From 87c4efe93e6fe31a9c989b4aa5cc0c8f559b845d Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 31 三月 2023 16:50:47 +0800
Subject: [PATCH] 提升机代码，四向穿梭车线程优化
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 142 ++++++++++++++++++++++++++++++++++++----------
1 files changed, 110 insertions(+), 32 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 7cd4f70..73613c9 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -5,12 +5,13 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
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.BasShuttle;
import com.zy.asrs.entity.BasShuttleOpt;
import com.zy.asrs.service.BasShuttleOptService;
+import com.zy.asrs.service.BasShuttleService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
@@ -161,18 +162,74 @@
///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
- log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
-
//灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
shuttleProtocol.setPakMk(true);
}
- //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()) {
+ //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
+ if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getPakMk()
+ && shuttleProtocol.getAssignCommand() != null) {
//鎵ц涓嬩竴姝ユ寚浠�
executeWork(shuttleProtocol.getAssignCommand());
+ }
+
+ //灏嗗洓鍚戠┛姊溅鐘舵�佷繚瀛樿嚦鏁版嵁搴�
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ BasShuttle basShuttle = shuttleService.selectById(shuttleProtocol.getShuttleNo());
+ if (basShuttle == null) {
+ basShuttle = new BasShuttle();
+ //鍥涘悜绌挎杞﹀彿
+ basShuttle.setShuttleNo(slave.getId());
+ shuttleService.insert(basShuttle);
+ }
+ //灏忚溅蹇欑姸鎬佷綅
+ basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
+ //褰撳墠浜岀淮鐮�
+ basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
+ //鐢垫睜鐢甸噺鐧惧垎姣�
+ basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
+ //鐢垫睜娓╁害
+ basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
+ //閿欒缂栧彿
+ basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
+ //Plc杈撳嚭鐘舵�両O
+ basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
+ //閿欒淇℃伅鐮�
+ basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
+ //PLC杈撳叆鐘舵��
+ basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
+ //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
+ basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
+ //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
+ basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
+ //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
+ basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
+ //褰撳墠鐨勭數鍘嬪��
+ basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
+ //褰撳墠鐨勬ā鎷熼噺鍊�
+ basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
+ //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
+ basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
+ //褰撳墠鐨勮璧颁己鏈嶉�熷害
+ basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
+ //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
+ basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
+ //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
+ basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
+ //褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
+ basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
+ //浠诲姟鍙�
+ basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
+ //淇敼鏃堕棿
+ basShuttle.setUpdateTime(new Date());
+ //浣滀笟鏍囪
+ basShuttle.setPakMk(shuttleProtocol.getPakMk());
+ if (shuttleService.updateById(basShuttle)) {
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+// log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
}
}else {
@@ -292,22 +349,28 @@
//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");
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
+ || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()) {
+ //鍏ュ簱鎴栧嚭搴撴ā寮忥紝璁＄畻璺緞
+ //璁＄畻璺緞
+ List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), 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");
+ }
}
}
+ //鍥涘悜绌挎杞﹀彿
+ map.put("shuttle_no", assignCommand.getShuttleNo());
//宸ヤ綔鍙�
map.put("wrk_no", assignCommand.getTaskNo());
//鍛戒护鎵ц姝ュ簭
@@ -316,6 +379,7 @@
map.put("assignCommand", assignCommand);
shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
shuttleProtocol.setAssignCommand(assignCommand);
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
//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
@@ -323,9 +387,19 @@
}
//鎵ц涓嬪彂鐨勬寚浠�
- private void executeWork(ShuttleAssignCommand assignCommand) {
+ private boolean executeWork(ShuttleAssignCommand assignCommand) {
//璇诲彇redis鏁版嵁
+ if (assignCommand == null) {
+ return false;
+ }
+
+ //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+ shuttleProtocol.setPakMk(false);
+
Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ if (o == null) {
+ return false;
+ }
HashMap map = JSON.parseObject(o.toString(), HashMap.class);
//褰撳墠姝ュ簭
int commandStep = Integer.parseInt(map.get("commandStep").toString());
@@ -391,6 +465,10 @@
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
//浠诲姟鍙锋竻闆�
shuttleProtocol.setTaskNo((short) 0);
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ shuttleProtocol.setAssignCommand(null);
break;
default:
}
@@ -399,11 +477,9 @@
//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));
+ return false;
} else {
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
-
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- shuttleProtocol.setPakMk(false);
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
if (commandStep < size - 1) {
@@ -424,28 +500,30 @@
new Date(),
ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
assignCommand.getSourceLocNo(),
- assignCommand.getDistLocNo(),
+ assignCommand.getLocNo(),
null,
null,
null,
- JSON.toJSONString(command)
+ JSON.toJSONString(assignCommand)
);
shuttleOptService.insert(opt);
}
//鍒犻櫎redis
redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
- //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);
+ if (!assignCommand.getAuto()) {
+ //鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬侊紝鐩存帴澶嶄綅
+ News.info("鍥涘悜绌挎杞︽墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
+ }else {
+ //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));
+ }
- 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));
}
}
+ return true;
}
/******************************************************************************************/
--
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