From 32bf433492f540b1392c19757124ebb91d0e74bd Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 29 三月 2023 15:55:01 +0800
Subject: [PATCH] 四向车入库分配任务逻辑
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 275 +++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 189 insertions(+), 86 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index bbf61c4..e2ee80d 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -5,9 +5,11 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.service.BasShuttleOptService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
@@ -17,9 +19,7 @@
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.ShuttleRunDirection;
-import com.zy.core.enums.ShuttleStatusType;
-import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -66,10 +66,10 @@
case 1:
readStatus();
break;
-// // 鍐欏叆鏁版嵁
-// case 2:
-// write((ShuttleCommand) task.getData());
-// break;
+ // 鍐欏叆鏁版嵁
+ case 2:
+ write((ShuttleCommand) task.getData());
+ break;
//涓嬪彂浠诲姟
case 3:
assignWork((ShuttleAssignCommand) task.getData());
@@ -117,6 +117,7 @@
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
shuttleProtocol.setShuttleNo(slave.getId().shortValue());
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
}
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
@@ -170,7 +171,7 @@
//鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟涓旀爣璁颁负true锛岄渶瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {
//鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getTaskNo());
+ executeWork(shuttleProtocol.getAssignCommand());
}
}else {
@@ -178,6 +179,7 @@
throw new CoolException(MessageFormat.format( "鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
}
} catch (Exception e) {
+ e.printStackTrace();
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
initShuttle();
}
@@ -189,46 +191,77 @@
return false;
}
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(slave.getId().shortValue());
// 寮�濮嬩换鍔�
short[] array = new short[17];
//鎺у埗鎸囦护瀛�
array[0] = command.getCommandWord();
- //鍚浜岀淮缂栧彿
- array[1] = command.getStartCodeNum();
- //涓棿浜岀淮缂栧彿
- array[2] = command.getMiddleCodeNum();
- //鐩爣浜岀淮缂栧彿
- array[3] = command.getDistCodeNum();
+ if (command.getStartCodeNum() != null) {
+ //鍚浜岀淮缂栧彿
+ array[1] = command.getStartCodeNum();
+ }
- //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴︼紝鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
- array[4] = startToDistDistances[0];
- array[5] = startToDistDistances[1];
+ if (command.getMiddleCodeNum() != null) {
+ //涓棿浜岀淮缂栧彿
+ array[2] = command.getMiddleCodeNum();
+ }
- //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
- array[6] = middleToDistDistances[0];
- array[7] = middleToDistDistances[1];
+ if (command.getDistCodeNum() != null) {
+ //鐩爣浜岀淮缂栧彿
+ array[3] = command.getDistCodeNum();
+ }
- //灏忚溅杩愯鏂瑰悜
- array[8] = command.getRunDirection();
- //鎵樼洏椤跺崌
- array[9] = command.getPalletLift();
+ if (command.getStartToDistDistance() != null) {
+ //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴︼紝鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
+ array[4] = startToDistDistances[0];
+ array[5] = startToDistDistances[1];
+ }
- //灏忚溅寮哄埗绉诲姩璺濈锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
- array[10] = forceMoveDistances[0];
- array[11] = forceMoveDistances[1];
+ if (command.getMiddleToDistDistance() != null) {
+ //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
+ array[6] = middleToDistDistances[0];
+ array[7] = middleToDistDistances[1];
+ }
- //鍏呯數寮�鍏�
- array[12] = command.getChargeSwitch();
- //灏忚溅IO鎺у埗
- array[13] = command.getIOControl();
- //灏忚溅杩愯閫熷害
- array[14] = command.getRunSpeed();
- //灏忚溅闆疯揪澶囩敤
- array[15] = command.getRadarTmp();
+ if (command.getRunDirection() != null) {
+ //灏忚溅杩愯鏂瑰悜
+ array[8] = command.getRunDirection();
+ }
+
+ if (command.getPalletLift() != null) {
+ //鎵樼洏椤跺崌
+ array[9] = command.getPalletLift();
+ }
+
+ if (command.getForceMoveDistance() != null) {
+ //灏忚溅寮哄埗绉诲姩璺濈锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
+ array[10] = forceMoveDistances[0];
+ array[11] = forceMoveDistances[1];
+ }
+
+ if (command.getChargeSwitch() != null) {
+ //鍏呯數寮�鍏�
+ array[12] = command.getChargeSwitch();
+ }
+
+ if (command.getIOControl() != null) {
+ //灏忚溅IO鎺у埗
+ array[13] = command.getIOControl();
+ }
+
+ if (command.getRunSpeed() != null) {
+ //灏忚溅杩愯閫熷害
+ array[14] = command.getRunSpeed();
+ }
+
+ if (command.getRadarTmp() != null) {
+ //灏忚溅闆疯揪澶囩敤
+ array[15] = command.getRadarTmp();
+ }
+
//鎸囦护缁撴潫浣�
array[16] = command.getCommandEnd();
@@ -254,65 +287,118 @@
}
//鍒嗛厤浠诲姟
- private void assignWork(ShuttleAssignCommand assignCommand) {
- //璁＄畻璺緞
- List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), "in");
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
//灏嗘map瀛樺叆redis涓�
HashMap<String, Object> map = new HashMap<>();
- //鍛戒护鎵ц姝ュ簭
- map.put("commandStep", 0);
- //璺緞鏁版嵁
- map.put("path", data);
+
+ //璁＄畻璺緞
+ List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), 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");
+ }
+ }
+
+ //鍥涘悜绌挎杞﹀彿
+ map.put("shuttle_no", assignCommand.getShuttleNo());
//宸ヤ綔鍙�
map.put("wrk_no", assignCommand.getTaskNo());
+ //鍛戒护鎵ц姝ュ簭
+ map.put("commandStep", 0);
+ //鍛戒护
+ map.put("assignCommand", assignCommand);
+ shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
+ shuttleProtocol.setAssignCommand(assignCommand);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
-
//鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand.getTaskNo());
+ executeWork(assignCommand);
}
//鎵ц涓嬪彂鐨勬寚浠�
- private void executeWork(Short taskNo) {
+ private void executeWork(ShuttleAssignCommand assignCommand) {
//璇诲彇redis鏁版嵁
- Object o = redisUtil.get("wrk_no_" + taskNo);
+ Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
HashMap map = JSON.parseObject(o.toString(), HashMap.class);
//褰撳墠姝ュ簭
int commandStep = Integer.parseInt(map.get("commandStep").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(commandStep);
- 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);
-
+ //path璺緞鏁扮洰
+ int size = 0;
//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);
+ switch (assignCommand.getTaskMode()) {
+ case 1://鍏ュ簱
+ case 2://鍑哄簱
+ //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(commandStep);
+ ArrayList objectPath = JSON.parseObject(o1.toString(), ArrayList.class);
+ ArrayList<NavigateNode> path = new ArrayList<>();
+ for (Object o2 : objectPath) {
+ NavigateNode navigateNode = JSON.parseObject(o2.toString(), NavigateNode.class);
+ path.add(navigateNode);
+ }
+ Integer allDistance = NavigateUtils.getCurrentPathAllDistance(path);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ size = Integer.parseInt(map.get("pathSize").toString());
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = path.get(0);
+ //鐩爣璺緞
+ NavigateNode endPath = path.get(path.size() - 1);
+
+ command.setCommandWord((short) 1);
+ command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+ command.setStartToDistDistance(allDistance);
+ command.setMiddleToDistDistance(1000);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+ command.setPalletLift((short) 1);
+ command.setForceMoveDistance(1000);
+ command.setChargeSwitch((short) 2);
+ command.setIOControl((short) 0);
+ command.setRunSpeed((short) 1000);
+ command.setRadarTmp((short) 0);
+
+ break;
+ case 3://鎵樼洏椤跺崌
+ case 4://鎵樼洏涓嬮檷
+ command.setCommandWord((short) 2);
+ command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
+ command.setCommandEnd((short) 1);
+ break;
+ case 5://寮哄埗宸︾Щ
+ case 6://寮哄埗鍙崇Щ
+ case 7://寮哄埗涓婄Щ
+ case 8://寮哄埗涓嬬Щ
+ command.setCommandWord((short) 3);
+ command.setForceMoveDistance(1000);
+ command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
+ command.setCommandEnd((short) 1);
+ break;
+ case 9://鐘舵�佸浣�
+ command.setCommandWord((short) 0);
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
+ break;
+ default:
+ }
+
+ command.setCommandEnd((short) 1);
//涓嬪彂鍛戒护
if (!write(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));
@@ -323,7 +409,7 @@
shuttleProtocol.setPakMk(false);
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < size) {
+ if (commandStep < size - 1) {
//鏇存柊redis鏁版嵁
//姝ュ簭澧炲姞
commandStep++;
@@ -333,12 +419,29 @@
}else {
//宸叉墽琛屽畬鎴�
//淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
+ if (shuttleOptService != null) {
+ BasShuttleOpt opt = new BasShuttleOpt(
+ assignCommand.getTaskNo().intValue(),
+ assignCommand.getShuttleNo().intValue(),
+ new Date(),
+ ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
+ assignCommand.getSourceLocNo(),
+ assignCommand.getDistLocNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command)
+ );
+ shuttleOptService.insert(opt);
+ }
//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�
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+
+ News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
}
}
--
Gitblit v1.9.1