //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆
+ //鑾峰彇鐩爣绔�
+ LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (liftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
+ if (targetNodes == null) {
+ return false;//鏈幏鍙栧埌鑺傜偣
+ }
+
+ //璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+ ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+ for (NavigateNode node : targetNodes) {
+ whiteList.add(new int[]{node.getX(), node.getY()});
+ }
+ result = NyShuttleOperaUtils.getStartToTargetCommandsByWhites(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList);
+ }else {
+ //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
+ result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
+ }
+
if (result == null) {
return false;//璺緞璁＄畻澶辫触
}
--
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