From 44fa920bbcf6cd94c81f3a6d2f3008925a8635ca Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 11 五月 2023 09:40:39 +0800
Subject: [PATCH] 四向穿梭车命令封装
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 129 +++++++++---------------------------------
src/main/java/com/zy/core/thread/ShuttleThread.java | 26 ++++++--
2 files changed, 47 insertions(+), 108 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 ca20843..247c1eb 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -708,18 +708,15 @@
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
//鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo, assignCommand,shuttleThread);
if (wrkMast.getWrkSts() == 8) {
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//鎻愬崌鏈哄彛浜岀淮鐮�
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鎻愬崌鏈哄彛浜岀淮鐮�
+ Short runDirection = commands.get(0).getRunDirection();//杩愯鏂瑰悜
+ //鑾峰彇鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
}
assignCommand.setCommands(commands);
@@ -732,7 +729,7 @@
//涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
@@ -756,7 +753,7 @@
}
//鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥�
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
List<ShuttleCommand> commands = new ArrayList<>();
@@ -776,29 +773,12 @@
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
commands.add(command);
}
@@ -811,7 +791,7 @@
}
//鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘
List<ShuttleCommand> commands = new ArrayList<>();
@@ -832,37 +812,17 @@
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
commands.add(command);
}
//灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉￠《鍗囨寚浠�
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 1);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(shuttleThread.getPalletCommand((short) 1));
//璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
@@ -881,37 +841,16 @@
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id);
+ commands.add(moveCommand);
}
//灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
- command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 2);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(shuttleThread.getPalletCommand((short) 2));
assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
@@ -1001,7 +940,7 @@
if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
@@ -1012,7 +951,7 @@
//涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
//灏忚溅鍒版彁鍗囨満鍙ｆ寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
assignCommand.setLocNo(liftLocNo);
@@ -1020,17 +959,13 @@
wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
}
} else if (wrkMast.getWrkSts() == 25) {
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo, assignCommand, shuttleThread);
//姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);//灏忚溅绉诲姩鎸囦护瀛�
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈轰簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈轰簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鐩爣浜岀淮鐮�
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, commands.get(0).getRunDirection());
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
//鍒嗛厤鐩爣搴撲綅
@@ -2261,7 +2196,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//鑾峰彇灏忚溅鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//杩涜鍏呯數涓�
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
@@ -2271,11 +2206,7 @@
assignCommand.setCharge(true);//鍏呯數浠诲姟
//鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 1);//寮�濮嬪厖鐢�
- command.setCommandEnd((short) 1);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
commands.add(command);
//鎸囦护闆嗗垎閰�
@@ -2292,7 +2223,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
@@ -2404,11 +2335,7 @@
assignCommand.setCharge(true);
//鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 2);//鏂紑鍏呯數
- command.setCommandEnd((short) 1);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
commands.add(command);
//鎸囦护闆嗗垎閰�
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 2df784a..e6eac50 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -918,7 +918,7 @@
* 鑾峰彇鎵樼洏椤跺崌鍛戒护
* @param lift 1椤跺崌锛�2涓嬮檷
*/
- private ShuttleCommand getPalletCommand(Short lift) {
+ public ShuttleCommand getPalletCommand(Short lift) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 2);
command.setStartCodeNum((short) 0);
@@ -938,7 +938,7 @@
* 姝ｅ父绉诲姩鍛戒护
* @return
*/
- private ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
+ public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
command.setStartCodeNum(startCodeNum);
@@ -957,7 +957,7 @@
* 寮哄埗绉诲姩鍛戒护
* @param direction 绉诲姩鏂瑰悜 1宸︾Щ锛�2鍙崇Щ锛�3鍓嶇Щ锛�4鍚庣Щ
*/
- private ShuttleCommand getForceMoveCommand(Short direction) {
+ public ShuttleCommand getForceMoveCommand(Short direction) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 3);
command.setStartCodeNum((short) 0);
@@ -975,7 +975,7 @@
/**
* 鐘舵�佸浣嶅懡浠�
*/
- private ShuttleCommand getResetCommand() {
+ public ShuttleCommand getResetCommand() {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 6);
command.setStartCodeNum((short) 0);
@@ -998,7 +998,7 @@
* 鑾峰彇瀵诲簱浣嶅懡浠�
* @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
*/
- private ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
+ public ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 4);
command.setRunDirection(direction);
@@ -1012,14 +1012,14 @@
* 鑾峰彇瀵诲簱浣嶅懡浠わ紝榛樿绉诲姩璺濈3000锛岃繍琛岄�熷害1000
* @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
*/
- private ShuttleCommand getFindLocCommand(Short direction) {
+ public ShuttleCommand getFindLocCommand(Short direction) {
return getFindLocCommand(direction, 3000, (short) 1000);
}
/**
* 鑾峰彇鍏呯數寮�鍏冲懡浠�
*/
- private ShuttleCommand getChargeSwitchCommand() {
+ public ShuttleCommand getChargeSwitchCommand() {
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 8);
command.setIOControl((short) 4);
@@ -1027,6 +1027,18 @@
return command;
}
+ /**
+ * charge锛�1=>寮�濮嬪厖鐢碉紝2=>鏂紑鍏呯數
+ */
+ public ShuttleCommand getChargeSwitchCommand(Short charge) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 5);//鍏呯數
+ command.setShuttleNo(shuttleProtocol.getShuttleNo());
+ command.setChargeSwitch(charge);//寮�濮嬪厖鐢�
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
--
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