From 6d25ccf7d7a582ab861e4b9dc0a38cb6cbf21588 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 16 六月 2023 09:43:44 +0800
Subject: [PATCH] 提升机状态读取
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 682 +++++++++++++++++++++++++++++++-------------------------
1 files changed, 372 insertions(+), 310 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 21c409f..bbca4a3 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -4,7 +4,6 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
-import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
@@ -60,13 +59,13 @@
@Autowired
private StaDescService staDescService;
@Autowired
- private BasCrnpService basCrnpService;
- @Autowired
private BasDevpService basDevpService;
@Autowired
private BasErrLogService basErrLogService;
@Autowired
private BasSteErrLogService basSteErrLogService;
+ @Autowired
+ private BasShuttleService basShuttleService;
@Autowired
private BasShuttleErrLogService basShuttleErrLogService;
@Autowired
@@ -83,6 +82,8 @@
private CommonService commonService;
@Autowired
private WrkChargeMapper wrkChargeMapper;
+ @Autowired
+ private BasMapService basMapService;
@Autowired
private ErpService erpService;
@Autowired
@@ -150,11 +151,12 @@
}
continue;
}
+
// 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
- && staProtocol.isPakMk()) {
+ ) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
@@ -165,10 +167,10 @@
if(!Cools.isEmpty(barcode)) {
// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
// led 寮傚父鏄剧ず
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
@@ -179,10 +181,10 @@
continue;
}
} else {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setStaNo(inSta.getBackSta().shortValue());
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
// led 寮傚父鏄剧ず
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
@@ -233,6 +235,18 @@
if (!result) {
throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
}
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
+ if (wrkMast == null) { continue; }
+
+ // 鏇存柊宸ヤ綔涓绘。
+ wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) == 0) {
+ News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
+ }
+
} else if (code == 500){
if (ledThread != null) {
String errorMsg = jsonObject.getString("msg");
@@ -544,10 +558,35 @@
}
/**
- * 鑾峰彇/鏇存柊瀹炴椂鍦板浘
+ * 鍒濆鍖栧疄鏃跺湴鍥�
*/
- public synchronized void refreshMap() {
+ public synchronized void initRealtimeBasMap() {
+ for (int i = 1; i <= 4; i++) {//鎬诲叡鍥涘眰妤�
+ Object data = redisUtil.get("realtimeBasMap_" + i);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖锛屼粠鏁版嵁搴撲腑鑾峰彇
+ BasMap basMap = basMapService.selectLatestMap(i);
+ if (basMap == null) {
+ //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
+ //杞藉叆鍦板浘
+ NavigateMapData mapData = new NavigateMapData(i);
+ List<List<MapNode>> lists = mapData.getJsonData(-1);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+ //瀛樺叆鏁版嵁搴�
+ basMap = new BasMap();
+ basMap.setData(JSON.toJSONString(lists));
+ basMap.setCreateTime(new Date());
+ basMap.setUpdateTime(new Date());
+ basMap.setLev(i);
+
+ if (!basMapService.insert(basMap)) {
+ log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
+ }
+ }
+
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
+ }
+ }
}
/**
@@ -568,6 +607,9 @@
continue;
}
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
if (!liftProtocol.isIdle()) {
continue;
}
@@ -575,7 +617,6 @@
//鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
- liftProtocol.setLiftLock(true);//鎻愬崌鏈洪攣瀹�
}else if(key.toString().contains("shuttle_wrk_no_")){//鍥涘悜绌挎杞︿换鍔�
ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
@@ -589,6 +630,9 @@
continue;
}
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
if (!shuttleProtocol.isIdle()) {
continue;
}
@@ -608,19 +652,10 @@
// 鏍规嵁杈撻�佺嚎plc閬嶅巻
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鍏ュ簱绔�
- for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
+ for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
// 鑾峰彇鍏ュ簱绔欎俊鎭�
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
-
- StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
- StaProtocol staProtocol105 = devpThread.getStation().get(105);
- staProtocol105.setWorkNo((short) 752);
- staProtocol105.setStaNo((short) 100);
-
- StaProtocol staProtocol106 = devpThread.getStation().get(106);
- staProtocol106.setWorkNo((short) 753);
- staProtocol106.setStaNo((short) 100);
-
+ StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
if (staProtocol == null) {
continue;
} else {
@@ -628,8 +663,8 @@
}
Short workNo = staProtocol.getWorkNo();
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢锛岃嚜鍔ㄣ�佹湁鐗┿�佸洓鍚戠┛姊溅鍙彇淇″彿
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) {
WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
if (wrkMast != null) {
if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
@@ -670,29 +705,23 @@
assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
String locNo = wrkMast.getLocNo();//褰撳墠宸ヤ綔妗ｅ簱浣嶅彿
- Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
- Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//灏忚溅褰撳墠灞傞珮
+ Integer currentLev = Utils.getLev(currentLocNo);//灏忚溅褰撳墠灞傞珮
- //鑾峰彇鎻愬崌鏈�
- LiftSlave liftSlave = slaveProperties.getLift().get(0);
- //鎻愬崌鏈哄簱浣嶅彿
- String liftLocNo = liftSlave.getLiftLocNo(currentLev);
+ //鎻愬崌鏈哄彛绔欑偣搴撲綅鍙�
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
//鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
//鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, locNo, assignCommand,shuttleThread);
if (wrkMast.getWrkSts() == 8) {
//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�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//鎻愬崌鏈哄彛浜岀淮鐮�
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ Short distCode = commands.get(0).getStartCodeNum();//鎻愬崌鏈哄彛浜岀淮鐮�
+ Short runDirection = commands.get(0).getRunDirection();//杩愯鏂瑰悜
+ //鑾峰彇鍛戒护
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1300, runDirection, (short) 1, 0);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
}
assignCommand.setCommands(commands);
@@ -705,11 +734,11 @@
//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
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(liftLocNo);
+ shuttleProtocol.setLocNo(liftSiteLocNo);
//鐩爣搴撲綅
- assignCommand.setLocNo(liftLocNo);
+ assignCommand.setLocNo(liftSiteLocNo);
assignCommand.setCommands(commands);
wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
}
@@ -728,14 +757,27 @@
}
- //鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥�
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
+ //鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�0=>鏃犺揣鐗╁湴鍥撅紝1=銆嬫惡甯﹁揣鐗╁嚭鍏ュ簱鍦板浘
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ //鑾峰彇灏忚溅绉诲姩閫熷害
+ BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
+ Integer runSpeed = 1000;
+ if (basShuttle != null) {
+ Integer runSpeed1 = basShuttle.getRunSpeed();
+ if (runSpeed1 != null) {
+ runSpeed = runSpeed1;
+ }
+ }
+
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
List<ShuttleCommand> commands = new ArrayList<>();
if (calc == null) {
return null;
}
+
+ List<NavigateNode> allNode = new ArrayList<>();
+ allNode.addAll(calc);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
@@ -743,134 +785,116 @@
for (ArrayList<NavigateNode> nodes : data) {
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
+ //涓棿璺緞
+ NavigateNode middlePath = nodes.get(nodes.size() - 2);
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
commands.add(command);
}
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
return commands;
}
//鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
+ //鑾峰彇灏忚溅绉诲姩閫熷害
+ BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
+ Integer runSpeed = 1000;
+ if (basShuttle != null) {
+ Integer runSpeed1 = basShuttle.getRunSpeed();
+ if (runSpeed1 != null) {
+ runSpeed = runSpeed1;
+ }
+ }
+
+ List<NavigateNode> allNode = new ArrayList<>();
+
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘
List<ShuttleCommand> commands = new ArrayList<>();
- if (calc == null) {
- return null;
- }
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (ArrayList<NavigateNode> nodes : data) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ if (calc != null) {
+ allNode.addAll(calc);
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ //涓棿璺緞
+ NavigateNode middlePath = nodes.get(nodes.size() - 2);
+ //鐩爣璺緞
+ NavigateNode endPath = nodes.get(nodes.size() - 1);
+ Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ //鑾峰彇绉诲姩鍛戒护
+ ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
+ commands.add(command);
+ }
}
//灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉￠《鍗囨寚浠�
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 1);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(shuttleThread.getPalletCommand((short) 1));
//璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
- List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
+ List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
if (calc2 == null) {
return null;
}
+
+ allNode.addAll(calc2);
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
for (ArrayList<NavigateNode> nodes : data2) {
//寮�濮嬭矾寰�
NavigateNode startPath = nodes.get(0);
+ //涓棿璺緞
+ NavigateNode middlePath = nodes.get(nodes.size() - 2);
//鐩爣璺緞
NavigateNode endPath = nodes.get(nodes.size() - 1);
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
-
- command = new ShuttleCommand();
- command.setCommandWord((short) 1);
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- command.setStartCodeNum(startCodeNum);
-
- command.setMiddleCodeNum((short) 1);
-
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
//閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- command.setDistCodeNum(distCodeNum);
-
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(0);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
+ commands.add(moveCommand);
}
//灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
- command = new ShuttleCommand();
- command.setCommandWord((short) 2);
- command.setPalletLift((short) 2);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(shuttleThread.getPalletCommand((short) 2));
+
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
+ navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
return commands;
}
@@ -930,11 +954,11 @@
String currentLocNo = shuttleProtocol.getCurrentLocNo();
//灏忚溅褰撳墠灞傞珮
- Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+ Integer currentLev = Utils.getLev(currentLocNo);
//鑾峰彇鎻愬崌鏈�
LiftSlave liftSlave = slaveProperties.getLift().get(0);
- //鎻愬崌鏈哄簱浣嶅彿
- String liftLocNo = liftSlave.getLiftLocNo(currentLev);
+ //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());
@@ -954,8 +978,11 @@
//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)
-
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
+ if (commands == null) {
+ //鏈壘鍒拌矾寰勶紝绛夊緟涓嬩竴娆�
+ continue;
+ }
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
@@ -966,25 +993,21 @@
//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, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
- shuttleProtocol.setLocNo(liftLocNo);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
+ shuttleProtocol.setLocNo(liftSiteLocNo);
//鐩爣搴撲綅
- assignCommand.setLocNo(liftLocNo);
+ assignCommand.setLocNo(liftSiteLocNo);
assignCommand.setCommands(commands);
wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
}
} else if (wrkMast.getWrkSts() == 25) {
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
//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�
- ShuttleCommand moveCommand = new ShuttleCommand();
- moveCommand.setCommandWord((short) 1);//灏忚溅绉诲姩鎸囦护瀛�
- moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈轰簩缁寸爜
- moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
- moveCommand.setStartToDistDistance(1300);
- moveCommand.setMiddleToDistDistance(0);
- moveCommand.setRunDirection(commands.get(0).getRunDirection());
- moveCommand.setCommandEnd((short) 1);
+ short startCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈轰簩缁寸爜
+ 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);
commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
//鍒嗛厤鐩爣搴撲綅
@@ -1011,7 +1034,7 @@
HashMap<String, Object> map = new HashMap<>();
String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//搴撲綅鍙�
LocMast locMast = locMastService.queryByLoc(locNo);//鎵惧埌搴撲綅璁板綍
- String lay = locNo.substring(locNo.length() - 2, locNo.length());//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
+ int lev = Utils.getLev(locNo);//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
ShuttleThread recentShuttle = null;//褰撳墠璺濈鏈�杩戠殑鍥涘悜绌挎杞︾嚎绋�
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
@@ -1026,8 +1049,8 @@
}
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
- String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
- if (lay.equals(shuttleLocNoLay)) {
+ int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//搴撲綅鍙峰搴斿眰楂�
+ if (lev == shuttleLocNoLey) {
//褰撳墠鍥涘悜绌挎杞﹀拰宸ヤ綔妗ｄ换鍔″湪鍚屼竴灞傦紝鍒欒皟閰嶈杞﹁締
map.put("sameLay", true);//鍚屼竴灞�
map.put("result", shuttleThread);
@@ -1043,10 +1066,8 @@
String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//搴撲綅鍙峰搴斿眰楂�
int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
- int layInt = Integer.parseInt(lay);
- int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
- int i = Math.abs(layInt - recentShuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺鏈�杩戠┛姊溅妤煎眰锛屽彇缁濆鍊�
- int j = Math.abs(layInt - shuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺褰撳墠绌挎杞︽ゼ灞傦紝鍙栫粷瀵瑰��
+ int i = Math.abs(lev - recentShuttleLocNoLayInt);//宸ヤ綔妗ｆゼ灞傚噺鏈�杩戠┛姊溅妤煎眰锛屽彇缁濆鍊�
+ int j = Math.abs(lev - shuttleLocNoLey);//宸ヤ綔妗ｆゼ灞傚噺褰撳墠绌挎杞︽ゼ灞傦紝鍙栫粷瀵瑰��
if (i < j) {
//鏇存柊鏈�杩戠┛姊溅
recentShuttle = shuttleThread;
@@ -1065,7 +1086,7 @@
LiftSlave liftSlave = slaveProperties.getLift().get(0);
//鎻愬崌鏈哄簱浣嶅彿
String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
- String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);
+ String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLey);
//褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒版彁鍗囨満璺緞
List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
@@ -1097,9 +1118,11 @@
continue;
}
- //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭
+ //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭銆佸皬杞﹀浜庣┖闂茬姸鎬�
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
- && shuttleProtocol.getTaskNo() != 0) {
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getBusyStatus() == 0
+ ) {
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
if (wrkMast != null) {
@@ -1217,55 +1240,60 @@
//鍛戒护list
ArrayList<LiftCommand> commands = new ArrayList<>();
- if (wrkMast.getWrkSts() == 2) {
+ DevpThread devpThread = null;
+ Integer devpId = null;
+ for (DevpSlave devp : slaveProperties.getDevp()){
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ devpId = devp.getId();
+ }
+
+ if (wrkMast.getWrkSts() == 2) {//2.璁惧涓婅蛋
//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 = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
+ int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
//鎻愬崌鏈哄綋鍓嶆ゼ灞�
int liftLev = liftProtocol.getLev().intValue();
- if (liftLev != 1) {
- //鎻愬崌鏈轰笉鍦�1灞�
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition((short) 1);//鐩爣妤煎眰1灞�
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ 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
+ }
+ if (liftLev != LiftLevType.TWO.realLev) {
+ //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
}
- //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(鏃犺揣姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3);
+ 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);
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ 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);
commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
- //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
+ //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 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ 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);
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
- }else {
+
+ wrkMast.setWrkSts(3L);//3.鎻愬崌鏈烘惉杩愪腑
+ }else if(wrkMast.getWrkSts() == 6 || wrkMast.getWrkSts() == 23) {//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 || 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
liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
//鎵惧埌鍥涘悜绌挎杞︾殑绾跨▼
@@ -1281,72 +1309,93 @@
//褰撳墠绌挎杞﹀簱浣嶅彿
String currentLocNo = shuttleProtocol.getCurrentLocNo();
//褰撳墠绌挎杞︽ゼ灞�
- int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+ int currentLocNoLey = Utils.getLev(currentLocNo);
//宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
//宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
- int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
+ 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
+ }
+
if (liftLev != currentLocNoLey) {
//涓嶅悓妤煎眰
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition((short) currentLocNoLey);//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //鑾峰彇鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)鍛戒护
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLocNoLey);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
}
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵(鍙嶈浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
if (liftLev != currentLocNoLey) {
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition((short) wrkMastLocNoLey);//宸ヤ綔妗ｇ洰鏍囨ゼ灞�
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //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(), wrkMastLocNoLey);
commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
}
//鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘�
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓(姝ｈ浆)
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
- }
- switch (wrkMast.getWrkSts().intValue()) {
- case 2://2.璁惧涓婅蛋
- wrkMast.setWrkSts(3L);//3.鎻愬崌鏈烘惉杩愪腑
- break;//3.鎻愬崌鏈烘惉杩愪腑
- case 6://6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(7L);//7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- break;
- case 23://23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(24L);//24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- break;
- case 27://27.灏忚溅鍑哄簱鎼繍瀹屾垚
- wrkMast.setWrkSts(28L);//28.鎻愬崌鏈烘惉杩愪腑
- break;
+ wrkMast.setWrkSts(wrkMast.getWrkSts() == 6 ? 7L : 24L);//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 || 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�
+ String wrkMastLocNo = wrkMast.getSourceLocNo();
+ //宸ヤ綔妗ｆ簮搴撲綅妤煎眰
+ 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
+ }
+
+ //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()) {
+ //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
+ }
+
+ //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(鏃犺揣鍙嶈浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
+ command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//杈撻�佺嚎鎿嶄綔绔欑偣鍙�
+ command2.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
+ command2.setDevpId(devpId);//杈撻�佺嚎iD
+ command2.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
+ commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈哄墠寰�鍑哄簱鍙ｏ紝杈撻�佺嚎妤煎眰
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
+ commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //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(鍙嶈浆)
+ //杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
+ command4.setOperaStaNo((short) 102);//鎿嶄綔102绔�
+ command4.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
+ command4.setDevpId(devpId);
+ commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ //鎻愬崌鏈洪摼鏉℃墽琛屽畬姣曞悗锛岀粰102绔欏啓鍏ヨ祫鏂�
+ LiftCommand command5 = liftThread.getResetCommand();
+ command5.setDevpId(devpId);//杈撻�佺嚎iD
+ command5.setOperaStaNo((short) 102);//鎿嶄綔102绔�
+ command5.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
+ command5.setRotationDire(0);//閾炬潯杞姩鍋滄
+ commands.add(command5);
+
+ wrkMast.setWrkSts(28L);//28.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�
@@ -1373,13 +1422,58 @@
continue;
}
- //鎻愬崌鏈轰负绛夊緟纭
- if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
+// //褰撴彁鍗囨満鐘舵�佸浜庡伐浣滀腑锛屼絾鎻愬崌鏈哄疄闄呬负绌洪棽鐘舵�侊紝涓旀椂闀胯秴杩�30绉掞紝鑷姩澶嶄綅
+// if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WORKING.id
+// && liftProtocol.getTaskNo() != 0
+// && !liftProtocol.getRunning()
+// ) {
+// if (liftProtocol.getWrkTime() == null) {
+// continue;
+// }
+//
+// Date wrkTime = liftProtocol.getWrkTime();
+// Date now = new Date();
+// long interval = (now.getTime() - wrkTime.getTime()) / 1000;//璁＄畻鏃堕棿宸�
+// if (interval >= 30) {//瓒呰繃30绉掕嚜鍔ㄥ浣�
+// //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+// liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+// //浠诲姟鍙锋竻闆�
+// liftProtocol.setTaskNo((short) 0);
+// //鏍囪澶嶄綅
+// liftProtocol.setPakMk(true);
+// //浠诲姟鎸囦护娓呴浂
+// liftProtocol.setAssignCommand(null);
+// News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+// }
+// }
+
+ //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
+ if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
+ && liftProtocol.getTaskNo() != 0
+ && !liftProtocol.getRunning()
+ ) {
+
+ DevpThread devpThread = null;
+ Integer devpId = null;
+ for (DevpSlave devp : slaveProperties.getDevp()){
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ devpId = devp.getId();
+ }
+
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+ //缁欑洰鏍囩珯璁剧疆宸ヤ綔鍙�
+ StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//鐩爣绔�
+ staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
+ staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
+ boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
+ if (!result) {
+ throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
+ }
wrkMast.setWrkSts(4L);
break;
case 7://7.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
@@ -1404,40 +1498,30 @@
liftProtocol.setPakMk(true);
//浠诲姟鎸囦护娓呴浂
liftProtocol.setAssignCommand(null);
- //鎻愬崌鏈鸿В閿�
- liftProtocol.setLiftLock(false);
News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
} else {
News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
}
}
- //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
- WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
- if (wrkCharge != null) {
- switch (wrkCharge.getWrkSts().intValue()) {
- case 54://鎻愬崌鏈烘惉杩愪腑
- wrkCharge.setWrkSts(55L);//鎻愬崌鏈烘惉杩愬畬鎴�
- break;
- default:
- }
-
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- liftProtocol.setAssignCommand(null);
- //鎻愬崌鏈鸿В閿�
- liftProtocol.setLiftLock(false);
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
- } else {
- News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
- }
+ //涓嶆槸鍏ュ嚭搴撹皟搴︿换鍔°�佸伐浣滄。浠诲姟锛岃繘琛屾彁鍗囨満鐨勫浣�
+ if (liftProtocol.getAssignCommand() != null) {
+ //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ //浠诲姟鍙锋竻闆�
+ liftProtocol.setTaskNo((short) 0);
+ //鏍囪澶嶄綅
+ liftProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ liftProtocol.setAssignCommand(null);
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+// LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
+// if (!assignCommand.getAuto()) {
+// //鎵嬪姩鍛戒护
+//
+// }
}
+
}
}
}
@@ -2197,7 +2281,7 @@
//褰撳墠绌挎杞﹀簱浣嶅彿
String currentLocNo = shuttleProtocol.getCurrentLocNo();
//灏忚溅褰撳墠灞傞珮
- Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
+ Integer currentLev = currentLocNo == null ? 0 : Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
//鑾峰彇鎻愬崌鏈�
LiftSlave liftSlave = slaveProperties.getLift().get(0);
//鎻愬崌鏈哄簱浣嶅彿
@@ -2211,22 +2295,21 @@
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, ShuttleTaskModeType.PAK_IN.id);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//杩涜鍏呯數涓�
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
assignCommand.setTaskMode((short) 9);//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 = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 1);//寮�濮嬪厖鐢�
- command.setCommandEnd((short) 1);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
commands.add(command);
//鎸囦护闆嗗垎閰�
@@ -2240,12 +2323,14 @@
}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
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
//灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
assignCommand.setTaskMode((short) 9);//鍏呯數
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
@@ -2291,42 +2376,23 @@
int liftLev = liftProtocol.getLev().intValue();
if (liftLev != currentLev) {
//绌挎杞﹀拰鎻愬崌鏈哄浜庝笉鍚屾ゼ灞�
- LiftCommand command1 = new LiftCommand();
- command1.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command1.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command1.setRun((short) 1);//鍗囬檷
- command1.setDistPosition(currentLev.shortValue());//鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)
- command1.setLiftLock(true);//閿佸畾鎻愬崌鏈�
+ //鑾峰彇鐩爣妤煎眰(绌挎杞︽墍鍦ㄦゼ灞�)鍛戒护
+ LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), currentLev);
commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
}
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵
- LiftCommand command2 = new LiftCommand();
- command2.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command2.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command2.setRun((short) 6);//杈撻�佺嚎杩愪綔
- command2.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩杩涙潵(姝ｈ浆)
+ LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
//鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- LiftCommand command3 = new LiftCommand();
- command3.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command3.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command3.setRun((short) 1);//鍗囬檷
- command3.setDistPosition(chargeLocNoLev.shortValue());//鍏呯數搴撲綅鐩爣妤煎眰
- command3.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //鑾峰彇鍏呯數搴撲綅鐩爣妤煎眰鍛戒护
+ LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev);
commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
//鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲嚭鍘�
- //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓
- LiftCommand command4 = new LiftCommand();
- command4.setLiftNo(liftProtocol.getLiftNo());//鎻愬崌鏈哄彿
- command4.setTaskNo(liftProtocol.getTaskNo());//浠诲姟鍙�
- command4.setRun((short) 3);//杈撻�佺嚎杩愪綔
- command4.setLiftLock(true);//閿佸畾鎻愬崌鏈�
-
+ //杈撻�佺嚎灏嗗洓鍚戠┛姊溅绉诲姩鍑哄幓(鍙嶈浆)
+ LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
wrkCharge.setWrkSts(54L);//鎻愬崌鏈烘惉杩愪腑
@@ -2353,11 +2419,7 @@
assignCommand.setCharge(true);
//鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 5);//鍏呯數
- command.setShuttleNo(shuttleProtocol.getShuttleNo());
- command.setChargeSwitch((short) 2);//鏂紑鍏呯數
- command.setCommandEnd((short) 1);
+ ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
commands.add(command);
//鎸囦护闆嗗垎閰�
--
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