From 6bad808389ec9d4c7331bb471c1410b50893fc1c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 28 三月 2023 15:35:23 +0800
Subject: [PATCH] 四向车下命令时计算移动距离
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 56 ++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 42 insertions(+), 14 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index ffc4717..7cd4f70 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -20,10 +20,7 @@
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.enums.ShuttleRunDirection;
-import com.zy.core.enums.ShuttleStatusType;
-import com.zy.core.enums.ShuttleTaskModeType;
-import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.ShuttleAssignCommand;
@@ -121,6 +118,7 @@
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
shuttleProtocol.setShuttleNo(slave.getId().shortValue());
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
}
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
@@ -290,7 +288,7 @@
}
//鍒嗛厤浠诲姟
- private void assignWork(ShuttleAssignCommand assignCommand) {
+ private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
//灏嗘map瀛樺叆redis涓�
HashMap<String, Object> map = new HashMap<>();
@@ -301,6 +299,13 @@
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
//璺緞鏁版嵁
map.put("path", data);
+ //璺緞娆℃暟
+ map.put("pathSize", data.size());
+ }else {
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue() || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
+ //灞炰簬鍏ュ簱鍑哄簱锛屽繀椤昏璁＄畻璺緞锛屽垯鎶涘嚭寮傚父
+ throw new Exception("鏈兘鎵惧埌杩愯璺緞");
+ }
}
//宸ヤ綔鍙�
@@ -336,21 +341,27 @@
ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
//鍙栫涓�鏉¤矾寰�
Object o1 = pathList.get(commandStep);
- ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);
+ ArrayList objectPath = JSON.parseObject(o1.toString(), ArrayList.class);
+ ArrayList<NavigateNode> path = new ArrayList<>();
+ for (Object o2 : objectPath) {
+ NavigateNode navigateNode = JSON.parseObject(o2.toString(), NavigateNode.class);
+ path.add(navigateNode);
+ }
+ Integer allDistance = NavigateUtils.getCurrentPathAllDistance(path);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- size = path.size();
+ size = Integer.parseInt(map.get("pathSize").toString());
//寮�濮嬭矾寰�
- JSONObject startPath = JSON.parseObject(path.get(0).toString());
+ NavigateNode startPath = path.get(0);
//鐩爣璺緞
- JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
+ NavigateNode endPath = path.get(path.size() - 1);
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
+ command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
- command.setStartToDistDistance(1000);
+ command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+ command.setStartToDistDistance(allDistance);
command.setMiddleToDistDistance(1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
command.setForceMoveDistance(1000);
command.setChargeSwitch((short) 2);
@@ -374,6 +385,14 @@
command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
command.setCommandEnd((short) 1);
break;
+ case 9://鐘舵�佸浣�
+ command.setCommandWord((short) 0);
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+ break;
+ default:
}
command.setCommandEnd((short) 1);
@@ -387,7 +406,7 @@
shuttleProtocol.setPakMk(false);
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
- if (commandStep < size) {
+ if (commandStep < size - 1) {
//鏇存柊redis鏁版嵁
//姝ュ簭澧炲姞
commandStep++;
@@ -415,6 +434,15 @@
}
//鍒犻櫎redis
redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
+
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ shuttleProtocol.setTaskNo((short) 0);
+
+ News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
}
}
--
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