From 525047977e8e9074a21567ae9eb5b9f6ac0c07fd Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 14 十月 2023 12:49:07 +0800
Subject: [PATCH] #拣料回库
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 88 ++++++++++++++++++++++++++++++++++++++------
1 files changed, 76 insertions(+), 12 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index e627a9f..9a8b6d1 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -336,6 +336,7 @@
);
opt.setSend(1);//宸蹭笅鍙�
opt.setResponse(JSON.toJSONString(result));//璇锋眰鍝嶅簲
+ opt.setDeviceWrk(command.getWrkNo().toString());//璁惧宸ヤ綔鍙�
shuttleOptService.insert(opt);
}
@@ -369,6 +370,7 @@
}
WrkMastMapper wrkMastMapper = SpringUtils.getBean(WrkMastMapper.class);
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(wrkNo.intValue());
Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
if (o == null) {
@@ -386,6 +388,7 @@
NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean isLock = false;//鏄惁瑙ｉ攣璺緞
//鍙栧嚭鍛戒护
NyShuttleHttpCommand command = null;
if (commandStep < commands.size()) {
@@ -401,13 +404,15 @@
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
+ //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰�
List<NavigateNode> nodes = lastCommand.getNodes();
- if (command != null && command.getNodes() != null) {
- nodes.addAll(command.getNodes());
- }
+// //瑙ｉ攣褰撳墠璺緞
+// if (command != null && command.getNodes() != null) {
+// nodes.addAll(command.getNodes());
+// }
if (nodes != null) {
navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ isLock = true;//瑙ｉ攣杩囪矾寰�
}
}
}else {
@@ -446,8 +451,9 @@
}
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
- //鍋滄鍏呯數
- if(!(command.getRequest().getBody().get("requestType").equals("stopCharge") && shuttleProtocol.getChargState() == 1)){
+ String requestType = command.getRequest().getBody().get("requestType").toString();
+ //鍋滄鍏呯數 绠″埗鍛戒护
+ if(!(requestType.equals("stopCharge") && shuttleProtocol.getChargState() == 1) && !requestType.equals("resume")){
return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
}
}
@@ -463,9 +469,26 @@
}
if (command.getRequest().getBody().get("requestType").equals("move")) {
- //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
- if (!checkPath(command.getNodes(), nextNodes, redisCommand)) {
- return false;
+ ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆鑺傜偣鐨勭櫧鍚嶅崟
+ if (wrkMast != null && ((wrkMast.getIoType() > 100 && wrkMast.getIoType() < 200) || wrkMast.getIoType() == 11)) {
+ //鍑哄簱浠诲姟锛屼笉妫�娴嬮鑺傜偣
+ int[] startArr = NavigatePositionConvert.positionToXY(wrkMast.getSourceLocNo());//寮�濮嬭妭鐐�
+ whiteList.add(startArr);
+ }
+
+ //瑙ｉ攣杩囪矾寰勶紝鍙娴嬩笅涓�娈佃矾寰勬槸鍚﹀彲璧�(褰撳墠璺緞宸茬粡琚攣瀹氭棤闇�鍐嶆娴�)
+ if (isLock) {
+ //鍙娴嬩笅涓�娈佃矾寰勬槸鍚﹀彲璧�(褰撳墠璺緞宸茬粡琚攣瀹氭棤闇�鍐嶆娴�)
+ //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+ if (!checkPath(nextNodes == null ? command.getNodes() : nextNodes, null, whiteList)) {
+ return false;
+ }
+ }else {
+ //妫�娴嬪綋鍓嶈矾寰勫拰涓嬩竴娈佃矾寰�
+ //妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
+ if (!checkPath(command.getNodes(), nextNodes, whiteList)) {
+ 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�
@@ -634,17 +657,17 @@
* 妫�娴嬭矾寰勬槸鍚﹀彲琛岃蛋
* 濡傛灉璺緞涓虹洰鏍囧簱浣嶏紝浣嗕笉鍙璧帮紝绯荤粺灏嗗皾璇曢噸鏂拌绠楄矾寰�
*/
- private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, ShuttleRedisCommand redisCommand) {
+ private boolean checkPath(List<NavigateNode> currentNodes, List<NavigateNode> nextNodes, List<int[]> whitePoints) {
//妫�娴嬭矾寰勬槸鍚﹀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(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(currentNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
if (nextNodes == null) {
if (checkPathIsAvailable) {
return true;//鍙璧�
}
return false;
}else {
- boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), whitePoints);
if (checkPathIsAvailable && checkPathIsAvailable2) {
return true;//鍙璧�
}
@@ -705,6 +728,19 @@
return;
}
+ if (shuttleProtocol.getYCurrent() > shuttleProtocol.getYTarget()) {
+ //璺戝簱缁撴潫
+ shuttleProtocol.setMoveLoc(false);
+ shuttleProtocol.setMoveType(0);
+ shuttleProtocol.setXStart(0);
+ shuttleProtocol.setXTarget(0);
+ shuttleProtocol.setXCurrent(0);
+ shuttleProtocol.setYStart(0);
+ shuttleProtocol.setYTarget(0);
+ shuttleProtocol.setYCurrent(0);
+ return;
+ }
+
if (shuttleProtocol.getMoveType() == 0) {//璺戣建閬�
ArrayList<String> locs = new ArrayList<>();
for (int i = shuttleProtocol.getXCurrent(); i <= shuttleProtocol.getXTarget(); i++) {
@@ -735,7 +771,35 @@
}
}
}else {//璺戝簱浣�
+ Integer xCurrent = shuttleProtocol.getXCurrent();
+ if (xCurrent > shuttleProtocol.getXTarget()) {//褰揦鍊煎ぇ浜嶺鐩爣鍊硷紝杩涜褰掗浂涓擸鏂瑰悜+1
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXStart());
+ shuttleProtocol.setYCurrent(shuttleProtocol.getYCurrent() + 1);
+ return;
+ }
+ Integer yCurrent = shuttleProtocol.getYCurrent();
+ String locNo = Utils.getLocNo(xCurrent, yCurrent, lev);
+ LocMast target = locMastService.selectById(locNo);
+ if (target == null) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ return;
+ }
+
+ if (!target.getLocSts().equals("O")) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ return;
+ }
+
+ //璋冨害鍘荤洰鏍囦綅缃�
+ if (shuttleProtocol.getCurrentLocNo().equals(target.getLocNo())) {
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);//灏忚溅鍜岀洰鏍囦綅缃竴鑷达紝璺宠繃
+ }else {
+ boolean result = shuttleDispatchUtils.dispatchShuttle(commonService.getWorkNo(3), target.getLocNo());
+ if (result) {//璋冨害鎴愬姛
+ shuttleProtocol.setXCurrent(shuttleProtocol.getXCurrent() + 1);
+ }
+ }
}
}
--
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