From 5e7859f1b70e90a64c14f655c4a539b17c270b8b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 01 八月 2023 16:50:57 +0800
Subject: [PATCH] 充电
---
src/main/java/com/zy/core/enums/ShuttleChargeType.java | 12 +
src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java | 40 ++++++
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 257 ++++++------------------------------------
src/main/java/com/zy/core/MainProcess.java | 4
4 files changed, 91 insertions(+), 222 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 9dbbe29..e5de957 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -2047,8 +2047,8 @@
public synchronized void loopShuttleCharge() {
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
@@ -2105,245 +2105,66 @@
continue;
}
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
- //鑾峰彇鎻愬崌鏈�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- if (liftThread == null) {
- continue;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
- //鍏呯數搴撲綅鍙�
- String chargeLocNo = wrkCharge.getLocNo();
- //鍏呯數搴撲綅灞傞珮
- Integer chargeLocNoLev = Utils.getLev(chargeLocNo);
-
if (wrkCharge.getWrkSts() == 51) {
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- if (currentLocNo == null) {
- continue;
- }
- //灏忚溅褰撳墠灞傞珮
- Integer currentLev = Utils.getLev(currentLocNo);
-
- if (currentLev == chargeLocNoLev) {
- //鍚屼竴灞傛棤闇�缁忚繃鎻愬崌鏈�
- //鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
-
- 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, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
- //杩涜鍏呯數涓�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
-
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
-
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
- commands.add(command);
-
- //鎸囦护闆嗗垎閰�
-// assignCommand.setCommands(commands);
-
- wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬�
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }else {
- //涓嶅悓灞傦紝璋冨害灏忚溅鍒板厖鐢垫々鐩爣灞�
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-
- //鑾峰彇灏忚溅褰撳墠妤煎眰鐨勭珯鐐瑰彿
- String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
-
- //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｇ珯鐐癸紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
-
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- if (basDevp == null) {
- continue;//鎵句笉鍒扮珯鐐逛俊鎭�
- }
- Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
-// //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
-// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
-// commands.add(moveCommand);
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(chargeLocNo);
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
- //鐩爣搴撲綅
- assignCommand.setLocNo(chargeLocNo);
- //婧愬簱浣�
- assignCommand.setSourceLocNo(currentLocNo);
-// assignCommand.setCommands(commands);
- wrkCharge.setWrkSts(52L);//灏忚溅杩佺Щ鐘舵��
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
- }else if(wrkCharge.getWrkSts() == 53){
- //灏忚溅宸茬粡杈惧埌鎻愬崌鏈哄唴
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬�
- if (!liftProtocol.isIdle(wrkCharge.getWrkNo().shortValue())) {
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
+ //灏忚溅涓嶅湪鍏呯數妗╀綅缃�
+ dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//璋冨害灏忚溅鍘诲厖鐢垫々
continue;
}
-// //鍒ゆ柇灏忚溅鏄惁鍦ㄦ彁鍗囨満鍐�
-// if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
-// //灏忚溅涓嶅湪鎻愬崌鏈哄唴
-// continue;
-// }
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//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�
-
- //鍛戒护list
- ArrayList<LiftCommand> commands = new ArrayList<>();
-
-// //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
-// //鑾峰彇鍏呯數搴撲綅鐩爣妤煎眰鍛戒护
-// LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev >= 2 ? chargeLocNoLev + 1 : chargeLocNoLev);
-// commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
-
- wrkCharge.setWrkSts(54L);//鎻愬崌鏈烘惉杩愪腑
- //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
- LiftAssignCommand assignCommand = new LiftAssignCommand();
-// assignCommand.setCommands(commands);
- assignCommand.setLiftNo(liftProtocol.getLiftNo());
- assignCommand.setTaskNo(liftProtocol.getTaskNo());
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
- }
-
- }else if(wrkCharge.getWrkSts() == 55){//55.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
- //鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
-
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝厖鐢靛懡浠�
+ NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true);
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(chargeCommand);
+ //鍒涘缓鍒嗛厤鍛戒护
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(commands);//杩愯鍛戒护
- Short liftLev = liftProtocol.getLev();
- if (liftLev == null) {
- continue;
- }
- //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌杈剧洰鏍囨ゼ灞�
- if (liftLev.intValue() != chargeLocNoLev) {
- continue;//娌℃湁鍒拌揪鐩爣妤煎眰
- }
-
- //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
- Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//绔欑偣鍙�
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//绔欑偣涓嶅瓨鍦�
- }
-
- //鑾峰彇鎻愬崌鏈哄彛鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
-
-// short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
-// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
-// Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
-// //鑾峰彇鍛戒护
-// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
-// commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
-
- //杩涜鍏呯數涓�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
-
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
-
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
- commands.add(command);
-
- //鎸囦护闆嗗垎閰�
-// assignCommand.setCommands(commands);
-
- wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬�
+ wrkCharge.setWrkSts(52L);//51.鐢熸垚鍏呯數浠诲姟 => 52.灏忚溅鍘诲厖鐢典腑
+ wrkCharge.setModiTime(new Date());
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
}
- }else if (wrkCharge.getWrkSts() == 57) {//57.灏忚溅鍒拌揪鍏呯數妗�
- //鍏呯數涓�
- //鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺锛屾弧鐢�1000鎴栫數鍘�54V浠ヤ笂
- if (shuttleProtocol.getBatteryPower() == null || shuttleProtocol.getCurrentVoltage() == null) {
+ } else if (wrkCharge.getWrkSts() == 52) {
+ //妫�娴嬪皬杞︽槸鍚︽弧鐢�
+ if (shuttleProtocol.getPowerPercent() < 100) {
continue;
}
- if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
- //鍏呮弧锛屾柇寮�鍏呯數
-// List<ShuttleCommand> commands = new ArrayList<>();
-// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
-// assignCommand.setTaskMode((short) 0);
-// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
-// assignCommand.setCharge(true);
-//
-// //鍒涘缓鍏呯數鎸囦护
-// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
-// commands.add(command);
-//
-// //鎸囦护闆嗗垎閰�
-// assignCommand.setCommands(commands);
-//
-// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
- //灏嗗皬杞︾Щ鍔ㄥ埌绌洪棽鐨勫贩閬�
- ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
- if (assignCommand == null) {
- continue;
- }
+ //灏忚溅婊＄數锛岀粨鏉熷厖鐢典换鍔�
+ NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(chargeCommand);
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(commands);//杩愯鍛戒护
- wrkCharge.setWrkSts(60L);//60.鍏呯數浠诲姟瀹屾垚
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
+ wrkCharge.setWrkSts(60L);//52.灏忚溅鍘诲厖鐢典腑 => 60.鍏呯數浠诲姟瀹屾垚
+ wrkCharge.setModiTime(new Date());
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
}
}
+
}
}
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index b3b1831..f94f7d4 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -75,8 +75,8 @@
// 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
mainService.ledReset();
// 绌挎杞� ===>> 灏忚溅鐢甸噺妫�娴嬪厖鐢�
-// mainService.loopShuttleCharge();
-// mainService.executeShuttleCharge();
+ mainService.loopShuttleCharge();
+ mainService.executeShuttleCharge();
// //鍑哄叆搴撴ā寮�
// i++;
diff --git a/src/main/java/com/zy/core/enums/ShuttleChargeType.java b/src/main/java/com/zy/core/enums/ShuttleChargeType.java
index 13e94cd..cf255c4 100644
--- a/src/main/java/com/zy/core/enums/ShuttleChargeType.java
+++ b/src/main/java/com/zy/core/enums/ShuttleChargeType.java
@@ -4,8 +4,16 @@
public enum ShuttleChargeType {
- FIRST(1, "1800101"),
- SECOND(2, "1800103"),
+ CHARGE_1(1, "1402001"),
+ CHARGE_2(2, "1402002"),
+ CHARGE_3(3, "1402003"),
+ CHARGE_4(4, "1402004"),
+ CHARGE_5(5, "1402005"),
+ CHARGE_6(6, "1402006"),
+ CHARGE_7(7, "1402007"),
+ CHARGE_8(8, "1302008"),
+ CHARGE_9(9, "1302009"),
+ CHARGE_10(10, "1302010")
;
ShuttleChargeType(int id, String locNo) {
diff --git a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
index 6904bbc..27cb465 100644
--- a/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/NyShuttleProtocol.java
@@ -2,9 +2,11 @@
import com.alibaba.fastjson.JSON;
import com.core.common.SpringUtils;
+import com.zy.asrs.entity.BasShuttle;
import com.zy.asrs.service.BasShuttleService;
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.core.News;
+import com.zy.core.enums.ShuttleErrorCodeType;
import com.zy.core.enums.ShuttleProtocolStatusType;
import com.zy.core.enums.ShuttleStatusType;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -448,4 +450,42 @@
;
return res;
}
+
+ // 鏄惁婊¤冻鍏呯數鐘舵��
+ public Boolean isRequireCharge() {
+ if (this.free == null || this.pakMk == null || this.errState == null || this.taskNo == null) {
+ return false;
+ }
+
+ boolean res = this.free == ShuttleStatusType.IDLE.id
+ && this.pakMk
+ && this.errState == 0
+ && this.taskNo == 0
+ && this.protocolStatusType.id == ShuttleProtocolStatusType.IDLE.id
+ ;
+ if (!res) {
+ return res;
+ } else {
+ // 鐢甸噺灏忎簬闃堝�兼垨鏈�浣庣數鑺數鍘嬪皬浜�2900mv锛岄渶瑕佽繘琛屽厖鐢�
+ try {
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ if (shuttleService == null) {
+ return false;
+
+ }
+ BasShuttle basShuttle = shuttleService.selectById(this.shuttleNo);
+ if (basShuttle == null) {
+ return false;
+ }
+ Integer chargeLine = basShuttle.getChargeLine();
+ if (chargeLine == null) {
+ return false;
+ }
+ return this.getPowerPercent() < chargeLine || this.minCellVoltage < 2900;
+ } catch (Exception e) {
+ News.error("fail", e);
+ return false;
+ }
+ }
+ }
}
--
Gitblit v1.9.1