From 6c6a1178f2e5900d56a381e12f9c9f998cf9b270 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 20 六月 2023 11:25:22 +0800
Subject: [PATCH] fix
---
src/main/java/com/zy/asrs/controller/SiteController.java | 5 -
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 165 ++++++++++++++++++++++++++---------------
src/main/java/com/zy/core/thread/ShuttleThread.java | 49 +++++++++---
src/main/java/com/zy/core/thread/SiemensDevpThread.java | 3
4 files changed, 145 insertions(+), 77 deletions(-)
diff --git a/src/main/java/com/zy/asrs/controller/SiteController.java b/src/main/java/com/zy/asrs/controller/SiteController.java
index ea312e4..6bf8805 100644
--- a/src/main/java/com/zy/asrs/controller/SiteController.java
+++ b/src/main/java/com/zy/asrs/controller/SiteController.java
@@ -71,11 +71,6 @@
map2.put("modeVal", devpThread.charge1);
map2.put("modeDesc", devpThread.charge1?"鍏呯數涓�":"鍏抽棴");
res.add(map2);
- Map<String, Object> map3 = new HashMap<>();
- map3.put("floor", 3);
- map3.put("modeVal", devpThread.charge2);
- map3.put("modeDesc", devpThread.charge2?"鍏呯數涓�":"鍏抽棴");
- res.add(map3);
}
return R.ok().add(res);
}
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 0d68a9c..a3270f1 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -685,6 +685,11 @@
//鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
if (!liftProtocol.isIdle()) {
+ try {
+ Thread.sleep(1000);//浼戠湢1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
continue;//鎻愬崌鏈哄繖
}
@@ -982,6 +987,11 @@
//鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
if (!liftProtocol.isIdle()) {
+ try {
+ Thread.sleep(1000);//浼戠湢1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
continue;//鎻愬崌鏈哄繖
}
@@ -993,7 +1003,7 @@
continue;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傝烦杩�
}
- Integer staNo = Utils.levToOutInStaNo(lev);
+ Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
//鑾峰彇鐩爣绔欎俊鎭�
StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
@@ -1028,32 +1038,26 @@
continue;
}
- wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
- //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
-
- //灏忚溅褰撳墠灞傞珮
- Integer currentLev = Utils.getLev(currentLocNo);
- //鑾峰彇鎻愬崌鏈�
- LiftSlave liftSlave = slaveProperties.getLift().get(0);
- //褰撳墠妤煎眰鎻愬崌鏈鸿緭閫佺珯鐐瑰簱浣嶅彿
- String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
-
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(currentLocNo);
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- //鍥涘悜绌挎杞﹀彿
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- //浠诲姟鍙�
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍏ュ嚭搴撴ā寮�
- assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
- assignCommand.setSourceLocNo(currentLocNo);
-
if (wrkMast.getWrkSts() == 21) {
+
+ wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+ //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ //灏忚溅褰撳墠灞傞珮
+ Integer currentLev = Utils.getLev(currentLocNo);
+ //褰撳墠妤煎眰鎻愬崌鏈鸿緭閫佺珯鐐瑰簱浣嶅彿
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ //鍥涘悜绌挎杞﹀彿
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ //浠诲姟鍙�
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍏ュ嚭搴撴ā寮�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
+ assignCommand.setSourceLocNo(currentLocNo);
+
//鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞�
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)
@@ -1064,19 +1068,35 @@
}
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(currentLocNo);
//鐩爣搴撲綅
assignCommand.setLocNo(wrkMast.getSourceLocNo());
assignCommand.setCommands(commands);
wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+
+ if (wrkMastMapper.updateById(wrkMast) > 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, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
+ if (!currentLocNo.equals(liftSiteLocNo)) {//褰撳墠浣嶇疆涔熶笉鍦ㄦ彁鍗囨満鍙�
+ continue;//鏈壘鍒拌矾寰�
+ }
+ commands = new ArrayList<>();
}
shuttleProtocol.setLocNo(liftSiteLocNo);
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(currentLocNo);
//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);
@@ -1090,32 +1110,56 @@
assignCommand.setLocNo(liftSiteLocNo);
assignCommand.setCommands(commands);
wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
}
} else if (wrkMast.getWrkSts() == 25) {
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
+
+ wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+
+ //褰撳墠妤煎眰鎻愬崌鏈鸿緭閫佺珯鐐瑰簱浣嶅彿
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ //鍥涘悜绌挎杞﹀彿
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
+ //浠诲姟鍙�
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍏ュ嚭搴撴ā寮�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
+ assignCommand.setSourceLocNo(liftSiteLocNo);
+
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
if (commands == null) {
continue;//鏈壘鍒拌矾寰�
}
//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�
- short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈轰簩缁寸爜
+ short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ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(), (short) 1, 0);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(liftSiteLocNo);
//鐩爣搴撲綅
assignCommand.setLocNo(wrkMast.getSourceLocNo());
assignCommand.setCommands(commands);
wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
}
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
}
}
}
@@ -1360,11 +1404,6 @@
continue;
}
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setLiftLock(true);//閿佸畾鎻愬崌鏈�
- liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- 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<>();
@@ -1382,14 +1421,13 @@
//宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
- //鎻愬崌鏈哄綋鍓嶆ゼ灞�
- int liftLev = liftProtocol.getLev().intValue();
- if (liftLev == 0) {//鎻愬崌鏈哄綋鍓嶆ゼ灞備负0锛屾彁鍗囨満澶卞幓浣嶇疆淇℃伅锛岃鎻愬崌鏈哄墠寰�涓�妤�
- LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
- commands.add(command);//灏嗗懡浠ゆ坊鍔犺繘list
+ Integer levTmp = wrkMastLocNoLey;
+ if (wrkMastLocNoLey >= 2) {
+ levTmp += 1;
}
+ Integer distStaNo = Utils.levToOutInStaNo(levTmp);
- if (liftLev != LiftLevType.TWO.realLev) {
+ if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
//鎻愬崌鏈轰笉鍦ㄨ緭閫佺嚎妤煎眰锛岃幏鍙栧埌杈撻�佺嚎灞傜殑鎻愬崌鏈哄懡浠�
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
@@ -1400,12 +1438,8 @@
command2.setOperaStaNo((short) 102);//鎿嶄綔102绔�
command2.setRotationDire(1);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屾杞�
command2.setDevpId(devpId);
+ command2.setStaNo(distStaNo.shortValue());//璁剧疆鐩爣绔�
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
-
- Integer levTmp = wrkMastLocNoLey;
- if (wrkMastLocNoLey >= 2) {
- levTmp += 1;
- }
//鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp);
@@ -1414,12 +1448,15 @@
//鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(姝ｈ浆)
//杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
- Integer distStaNo = Utils.levToOutInStaNo(levTmp);
command4.setOperaStaNo(distStaNo.shortValue());//鎿嶄綔鐩爣妤煎眰绔欑偣
command4.setRotationDire(1);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屾杞�
command4.setDevpId(devpId);
command4.setStaNo(distStaNo.shortValue());//璁剧疆鐩爣绔�
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
wrkMast.setWrkSts(3L);//3.鎻愬崌鏈烘惉杩愪腑
} else if (wrkMast.getWrkSts() == 6) {//6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
@@ -1442,7 +1479,7 @@
}
//宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
+ String wrkMastLocNo = wrkMast.getLocNo();
//宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
if (wrkMastLocNoLey >= 2) {
@@ -1452,6 +1489,10 @@
//鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
wrkMast.setWrkSts(7L);//6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
} else if(wrkMast.getWrkSts() == 23) {//23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
@@ -1475,7 +1516,7 @@
}
//宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
+ String wrkMastLocNo = wrkMast.getSourceLocNo();
//宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
if (wrkMastLocNoLey >= 2) {
@@ -1486,6 +1527,10 @@
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
wrkMast.setWrkSts(24L);//23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
} else if (wrkMast.getWrkSts() == 27) {//27.灏忚溅鍑哄簱鎼繍瀹屾垚
//宸ヤ綔妗ｆ簮搴撲綅鍙�
@@ -1495,14 +1540,10 @@
//鎻愬崌鏈哄綋鍓嶆ゼ灞�
int liftLev = liftProtocol.getLev().intValue();
- if (liftLev == 0) {//鎻愬崌鏈哄綋鍓嶆ゼ灞備负0锛屾彁鍗囨満澶卞幓浣嶇疆淇℃伅锛岃鎻愬崌鏈哄墠寰�涓�妤�
- LiftCommand command = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.ONE.lev);
- commands.add(command);//灏嗗懡浠ゆ坊鍔犺繘list
- }
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹀埌浣�
- StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey));//璧峰绔欑偣
- if (liftLev != wrkMastLocNoLey && wrkMastLocNoLey != 1 || !staProtocol.isLiftArrival()) {
+ StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//璧峰绔欑偣
+ if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
//鎻愬崌鏈轰笉鍦ㄥ伐浣滄。婧愬簱浣嶆ゼ灞傦紝璋冨害鎻愬崌鏈�
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
@@ -1536,6 +1577,10 @@
command5.setRotationDire(0);//閾炬潯杞姩鍋滄
commands.add(command5);
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+
wrkMast.setWrkSts(28L);//28.鎻愬崌鏈烘惉杩愪腑
}
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index f8e571e..e05f7e2 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -915,14 +915,15 @@
qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
}
- //閬嶅巻鎵�鏈夋寚浠わ紝鍒ゆ柇鏄惁鏈夊埌鎻愬崌鏈哄彛鐨勬寚浠わ紝骞惰幏鍙栧埌杈捐鎻愬崌鏈哄彛鎵�闇�姝ュ簭
+ //閬嶅巻鎵�鏈夋寚浠わ紝鍒ゆ柇鏄惁鏈夊埌鎻愬崌鏈哄彛鐨勬寚浠ゆ垨浠庢彁鍗囨満鍙ｅ墠寰�鎻愬崌鏈哄唴鐨勬寚浠わ紝骞惰幏鍙栧埌杈捐鎻愬崌鏈哄彛鎵�闇�姝ュ簭
int step = 0;
Integer siteNo = null;//绔欑偣鍙�
ShuttleCommand command = null;
for (int i = 0; i < commands.size(); i++) {
command = commands.get(i);
for (Short qrCodeValue : qrCodeValues) {
- if (qrCodeValue.intValue() == command.getDistCodeNum().intValue()) {
+ //鐩爣浣嶇疆鏄彁鍗囨満鍙ｏ紝鎴栬捣鐐逛綅缃槸鎻愬崌鏈哄彛涓旂洰鏍囨槸鍘绘彁鍗囨満鍐�
+ if (qrCodeValue.intValue() == command.getDistCodeNum().intValue() || (qrCodeValue.intValue() == command.getStartCodeNum().intValue() && command.getDistCodeNum().intValue() == liftProtocol.getBarcode().intValue())) {
//瀛樺湪
step = i + 1;
BasDevp basDevp = basDevpService.queryByQrCode(qrCodeValue.intValue());
@@ -937,11 +938,21 @@
return true;
}
- //鍒ゆ柇涓嬩竴姝ユ槸鍚︿负鎻愬崌鏈哄彛
- if (commandStep + 1 != step) {
- //涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
- return true;
+ //鍒ゆ柇涓嬩竴姝ユ槸鍚︿负鎻愬崌鏈哄彛鎴栨彁鍗囨満鍐�
+ if (commandStep < commands.size()) {
+ ShuttleCommand command1 = commands.get(commandStep);
+ Short distCodeNum = command1.getDistCodeNum();
+ if (distCodeNum != null) {
+ BasDevp basDevp = basDevpService.queryByQrCode(Integer.valueOf(distCodeNum));
+ if (basDevp == null && distCodeNum.intValue() != liftProtocol.getBarcode().intValue()) {
+ return true;//涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
+ }
+ }
}
+// if (commandStep + 1 != step) {
+// //涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
+// return true;
+// }
//鑾峰彇鍥涘悜绌挎杞﹀綋鍓嶆ゼ灞�
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
@@ -956,13 +967,28 @@
if (siteNo != null) {
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(siteNo);
- if (staProtocol.isLiftArrival()
- && liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
- //杈撻�佺嚎鍙嶉鎻愬崌鏈哄埌浣嶄笖鎻愬崌鏈烘ゼ灞傚弽棣堜负鍚屼竴灞傦紝鐩存帴鏀捐
+ if (!staProtocol.isLiftArrival()) {
+ //杈撻�佺嚎鍙嶉鎻愬崌鏈烘病鏈夊埌浣�
+ executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//璋冨害鎻愬崌鏈�
+ return false;
+ }
+
+ if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
+ //灏忚溅澶勪簬鎻愬崌鏈哄唴
return true;
+ }else {
+ if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
+ return true;//鎻愬崌鏈哄埌浣�
+ }
+ executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//璋冨害鎻愬崌鏈�
+ return false;//鎻愬崌鏈烘病鏈夊埌浣�
}
}
+ return false;
+ }
+
+ private boolean executeLift(LiftThread liftThread, LiftProtocol liftProtocol, ShuttleRedisCommand redisCommand, Integer shuttleLocNoLev) {//璋冨害鎻愬崌鏈�
if (liftProtocol.getRunning()) {
//鎻愬崌鏈鸿繍琛屼腑锛岀姝笅鍙�
return false;
@@ -980,7 +1006,7 @@
liftProtocol.setSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
redisCommand.setLiftSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//鍛戒护list
ArrayList<LiftCommand> liftCommands = new ArrayList<>();
@@ -993,8 +1019,7 @@
liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));
-
- return false;
+ return true;
}
/**
diff --git a/src/main/java/com/zy/core/thread/SiemensDevpThread.java b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
index 6ddc4e4..f571401 100644
--- a/src/main/java/com/zy/core/thread/SiemensDevpThread.java
+++ b/src/main/java/com/zy/core/thread/SiemensDevpThread.java
@@ -53,6 +53,9 @@
add(107);add(108);
}};
+ public boolean charge0;
+ public boolean charge1;
+
public SiemensDevpThread(DevpSlave slave) {
this.slave = slave;
}
--
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