From 825accaa1ecde7c8b4a6852b92b8da615b624b6f Mon Sep 17 00:00:00 2001
From: tqs <56479841@qq.com>
Date: 星期一, 27 三月 2023 17:16:44 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 192 ++++++++++++++++++++++++++++-------------------
1 files changed, 114 insertions(+), 78 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 2586420..03e30b5 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -7,7 +7,10 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.service.BasShuttleOptService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
@@ -17,9 +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.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;
@@ -117,6 +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�-----------
@@ -170,7 +172,7 @@
//鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟涓旀爣璁颁负true锛岄渶瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {
//鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getTaskNo());
+ executeWork(shuttleProtocol.getAssignCommand());
}
}else {
@@ -178,6 +180,7 @@
throw new CoolException(MessageFormat.format( "鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
}
} catch (Exception e) {
+ e.printStackTrace();
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
initShuttle();
}
@@ -285,92 +288,108 @@
}
//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<>();
+
+ //璁＄畻璺緞
+ List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), assignCommand.getTaskMode().intValue());
+ if (calc != null) {
+ //鑾峰彇鍒嗘璺緞
+ 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�
+ map.put("wrk_no", assignCommand.getTaskNo());
+ //鍛戒护鎵ц姝ュ簭
+ map.put("commandStep", 0);
+ //鍛戒护
+ map.put("assignCommand", assignCommand);
+ shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
+ shuttleProtocol.setAssignCommand(assignCommand);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ //鎵ц涓嬪彂浠诲姟
+ executeWork(assignCommand);
+ }
+
+ //鎵ц涓嬪彂鐨勬寚浠�
+ private void executeWork(ShuttleAssignCommand assignCommand) {
+ //璇诲彇redis鏁版嵁
+ Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ //褰撳墠姝ュ簭
+ int commandStep = Integer.parseInt(map.get("commandStep").toString());
+ //path璺緞鏁扮洰
+ int size = 0;
+ //涓嬪彂鍛戒护
ShuttleCommand command = new ShuttleCommand();
switch (assignCommand.getTaskMode()) {
- case 1:
- case 2:
- //璁＄畻璺緞
- List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), assignCommand.getTaskMode().intValue());
- if (calc != null) {
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘map瀛樺叆redis涓�
- HashMap<String, Object> map = new HashMap<>();
- //鍛戒护鎵ц姝ュ簭
- map.put("commandStep", 0);
- //璺緞鏁版嵁
- map.put("path", data);
- //宸ヤ綔鍙�
- map.put("wrk_no", assignCommand.getTaskNo());
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
- shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
+ case 1://鍏ュ簱
+ case 2://鍑哄簱
+ //褰撳墠璺緞鏁版嵁
+ Object data = map.get("path");
+ 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);
- //鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand.getTaskNo());
- }
+ size = Integer.parseInt(map.get("pathSize").toString());
+ //寮�濮嬭矾寰�
+ JSONObject startPath = JSON.parseObject(path.get(0).toString());
+ //鐩爣璺緞
+ JSONObject endPath = JSON.parseObject(path.get(path.size() - 1).toString());
+
+ command.setCommandWord((short) 1);
+ command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
+ command.setStartToDistDistance(1000);
+ command.setMiddleToDistDistance(1000);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
+ command.setPalletLift((short) 1);
+ command.setForceMoveDistance(1000);
+ command.setChargeSwitch((short) 2);
+ command.setIOControl((short) 0);
+ command.setRunSpeed((short) 1000);
+ command.setRadarTmp((short) 0);
+
break;
- case 3:
- case 4:
+ case 3://鎵樼洏椤跺崌
+ case 4://鎵樼洏涓嬮檷
command.setCommandWord((short) 2);
command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
command.setCommandEnd((short) 1);
- write(command);
break;
- case 5:
- case 6:
- case 7:
- case 8:
+ case 5://寮哄埗宸︾Щ
+ case 6://寮哄埗鍙崇Щ
+ case 7://寮哄埗涓婄Щ
+ case 8://寮哄埗涓嬬Щ
command.setCommandWord((short) 3);
command.setForceMoveDistance(1000);
command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
command.setCommandEnd((short) 1);
- write(command);
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:
}
- }
-
- //鎵ц涓嬪彂鐨勬寚浠�
- private void executeWork(Short taskNo) {
- //璇诲彇redis鏁版嵁
- Object o = redisUtil.get("wrk_no_" + taskNo);
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
- //褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
- //褰撳墠璺緞鏁版嵁
- Object data = map.get("path");
- 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);
-
- int size = path.size();
- //寮�濮嬭矾寰�
- JSONObject startPath = JSON.parseObject(path.get(0).toString());
- System.out.println(startPath);
- //鐩爣璺緞
- JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
- System.out.println(endPath);
-
- //涓嬪彂鍛戒护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
- command.setStartToDistDistance(1000);
- command.setMiddleToDistDistance(1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRunSpeed((short) 1000);
- command.setRadarTmp((short) 0);
command.setCommandEnd((short) 1);
-
//涓嬪彂鍛戒护
if (!write(command)) {
News.error("鍥涘悜绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
@@ -381,7 +400,7 @@
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++;
@@ -391,12 +410,29 @@
}else {
//宸叉墽琛屽畬鎴�
//淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
+ if (shuttleOptService != null) {
+ BasShuttleOpt opt = new BasShuttleOpt(
+ assignCommand.getTaskNo().intValue(),
+ assignCommand.getShuttleNo().intValue(),
+ new Date(),
+ ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
+ assignCommand.getSourceLocNo(),
+ assignCommand.getDistLocNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command)
+ );
+ shuttleOptService.insert(opt);
+ }
//鍒犻櫎redis
redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
- //銆傘�傘��
- //1銆佸懡浠や笅鏂归渶瑕佸垽鏂皬杞︾┖闂茬姸鎬�
- //2銆�
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+
+ 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));
}
}
--
Gitblit v1.9.1