From 8d6708ad6b4353fd1da4d3d950fa61514ed41add Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 11 五月 2023 09:07:22 +0800
Subject: [PATCH] 四向穿梭车命令封装
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 304 +++++++++++++++++++++++---------------------------
1 files changed, 140 insertions(+), 164 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 2a0f24a..2df784a 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -394,7 +394,6 @@
if (!assignCommand.getAuto()) {
List<NavigateNode> allNode = new ArrayList<>();
List<ShuttleCommand> commands = new ArrayList<>();
- ShuttleCommand command = new ShuttleCommand();
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
NavigateMapData navigateMapData;
switch (assignCommand.getTaskMode()) {
@@ -420,52 +419,20 @@
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 command1 = new ShuttleCommand();
- command1.setCommandWord((short) 1);
- command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
- command1.setMiddleCodeNum((short) 1);
- command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
- command1.setStartToDistDistance(allDistance);
- command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command1.setForceMoveDistance(0);
- command1.setIOControl((short) 0);
- command1.setRunSpeed((short) 1000);
- command1.setCommandEnd((short) 1);
- commands.add(command1);
+ //姝ｅ父绉诲姩鍛戒护
+ Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1);//寮�濮嬩簩缁寸爜
+ Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1);//鐩爣浜岀淮鐮�
+ commands.add(getMoveCommand(startCode,distCode,allDistance,ShuttleRunDirection.get(startPath.getDirection()).id));
}
//鎵樼洏椤跺崌
- ShuttleCommand command2 = new ShuttleCommand();
- command2.setCommandWord((short) 2);
- command2.setStartCodeNum((short) 0);
- command2.setMiddleCodeNum((short) 0);
- command2.setDistCodeNum((short) 0);
- command2.setStartToDistDistance(0);
- command2.setMiddleToDistDistance(0);
- command2.setRunDirection((short) 0);
- command2.setForceMoveDistance(0);
- command2.setPalletLift((short) 1);
- command2.setRunSpeed((short) 0);
- command2.setCommandEnd((short) 1);
- commands.add(command2);
+ commands.add(getPalletCommand((short) 1));
}else {
//娌℃湁璁＄畻鍒拌矾寰勶紝鍙兘瀛樺湪灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆
if (currentLocMast.getLocNo().equals(assignCommand.getSourceLocNo())) {
//灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆锛屾棤闇�绉诲姩锛岀洿鎺ラ《鍗�
//鎵樼洏椤跺崌
- ShuttleCommand command2 = new ShuttleCommand();
- command2.setCommandWord((short) 2);
- command2.setStartCodeNum((short) 0);
- command2.setMiddleCodeNum((short) 0);
- command2.setDistCodeNum((short) 0);
- command2.setStartToDistDistance(0);
- command2.setMiddleToDistDistance(0);
- command2.setRunDirection((short) 0);
- command2.setForceMoveDistance(0);
- command2.setPalletLift((short) 1);
- command2.setRunSpeed((short) 0);
- command2.setCommandEnd((short) 1);
- commands.add(command2);
+ commands.add(getPalletCommand((short) 1));
}
}
@@ -485,115 +452,41 @@
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 command1 = new ShuttleCommand();
- command1.setCommandWord((short) 1);
- command1.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1));
- command1.setMiddleCodeNum((short) 1);
- command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1));
- command1.setStartToDistDistance(allDistance);
- command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command1.setForceMoveDistance(0);
- command1.setIOControl((short) 0);
- command1.setRunSpeed((short) 1000);
- command1.setCommandEnd((short) 1);
- commands.add(command1);
+ //姝ｅ父绉诲姩鍛戒护
+ Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), 1);//寮�濮嬩簩缁寸爜
+ Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), 1);//鐩爣浜岀淮鐮�
+ commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id));
}
//鎵樼洏涓嬮檷
- ShuttleCommand command2 = new ShuttleCommand();
- command2.setCommandWord((short) 2);
- command2.setStartCodeNum((short) 0);
- command2.setMiddleCodeNum((short) 0);
- command2.setDistCodeNum((short) 0);
- command2.setStartToDistDistance(0);
- command2.setMiddleToDistDistance(0);
- command2.setRunDirection((short) 0);
- command2.setForceMoveDistance(0);
- command2.setPalletLift((short) 2);
- command2.setRunSpeed((short) 0);
- command2.setCommandEnd((short) 1);
- commands.add(command2);
+ commands.add(getPalletCommand((short) 2));
}
break;
case 3://鎵樼洏椤跺崌
case 4://鎵樼洏涓嬮檷
- command.setCommandWord((short) 2);
- command.setStartCodeNum((short) 0);
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum((short) 0);
- command.setStartToDistDistance(0);
- command.setMiddleToDistDistance(0);
- command.setRunDirection((short) 0);
- command.setForceMoveDistance(0);
- command.setPalletLift(assignCommand.getTaskMode() == 3 ? (short)1 : (short)2);
- command.setRunSpeed((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(getPalletCommand(assignCommand.getTaskMode() == 3 ? (short) 1 : (short) 2));
break;
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.setStartCodeNum((short) 0);
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum((short) 0);
- command.setStartToDistDistance(600);
- command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
- command.setForceMoveDistance(600);
- command.setIOControl((short) 0);
- command.setCommandEnd((short) 1);
- command.setRunSpeed((short) 1000);
- commands.add(command);
+ commands.add(getForceMoveCommand((short) (assignCommand.getTaskMode() - 4)));
break;
case 9://鐘舵�佸浣�
- command.setCommandWord((short) 6);
- command.setStartCodeNum((short) 0);
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum((short) 0);
- command.setStartToDistDistance(0);
- command.setMiddleToDistDistance(0);
- command.setRunDirection((short) 0);
- command.setPalletLift((short) 0);
- command.setPalletLift((short) 0);
- command.setForceMoveDistance(0);
- command.setChargeSwitch((short) 0);
- command.setIOControl((short) 0);
- command.setRunSpeed((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ ShuttleCommand reset = getResetCommand();
+ commands.add(reset);
break;
case 10://鍚戞鏂瑰悜(宸�)瀵诲簱浣�
- command.setCommandWord((short) 4);
- command.setRunDirection((short) 1);
- command.setStartToDistDistance(3000);
- command.setRunSpeed((short) 1000);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(getFindLocCommand((short) 1));
break;
case 11://鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�
- command.setCommandWord((short) 4);
- command.setRunDirection((short) 2);
- command.setStartToDistDistance(3000);
- command.setRunSpeed((short) 1000);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(getFindLocCommand((short) 2));
break;
case 12://鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
- command.setCommandWord((short) 4);
- command.setRunDirection((short) 4);
- command.setStartToDistDistance(3000);
- command.setRunSpeed((short) 1000);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(getFindLocCommand((short) 4));
break;
case 13://鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�
- command.setCommandWord((short) 4);
- command.setRunDirection((short) 3);
- command.setStartToDistDistance(3000);
- command.setRunSpeed((short) 1000);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(getFindLocCommand((short) 3));
break;
case 14://绉诲姩鍒扮洰鏍囧簱浣�
LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
@@ -616,25 +509,14 @@
LocMast distLocMast = locMastService.queryByLoc(assignCommand.getLocNo());
String qrCodeValue = distLocMast.getQrCodeValue();
- command.setCommandWord((short) 1);
- command.setStartCodeNum(shuttleProtocol.getCurrentCode());
- command.setMiddleCodeNum((short) 1);
- command.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
- command.setStartToDistDistance(allDistance);
- command.setRunSpeed((short) 1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
- command.setForceMoveDistance(0);
- command.setIOControl((short) 0);
- command.setCommandEnd((short) 1);
- commands.add(command);
+
+ //姝ｅ父绉诲姩鍛戒护
+ commands.add(getMoveCommand(shuttleProtocol.getCurrentCode(),(short) Integer.parseInt(qrCodeValue),allDistance,ShuttleRunDirection.get(startPath.getDirection()).id));
}
}
break;
case 15://鍏呯數寮�鍏�
- command.setCommandWord((short) 8);
- command.setIOControl((short) 4);
- command.setCommandEnd((short) 1);
- commands.add(command);
+ commands.add(getChargeSwitchCommand());
break;
default:
}
@@ -993,29 +875,13 @@
ShuttleCommand command = commands.get(commandStep - 1);
//澶嶄綅鍛戒护
- ShuttleCommand resetCommand = new ShuttleCommand();
- resetCommand.setCommandWord((short) 6);
- resetCommand.setStartCodeNum((short) 0);
- resetCommand.setMiddleCodeNum((short) 0);
- resetCommand.setDistCodeNum((short) 0);
- resetCommand.setStartToDistDistance(0);
- resetCommand.setMiddleToDistDistance(0);
- resetCommand.setRunDirection((short) 0);
- resetCommand.setPalletLift((short) 0);
- resetCommand.setPalletLift((short) 0);
- resetCommand.setForceMoveDistance(0);
- resetCommand.setChargeSwitch((short) 0);
- resetCommand.setIOControl((short) 0);
- resetCommand.setRunSpeed((short) 0);
- resetCommand.setCommandEnd((short) 1);
+ ShuttleCommand resetCommand = getResetCommand();
list.add(resetCommand);
//杞﹁締绌洪棽锛岀瓑寰呭啓鍏ユ壘搴撲綅鍛戒护
//鎵惧簱浣嶅懡浠�
- ShuttleCommand searchCommand = new ShuttleCommand();
- searchCommand.setCommandWord((short) 4);
short direction = 1;
- switch (command.getRunDirection()) {
+ switch (command.getRunDirection()) {//杞崲杩愯鏂瑰悜
case 1:
direction = 2;
break;
@@ -1031,11 +897,8 @@
default:
direction = 1;
}
-
- searchCommand.setRunDirection(direction);//杩愯鏂瑰悜
- searchCommand.setStartToDistDistance(1200);
- searchCommand.setRunSpeed((short) 1000);
- searchCommand.setCommandEnd((short) 1);
+ //鎵惧簱浣嶅懡浠�
+ ShuttleCommand searchCommand = getFindLocCommand(direction, 1200, (short) 1000);
list.add(searchCommand);
//绉诲姩杞﹁締锛岄渶瑕佸湪鎵ц瀹屽鎵惧畾浣嶇偣鍚庡啀鎵ц
@@ -1051,6 +914,119 @@
return true;
}
+ /**
+ * 鑾峰彇鎵樼洏椤跺崌鍛戒护
+ * @param lift 1椤跺崌锛�2涓嬮檷
+ */
+ private ShuttleCommand getPalletCommand(Short lift) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 2);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(0);
+ command.setMiddleToDistDistance(0);
+ command.setRunDirection((short) 0);
+ command.setForceMoveDistance(0);
+ command.setPalletLift(lift);
+ command.setRunSpeed((short) 0);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 姝ｅ父绉诲姩鍛戒护
+ * @return
+ */
+ private ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 1);
+ command.setStartCodeNum(startCodeNum);
+ command.setMiddleCodeNum((short) 1);
+ command.setDistCodeNum(distCodeNum);
+ command.setStartToDistDistance(startToDistDistance);
+ command.setRunDirection(runDirection);
+ command.setForceMoveDistance(0);
+ command.setIOControl((short) 0);
+ command.setRunSpeed((short) 1000);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 寮哄埗绉诲姩鍛戒护
+ * @param direction 绉诲姩鏂瑰悜 1宸︾Щ锛�2鍙崇Щ锛�3鍓嶇Щ锛�4鍚庣Щ
+ */
+ private ShuttleCommand getForceMoveCommand(Short direction) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 3);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(600);
+ command.setRunDirection(direction);
+ command.setForceMoveDistance(600);
+ command.setIOControl((short) 0);
+ command.setCommandEnd((short) 1);
+ command.setRunSpeed((short) 1000);
+ return command;
+ }
+
+ /**
+ * 鐘舵�佸浣嶅懡浠�
+ */
+ private ShuttleCommand getResetCommand() {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 6);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(0);
+ command.setMiddleToDistDistance(0);
+ command.setRunDirection((short) 0);
+ command.setPalletLift((short) 0);
+ command.setPalletLift((short) 0);
+ command.setForceMoveDistance(0);
+ command.setChargeSwitch((short) 0);
+ command.setIOControl((short) 0);
+ command.setRunSpeed((short) 0);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇瀵诲簱浣嶅懡浠�
+ * @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
+ */
+ private ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 4);
+ command.setRunDirection(direction);
+ command.setStartToDistDistance(startToDistance);
+ command.setRunSpeed((short) runSpeed);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇瀵诲簱浣嶅懡浠わ紝榛樿绉诲姩璺濈3000锛岃繍琛岄�熷害1000
+ * @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
+ */
+ private ShuttleCommand getFindLocCommand(Short direction) {
+ return getFindLocCommand(direction, 3000, (short) 1000);
+ }
+
+ /**
+ * 鑾峰彇鍏呯數寮�鍏冲懡浠�
+ */
+ private ShuttleCommand getChargeSwitchCommand() {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 8);
+ command.setIOControl((short) 4);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
--
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