From 3c5935f579c0d51e64721101e81886ff957be229 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 02 八月 2023 09:14:25 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 183 +++++++++++++++++++++++++++++++++++++--------
1 files changed, 151 insertions(+), 32 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index f5c3500..648e456 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -5,8 +5,11 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
+import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.model.NavigateNode;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
@@ -14,14 +17,13 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
+import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.NyShuttleHttpCommand;
-import com.zy.core.model.command.ShuttleAssignCommand;
-import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.command.ShuttleRedisCommand;
+import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.NyShuttleProtocol;
+import com.zy.core.properties.SlaveProperties;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -310,8 +312,42 @@
if (commands.size() == 0) {
return false;
}
+
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
//鍙栧嚭鍛戒护
- NyShuttleHttpCommand command = commands.get(commandStep);
+ NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ if (commandStep != 0) {
+ //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
+ NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
+ String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
+ if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
+ //绉诲姩鍛戒护銆佸嚭鍏ユ彁鍗囨満鍛戒护
+ NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ if (shuttleProtocol.getPoint().equals(target)) {
+ //涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
+ lastCommand.setComplete(true);
+ //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰勫拰褰撳墠璺緞
+ List<NavigateNode> nodes = lastCommand.getNodes();
+ nodes.addAll(command.getNodes());
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ }
+ }else {
+ lastCommand.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
+ }
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+
+ if (!lastCommand.getComplete()) {
+ //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
+ return false;
+ }
+ }
+
+ List<NavigateNode> nextNodes = null;//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ if (commandStep + 1 < commands.size()) {
+ NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//涓嬩竴姝ュ懡浠�
+ nextNodes = nextCommand.getNodes();//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ }
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
@@ -322,8 +358,22 @@
return false;
}
- //妫�鏌ヨ矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
+ //妫�娴嬬┛姊溅鏄惁鍦ㄦ彁鍗囨満鍐�
+ if (!checkShuttleInTheLift(wrkNo)) {
+ return false;
+ }
+ //妫�鏌ヨ矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
+ //妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(command.getNodes(), shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ if (!checkPathIsAvailable && !checkPathIsAvailable2) {
+ return false;
+ }
+ //閿佸畾璺緞锛岄攣瀹氬綋鍓嶈矾寰勫拰涓嬩竴姝ヨ矾寰�
+ List<NavigateNode> nodes = command.getNodes();
+ nodes.addAll(nextNodes);
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
//鍙墽琛屽懡浠�
if (!write(command)) {
@@ -365,20 +415,6 @@
}else {
//宸叉墽琛屽畬鎴�
-// if (redisCommand.getLiftSecurityMk()) {
-// //鏇鹃攣瀹氳繃鎻愬崌鏈猴紝闇�瑕佽繘琛岃В閿�
-// if (liftProtocol != null) {
-// liftProtocol.setSecurityMk(false);
-// }
-// }
-
-// String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
-// if (locNo != null) {
-// //瑙ｉ櫎閿佸畾鐨勫簱浣嶈矾寰�
-// NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo));
-// navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false);
-// }
-
//鍒犻櫎redis
redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
@@ -406,15 +442,7 @@
return false;
}
- //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;
- }
+ WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
//褰撳墠姝ュ簭
@@ -422,15 +450,106 @@
//妫�娴嬫槸鍚﹀瓨鍦ㄦ彁鍗囨満鍙ｇ殑鎸囦护
List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
- if (commands.size() == 0) {
+ if (commands.isEmpty()) {
+ return false;
+ }
+ NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ if (!command.getMsgType().equals("intoLift")) {
+ return true;//涓嶆槸鍏ユ彁鍗囨満鍛戒护锛岀洿鎺ユ斁琛�
+ }
+
+ //鑾峰彇璧风偣(杈撻�佺珯鐐�)
+ NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(command.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ //灏嗙墰鐪煎潗鏍囪浆鎹㈡垚WCS搴撲綅鍙�
+ String startLocNo = NavigatePositionConvert.nyXyzToLocNo(start.getX(), start.getY(), start.getZ());
+
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ BasDevp basDevp = basDevpService.queryByLocNo(startLocNo);
+ if (basDevp == null) {
+ return false;//鏌ヤ笉鍒扮珯鐐癸紝绂佹涓嬪彂
+ }
+
+ //鎷垮埌鎻愬崌鏈虹嚎绋�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle()) {
return false;
}
- if (!commands.get(commandStep).getMsgType().equals("move")) {
- return true;//涓嶆槸琛岃蛋鍛戒护锛岀洿鎺ユ斁琛�
+ if (liftProtocol.getLev().intValue() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ return true;//鎻愬崌鏈鸿揪鍒板皬杞︽ゼ灞傦紝鏀捐
}
+ //鎼滅储鏄惁鏈夊叾浠栦换鍔″崰鐢ㄤ簡鎻愬崌鏈猴紝濡傛灉鍗犵敤鎻愬崌鏈虹殑浠诲姟鍜屽綋鍓嶄换鍔＄浉鍚岋紝鍒欒繍琛屾墽琛�
+ WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
+ if (wrkMast1 != null && wrkMast1.getWrkNo() != wrkNo.intValue()) {
+ return false;
+ }
+ //鎻愬崌鏈烘湭鍒拌揪灏忚溅妤煎眰锛屽懠鍙彁鍗囨満
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, null, basDevp.getDevNo(), wrkNo.intValue());
+ ArrayList<NyLiftCommand> liftCommands = new ArrayList<>();
+ liftCommands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(liftCommands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkNo);
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
+
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+
+ return false;//榛樿涓嶆斁琛�
+ }
+
+ /**
+ * 妫�娴嬬┛姊溅鏄惁鍦ㄦ彁鍗囨満鍐�
+ * 濡傜┛姊溅鍦ㄦ彁鍗囨満鍐咃紝蹇呴』绛夊緟鎻愬崌鏈虹┖闂叉墠鍙墽琛岀┛姊溅鍛戒护
+ */
+ private boolean checkShuttleInTheLift(Short wrkNo) {
+ //璇诲彇redis鏁版嵁
+ if (wrkNo == null) {
+ return false;
+ }
+
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return false;
+ }
+
+ SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
+ BasLiftService liftService = SpringUtils.getBean(BasLiftService.class);
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ BasLift basLift = liftService.selectById(liftSlave.getId());
+ if (basLift == null) {
+ continue;
+ }
+ if (basLift.getPoint().equals(shuttleProtocol.getPoint())) {
+ //灏忚溅鍦ㄦ彁鍗囨満鍐�
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (liftProtocol.isIdle()) {
+ //鎻愬崌鏈哄浜庣┖闂诧紝鏀捐
+ return true;
+ }
+ }
+ }
return false;//榛樿涓嶆斁琛�
}
--
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