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/service/impl/MainServiceImpl.java | 165 +++++++++++++++++++++++++++++++++++--------------------
1 files changed, 105 insertions(+), 60 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 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
}
--
Gitblit v1.9.1