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/core/thread/ShuttleThread.java | 159 ++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 156 insertions(+), 3 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index a970778..871654e 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -8,9 +8,11 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.entity.LocMast;
+import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
@@ -27,8 +29,11 @@
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
+import com.zy.core.model.command.LiftAssignCommand;
+import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
+import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -196,6 +201,20 @@
&& shuttleProtocol.getAssignCommand() != null) {
//鎵ц涓嬩竴姝ユ寚浠�
executeWork(shuttleProtocol.getAssignCommand());
+ }
+
+ //妫�娴嬫槸鍚︽湁鎻愬崌鏈洪攣瀹氭爣璁帮紝鏈夊垯妫�娴嬫彁鍗囨満鏄惁鍒颁綅锛屾槸鍚﹁兘璧颁笅涓�姝ュ懡浠�
+ if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getAssignCommand() != null) {
+ Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getAssignCommand().getTaskNo());
+ if (o != null) {
+ HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
+ //鎵ц涓嬩竴姝ユ寚浠�
+ executeWork(shuttleProtocol.getAssignCommand());
+ }
+ }
}
//灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
@@ -631,14 +650,18 @@
return false;
}
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- shuttleProtocol.setPakMk(false);
-
Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
if (o == null) {
return false;
}
HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+
+ if (!checkLiftStation(assignCommand)) {//妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
+ return false;
+ }
+
+ //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+ shuttleProtocol.setPakMk(false);
List<ShuttleCommand> errorCommands = JSON.parseArray(map.get("errorCommands").toString(),ShuttleCommand.class);
if (errorCommands.size() > 0) {
@@ -765,6 +788,16 @@
);
shuttleOptService.insert(opt);
}
+
+ if (map.containsKey("liftSecurityMk") && Boolean.parseBoolean(map.get("liftSecurityMk").toString())) {
+ //鏇鹃攣瀹氳繃鎻愬崌鏈猴紝闇�瑕佽繘琛岃В閿�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol != null) {
+ liftProtocol.setSecurityMk(false);
+ }
+ }
+
//鍒犻櫎redis
redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
@@ -798,6 +831,126 @@
}
/**
+ * 妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
+ */
+ private boolean checkLiftStation(ShuttleAssignCommand assignCommand) {
+ //璇诲彇redis鏁版嵁
+ if (assignCommand == null) {
+ return false;
+ }
+
+ Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ if (o == null) {
+ return false;
+ }
+ HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ //褰撳墠姝ュ簭
+ int commandStep = Integer.parseInt(map.get("commandStep").toString());
+
+ //妫�娴嬫槸鍚﹀瓨鍦ㄦ彁鍗囨満鍙ｇ殑鎸囦护
+ List<ShuttleCommand> commands = assignCommand.getCommands();
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ ArrayList<Short> qrCodeValues = new ArrayList<>();
+ for (BasDevp basDevp : basDevpService.selectList(null)) {
+ //灏嗘墍鏈夋彁鍗囨満鍙ｄ簩缁寸爜瀛樺叆list
+ qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
+ }
+
+ //閬嶅巻鎵�鏈夋寚浠わ紝鍒ゆ柇鏄惁鏈夊埌鎻愬崌鏈哄彛鐨勬寚浠わ紝骞惰幏鍙栧埌杈捐鎻愬崌鏈哄彛鎵�闇�姝ュ簭
+ int step = 0;
+ ShuttleCommand command = null;
+ for (int i = 1; i < commands.size(); i++) {
+ command = commands.get(i);
+ if (qrCodeValues.contains(command.getDistCodeNum())) {
+ //瀛樺湪
+ step = i + 1;
+ break;
+ }
+ }
+
+ if (step == 0) {
+ //鏃犻渶鍚庣画妫�娴嬶紝鐩存帴鏀捐
+ return true;
+ }
+
+ //鍒ゆ柇涓嬩竴姝ユ槸鍚︿负鎻愬崌鏈哄彛
+ if (commandStep + 1 != step) {
+ //涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
+ return true;
+ }
+
+ //鎷垮埌鎻愬崌鏈虹嚎绋�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞﹀綋鍓嶆ゼ灞�
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
+ Integer shuttleLocNoLev = Integer.parseInt(shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length()));//搴撲綅鍙峰搴斿眰楂�
+
+ //绋嬪簭璧板埌杩欙紝琛ㄧず鎻愬崌鏈哄彲鑳戒竴鐩村氨鍦ㄥ綋鍓嶅眰锛屽彲鑳界粡杩囦簡绉诲姩鍒拌揪浜嗚灞�
+ if (liftProtocol.getProtocolStatusType() == LiftProtocolStatusType.WAITING) {
+ //鎻愬崌鏈虹瓑寰呯‘璁�
+ //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);
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ liftProtocol.setAssignCommand(null);
+ //鎻愬崌鏈鸿В閿�
+ liftProtocol.setLiftLock(false);
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀湪鐩爣妤煎眰
+ if (liftProtocol.getLev().intValue() == shuttleLocNoLev) {
+ //鍚屼竴灞傦紝鐩存帴鏀捐
+ return true;
+ }
+
+ //鎻愬崌鏈哄拰绌挎杞﹀浜庝笉鍚屾ゼ灞傦紝闇�瑕佽繘琛岃皟搴�
+ if (!liftProtocol.isIdle()) {
+ //鎻愬崌鏈轰笉鏄┖闂�
+ return false;
+ }
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ liftProtocol.setTaskNo(shuttleProtocol.getTaskNo());//璁剧疆浠诲姟鍙�
+ liftProtocol.setShuttleNo(shuttleProtocol.getShuttleNo());//璁剧疆鍥涘悜绌挎杞﹀彿
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+ liftProtocol.setSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
+ map.put("liftSecurityMk", true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+
+ //鍛戒护list
+ ArrayList<LiftCommand> liftCommands = new ArrayList<>();
+ LiftCommand liftCommand = new LiftCommand();
+ liftCommand.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
+ liftCommand.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
+ liftCommand.setRun((short) 1);//鍗囬檷
+ liftCommand.setDistPosition(shuttleLocNoLev.shortValue());//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
+ liftCommand.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ liftCommands.add(liftCommand);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
+ liftAssignCommand.setCommands(liftCommands);
+ liftAssignCommand.setLiftNo(liftProtocol.getLiftNo());
+ liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));
+
+ return false;
+ }
+
+ /**
* 澶嶄綅骞跺皾璇曚慨澶嶉敊璇�
*/
private boolean reset(ShuttleAssignCommand assignCommand) {
--
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