From 32cf315c6ac0cbbac6cc75a5e4e083d5e72bbe04 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 12 四月 2023 16:52:00 +0800
Subject: [PATCH] 穿梭车到达提升机口前，优先调度提升机。寻路节点增加层高等
---
src/main/java/com/zy/asrs/controller/ShuttleController.java | 83 +++++++++++++++++++++++------------------
1 files changed, 47 insertions(+), 36 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/ShuttleController.java b/src/main/java/com/zy/asrs/controller/ShuttleController.java
index 38b1212..369efd4 100644
--- a/src/main/java/com/zy/asrs/controller/ShuttleController.java
+++ b/src/main/java/com/zy/asrs/controller/ShuttleController.java
@@ -9,9 +9,13 @@
import com.zy.asrs.domain.param.ShuttleOperatorParam;
import com.zy.asrs.domain.vo.*;
import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasShuttleService;
+import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
@@ -30,7 +34,6 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
-import java.util.Random;
/**
* 鍥涘悜绌挎杞︽帴鍙�
@@ -46,6 +49,8 @@
private BasShuttleService basShuttleService;
@Autowired
private WrkMastService wrkMastService;
+ @Autowired
+ private LocMastService locMastService;
@PostMapping("/table/shuttle/state")
@ManagerAuth(memo = "鍥涘悜绌挎杞︿俊鎭〃")
@@ -70,20 +75,45 @@
vo.setBusyStatus(shuttleProtocol.getBusyStatusType().desc); //鍥涘悜绌挎杞︾姸鎬�
vo.setStatus(shuttleProtocol.getProtocolStatusType().desc);//褰撳墠浠诲姟鐘舵��
vo.setCurrentCode(shuttleProtocol.getCurrentCode());//褰撳墠浜岀淮鐮�
+ LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ if (currentLocMast == null) {
+ vo.setLocNo("");//鑾峰彇褰撳墠搴撲綅鍙�
+ vo.setLocNoX(0);
+ vo.setLocNoY(0);
+ vo.setLocNoLev(0);//褰撳墠搴撲綅灞傞珮
+ }else {
+ vo.setLocNo(currentLocMast.getLocNo());//鑾峰彇褰撳墠搴撲綅鍙�
+ int[] locNoXY = NavigatePositionConvert.positionToXY(currentLocMast.getLocNo());//鑾峰彇搴撲綅鍙稾Y鍧愭爣
+ vo.setLocNoX(locNoXY[0]);
+ vo.setLocNoY(locNoXY[1]);
+ vo.setLocNoLev(Utils.getLev(currentLocMast.getLocNo()));//褰撳墠搴撲綅灞傞珮
+ }
vo.setBatteryPower(shuttleProtocol.getBatteryPower$() == null ? "" : shuttleProtocol.getBatteryPower$() + "%");//鐢垫睜鐢甸噺
vo.setBatteryTemp(shuttleProtocol.getBatteryTemp$() == null ? "" : shuttleProtocol.getBatteryTemp$() + "掳");//鐢垫睜娓╁害
if (!Cools.isEmpty(shuttleProtocol.getErrorCode())) {
-// vo.setErrorCode(shuttleProtocol.getErrorCodeType().desc);//閿欒缂栧彿
+ vo.setErrorCode(shuttleProtocol.getErrorCodeType());//閿欒缂栧彿
}
vo.setPlcOutputStatusIO(shuttleProtocol.getPlcOutputStatusIO());//Plc杈撳嚭鐘舵�両O
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputLift())) {
+ vo.setPlcOutputLift(shuttleProtocol.getPlcOutputLift());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputTransfer())) {
+ vo.setPlcOutputTransfer(shuttleProtocol.getPlcOutputTransfer());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputBrake())) {
+ vo.setPlcOutputBrake(shuttleProtocol.getPlcOutputBrake());
+ }
+ if (!Cools.isEmpty(shuttleProtocol.getPlcOutputCharge())) {
+ vo.setPlcOutputCharge(shuttleProtocol.getPlcOutputCharge());
+ }
if (!Cools.isEmpty(shuttleProtocol.getStatusErrorCode())) {
- vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode());//閿欒淇℃伅鐮�
+ vo.setStatusErrorCode(shuttleProtocol.getStatusErrorCode$());//閿欒淇℃伅鐮�
}
vo.setPlcInputStatus(shuttleProtocol.getPlcInputStatus());//PLC杈撳叆鐘舵��
vo.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode());//褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
vo.setCodeOffsetX(shuttleProtocol.getCodeOffsetX());//璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
vo.setCodeOffsetY(shuttleProtocol.getCodeOffsetY());//璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
- vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage());//褰撳墠鐨勭數鍘嬪��
+ vo.setCurrentVoltage(shuttleProtocol.getCurrentVoltage() * 0.1);//褰撳墠鐨勭數鍘嬪��
vo.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue());//褰撳墠鐨勬ā鎷熼噺鍊�
vo.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed());//褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
vo.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed());//褰撳墠鐨勮璧颁己鏈嶉�熷害
@@ -164,9 +194,6 @@
vo.setShuttleNo(shuttleSlave.getId());
BasShuttle basShuttle = basShuttleService.selectById(shuttleSlave.getId());
if (!Cools.isEmpty(basShuttle)) {
- vo.setRow(basShuttle.getRow());
- vo.setBay(basShuttle.getBay());
- vo.setLev(basShuttle.getLev());
vo.setWorkNo(basShuttle.getWrkNo());
vo.setPakMk(basShuttle.getPakMk());
}
@@ -195,23 +222,6 @@
// 绌挎杞﹀紓甯� -----------
// 绌挎杞︽彁绀轰俊鎭� ----------------------
-
- // 浠诲姟淇℃伅 ----------------
- vo.setPakInTask(shuttleProtocol.isPakInTask());
- vo.setPakOutTask(shuttleProtocol.isPakOutTask());
- vo.setPakMoveTask(shuttleProtocol.isPakMoveTask());
- vo.setGoHpTask(shuttleProtocol.isGoHpTask());
- vo.setGoOHpTask(shuttleProtocol.isGoOHpTask());
- vo.setGoHpAvoid(shuttleProtocol.isGoHpAvoid());
- vo.setGoOHpAvoid(shuttleProtocol.isGoOHpAvoid());
- vo.setPakInEmpty(shuttleProtocol.isPakInEmpty());
- vo.setPakInFinish(shuttleProtocol.isPakInFinish());
- vo.setPakOutEmpty(shuttleProtocol.isPakOutEmpty());
- vo.setPakOutFinish(shuttleProtocol.isPakOutFinish());
- vo.setGoHpAvoidFinish(shuttleProtocol.isGoHpAvoidFinish());
- vo.setGoOHpAvoidFinish(shuttleProtocol.isGoOHpAvoidFinish());
- vo.setGoHpAvoidErr(shuttleProtocol.isGoHpAvoidErr());
- vo.setGoOHpAvoidErr(shuttleProtocol.isGoOHpAvoidErr());
// 鐘舵�佷俊鎭� -------------
@@ -245,9 +255,6 @@
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
}
- basShuttle.setRow(vo.getRow());
- basShuttle.setBay(vo.getBay());
- basShuttle.setLev(vo.getLev());
basShuttle.setPakMk(vo.getPakMk());
basShuttle.setWrkNo(vo.getWorkNo());
@@ -269,8 +276,14 @@
return R.parse(BaseRes.PARAM);
}
- if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
- return R.parse(BaseRes.PARAM);
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
+ if (param.getShuttleTaskMode() == 1 || param.getShuttleTaskMode() == 2 || param.getShuttleTaskMode() == 14) {
+ if (Cools.isEmpty(param.getSourceLocNo(), param.getDistLocNo())) {
+ return R.parse(BaseRes.PARAM);
+ }
+ assignCommand.setSourceLocNo(param.getSourceLocNo());
+ assignCommand.setLocNo(param.getDistLocNo());
}
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
@@ -285,14 +298,12 @@
}
ShuttleTaskModeType shuttleTaskModeType = ShuttleTaskModeType.get(param.getShuttleTaskMode());
- ShuttleAssignCommand command = new ShuttleAssignCommand();
- command.setShuttleNo(shuttleSlave.getId().shortValue()); // 鍥涘悜绌挎杞︾紪鍙�
- command.setTaskMode(shuttleTaskModeType.id.shortValue());
- command.setSourceLocNo(param.getSourceLocNo());
- command.setDistLocNo(param.getDistLocNo());
- command.setTaskNo((short) 9999);
+ assignCommand.setShuttleNo(shuttleSlave.getId().shortValue()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(shuttleTaskModeType.id.shortValue());
+ assignCommand.setTaskNo((short) 9999);
+ assignCommand.setAuto(false);//鎵嬪姩妯″紡
- if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, command))) {
+ if (MessageQueue.offer(SlaveType.Shuttle, shuttleSlave.getId(), new Task(3, assignCommand))) {
return R.ok();
} else {
throw new CoolException("鍛戒护涓嬪彂澶辫触");
--
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