From 5bf2b51ec743cd422a0eb3277b9c93a08c700315 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 10 二月 2025 08:46:30 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 160 ++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 108 insertions(+), 52 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 a9887dd..dc1bfb5 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -842,6 +842,11 @@
if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
//302.灏忚溅绉诲姩鑷崇珯鐐� ==> 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
+ //308.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
+ shuttleThread.setSyncTaskNo(0);
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
//310.灏忚溅绉诲姩涓� ==> 311.灏忚溅绉诲姩瀹屾垚
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
@@ -850,6 +855,8 @@
//204.灏忚溅鍏呯數涓� ==> 205.灏忚溅鍏呯數瀹屾垚
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
shuttleThread.setSyncTaskNo(0);
+ }else {
+ continue;
}
// switch (wrkMast.getWrkSts().intValue()) {
//// case 5://5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
@@ -1275,8 +1282,7 @@
// break;
case 306://306.鎻愬崌鏈烘惉杩愪腑 ==> 307.鎻愬崌鏈烘惉杩愬畬鎴�
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
- //璐у弶鎻愬崌鏈洪渶瑕佽烦杩囪縼鍑烘彁鍗囨満娴佺▼
- wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
+ forkLiftThread.setSyncTaskNo(0);
break;
default:
}
@@ -2071,6 +2077,11 @@
continue;
}
+ boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+ if (!updateShuttleLocation) {
+ continue;
+ }
+
boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
if (!stepMoveLoc) {
continue;
@@ -2133,6 +2144,24 @@
return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
}
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+ List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
+ if (targetNodes == null) {
+ return false;//鏈幏鍙栧埌鑺傜偣
+ }
+ boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
+ if (!checkPathIsAvailable) {
+ News.info("{}浠诲姟锛寋}灏忚溅锛岀洰鏍囩珯鐐硅矾寰勮鍗犵敤锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
+ }
+ //灏濊瘯閿佸畾鐩爣绔欒矾寰�
+ boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ if (!result2) {
+ News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;//璺緞閿佸畾澶辫触
+ }
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
@@ -2143,32 +2172,18 @@
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
return false;//璺緞瑙ｉ攣澶辫触
}
assignCommand.setCommands(commands);
-// //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
-// List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
-// if (targetNodes == null) {
-// return false;//鏈幏鍙栧埌鑺傜偣
-// }
-// boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
-// if (!checkPathIsAvailable) {
-// News.info("{}浠诲姟锛寋}灏忚溅锛岀洰鏍囩珯鐐硅矾寰勮鍗犵敤锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
-// return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
-// }
-// //灏濊瘯閿佸畾鐩爣绔欒矾寰�
-// boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
-// if (!result2) {
-// News.info("{}浠诲姟锛寋}灏忚溅锛岃矾寰勯攣瀹氬け璐ワ紝绂佹娲惧彂", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
-// return false;//璺緞閿佸畾澶辫触
-// }
-// //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
-
wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷崇珯鐐�
wrkMast.setModiTime(now);
wrkMast.setLiftNo(liftSta.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
// shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰璇ュ皬杞︿护鐗�
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
@@ -2221,6 +2236,10 @@
return false;//缂哄皯绔欑偣淇℃伅
}
+ if (liftSta.getHasTray()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
+ return false;//鏈夋墭鐩樿烦杩�
+ }
//鑾峰彇鎻愬崌鏈哄懡浠�
List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
@@ -2235,10 +2254,65 @@
assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 303.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ Date now = new Date();
+
+ //鎻愬崌鏈烘惉杩愪腑 307.鎻愬崌鏈烘惉杩愬畬鎴� ==> 308.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//鏇存柊鍧愭爣
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+
+ //鏇存柊灏忚溅鍧愭爣
+ ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
+ ArrayList<ShuttleCommand> commands = new ArrayList<>();
+ commands.add(command);
+
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
}
}
return true;
@@ -2292,51 +2366,33 @@
List<ShuttleCommand> commands = null;
//璺ㄦゼ灞傜Щ鍔ㄤ换鍔�
if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
-// //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆
-// //鑾峰彇鐩爣绔�
-// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
-// if (liftSta == null) {
-// return false;//鎵句笉鍒扮珯鐐�
-// }
-//
-// List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
-// if (targetNodes == null) {
-// return false;//鏈幏鍙栧埌鑺傜偣
-// }
-//
-// //璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
-// ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
-// for (NavigateNode node : targetNodes) {
-// whiteList.add(new int[]{node.getX(), node.getY()});
-// }
-// commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread, whiteList);
+ //闇�瑕佸皢鍓嶄袱涓妭鐐逛綔涓虹櫧鍚嶅崟鑺傜偣浼犲叆
+ List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
+ if (targetNodes == null) {
+ return false;//鏈幏鍙栧埌鑺傜偣
+ }
+
+ //璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+ ArrayList<int[]> whiteList = new ArrayList<>();//璁剧疆璁＄畻鑺傜偣鐨勭櫧鍚嶅崟
+ for (NavigateNode node : targetNodes) {
+ whiteList.add(new int[]{node.getX(), node.getY()});
+ }
+ commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
}else {
//鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
}
if (commands == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞璁＄畻澶辫触
}
assignCommand.setCommands(commands);
-// if (wrkMast.getLiftNo() != null) {
-// LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
-// if (liftThread == null) {
-// return false;
-// }
-// LiftProtocol liftProtocol = liftThread.getLiftProtocol();
-// if (liftProtocol == null) {
-// return false;
-// }
-// if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo())) {
-// liftProtocol.setToken(0);//閲婃斁鎻愬崌鏈轰护鐗�
-// }
-// }
-
wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
--
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