From 6fe9d166be361dd8a3c0075149aa0464c783867b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 01 八月 2023 16:13:09 +0800
Subject: [PATCH] 小车进提升机检测方案
---
src/main/java/com/zy/core/thread/NyShuttleThread.java | 124 +++++++++++++++++++++++++++++++----------
1 files changed, 93 insertions(+), 31 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/NyShuttleThread.java b/src/main/java/com/zy/core/thread/NyShuttleThread.java
index f5c3500..b2c39da 100644
--- a/src/main/java/com/zy/core/thread/NyShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/NyShuttleThread.java
@@ -5,8 +5,11 @@
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.*;
+import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.model.NavigateNode;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
@@ -16,10 +19,7 @@
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.NyShuttleHttpCommand;
-import com.zy.core.model.command.ShuttleAssignCommand;
-import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.command.ShuttleRedisCommand;
+import com.zy.core.model.command.*;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.NyShuttleProtocol;
import lombok.Data;
@@ -310,8 +310,42 @@
if (commands.size() == 0) {
return false;
}
+
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
//鍙栧嚭鍛戒护
- NyShuttleHttpCommand command = commands.get(commandStep);
+ NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ if (commandStep != 0) {
+ //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
+ NyShuttleHttpCommand lastCommand = commands.get(commandStep - 1);
+ String requestType = lastCommand.getRequest().getBody().get("requestType").toString();
+ if (requestType.equals("move") || requestType.equals("intoLift") || requestType.equals("outLift")) {
+ //绉诲姩鍛戒护銆佸嚭鍏ユ彁鍗囨満鍛戒护
+ NyShuttleProtocol.NyShuttlePointClass target = JSON.parseObject(lastCommand.getRequest().getBody().get("target").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ if (shuttleProtocol.getPoint().equals(target)) {
+ //涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
+ lastCommand.setComplete(true);
+ //瑙ｉ攣閿佸畾璺緞锛屼笂涓�鏉¤矾寰勫拰褰撳墠璺緞
+ List<NavigateNode> nodes = lastCommand.getNodes();
+ nodes.addAll(command.getNodes());
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, false);//瑙ｉ攣璺緞
+ }
+ }else {
+ lastCommand.setComplete(true);//鍏朵粬鍛戒护榛樿璁や负瀹屾垚
+ }
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+
+ if (!lastCommand.getComplete()) {
+ //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
+ return false;
+ }
+ }
+
+ List<NavigateNode> nextNodes = null;//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ if (commandStep + 1 < commands.size()) {
+ NyShuttleHttpCommand nextCommand = commands.get(commandStep + 1);//涓嬩竴姝ュ懡浠�
+ nextNodes = nextCommand.getNodes();//涓嬩竴姝ュ懡浠よ璧拌矾寰�
+ }
if (shuttleProtocol.getFree() == ShuttleStatusType.BUSY.id) {
return false;//灏忚溅鐘舵�佸繖锛岀姝㈡墽琛屽懡浠�
@@ -323,7 +357,16 @@
}
//妫�鏌ヨ矾寰勬槸鍚﹀彲琛岃蛋(妫�鏌ヨ矾寰勯攣瀹氱姸鎬侊紝妫�娴嬭矾寰勬槸鍚︽湁鍏朵粬灏忚溅)
-
+ //妫�娴嬪綋鍓嶈璧拌矾寰勶紝鍜屼笅涓�姝ヨ矾寰�
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(command.getNodes(), shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ boolean checkPathIsAvailable2 = NavigateUtils.checkPathIsAvailable(nextNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ if (!checkPathIsAvailable && !checkPathIsAvailable2) {
+ return false;
+ }
+ //閿佸畾璺緞锛岄攣瀹氬綋鍓嶈矾寰勫拰涓嬩竴姝ヨ矾寰�
+ List<NavigateNode> nodes = command.getNodes();
+ nodes.addAll(nextNodes);
+ navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
//鍙墽琛屽懡浠�
if (!write(command)) {
@@ -365,20 +408,6 @@
}else {
//宸叉墽琛屽畬鎴�
-// if (redisCommand.getLiftSecurityMk()) {
-// //鏇鹃攣瀹氳繃鎻愬崌鏈猴紝闇�瑕佽繘琛岃В閿�
-// if (liftProtocol != null) {
-// liftProtocol.setSecurityMk(false);
-// }
-// }
-
-// String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
-// if (locNo != null) {
-// //瑙ｉ櫎閿佸畾鐨勫簱浣嶈矾寰�
-// NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo));
-// navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false);
-// }
-
//鍒犻櫎redis
redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
@@ -406,8 +435,33 @@
return false;
}
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+
+ //妫�娴嬫槸鍚﹀瓨鍦ㄦ彁鍗囨満鍙ｇ殑鎸囦护
+ List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
+ if (commands.isEmpty()) {
+ return false;
+ }
+ NyShuttleHttpCommand command = commands.get(commandStep);//褰撳墠鍛戒护
+ if (!command.getMsgType().equals("intoLift")) {
+ return true;//涓嶆槸鍏ユ彁鍗囨満鍛戒护锛岀洿鎺ユ斁琛�
+ }
+
+ //鑾峰彇璧风偣(杈撻�佺珯鐐�)
+ NyShuttleProtocol.NyShuttlePointClass start = JSON.parseObject(command.getRequest().getBody().get("start").toString(), NyShuttleProtocol.NyShuttlePointClass.class);
+ //灏嗙墰鐪煎潗鏍囪浆鎹㈡垚WCS搴撲綅鍙�
+ String startLocNo = NavigatePositionConvert.nyXyzToLocNo(start.getX(), start.getY(), start.getZ());
+
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ BasDevp basDevp = basDevpService.queryByLocNo(startLocNo);
+ if (basDevp == null) {
+ return false;//鏌ヤ笉鍒扮珯鐐癸紝绂佹涓嬪彂
+ }
+
//鎷垮埌鎻愬崌鏈虹嚎绋�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
if (liftThread == null) {
return false;
}
@@ -415,21 +469,29 @@
if (liftProtocol == null) {
return false;
}
-
- ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- //褰撳墠姝ュ簭
- int commandStep = redisCommand.getCommandStep();
-
- //妫�娴嬫槸鍚﹀瓨鍦ㄦ彁鍗囨満鍙ｇ殑鎸囦护
- List<NyShuttleHttpCommand> commands = redisCommand.getAssignCommand().getCommands();
- if (commands.size() == 0) {
+ if (!liftProtocol.isIdle()) {
return false;
}
- if (!commands.get(commandStep).getMsgType().equals("move")) {
- return true;//涓嶆槸琛岃蛋鍛戒护锛岀洿鎺ユ斁琛�
+ if (liftProtocol.getLev().intValue() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ return true;//鎻愬崌鏈鸿揪鍒板皬杞︽ゼ灞傦紝鏀捐
}
+ //鎻愬崌鏈烘湭鍒拌揪灏忚溅妤煎眰锛屽懠鍙彁鍗囨満
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, null, basDevp.getDevNo(), wrkNo.intValue());
+ ArrayList<NyLiftCommand> liftCommands = new ArrayList<>();
+ liftCommands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(liftCommands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkNo);
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
+
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
return false;//榛樿涓嶆斁琛�
}
--
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