From b5dad5bca39b68fdaaaf844e38fcc55e94bb34f1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 14 四月 2023 15:23:50 +0800
Subject: [PATCH] 地图处于其他楼层时无法显示提升机口站点问题
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 205 +++++++++++++++++---------------------------------
1 files changed, 71 insertions(+), 134 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 92fe3d4..f2b386c 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -606,115 +606,6 @@
}
}
-// /**
-// * 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
-// */
-// public synchronized void shuttleIoInExecute() {
-// // 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()) {
-// // 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);
-//
-// if (staProtocol == null) {
-// continue;
-// } else {
-// staProtocol = staProtocol.clone();
-// }
-// Short workNo = staProtocol.getWorkNo();
-//
-// // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
-// if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
-// WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
-// if (wrkMast != null) {
-// if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
-// ShuttleThread shuttleThread = null;
-// HashMap<String, Object> searchIdleShuttle = null;
-// if (wrkMast.getWrkSts() == 4) {
-// //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
-// searchIdleShuttle = this.searchIdleShuttle(wrkMast);
-// shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
-// }else {
-// //鐘舵��8锛屽洓鍚戠┛姊溅宸插湪鎻愬崌鏈哄彛锛岀瓑寰呭懡浠よ繘琛屽叆搴撴惉杩愬姩浣�
-// Integer shuttleNo = wrkMast.getShuttleNo();//鍥涘悜绌挎杞﹀彿
-// shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
-// }
-//
-// if (shuttleThread == null) {
-// continue;
-// }
-//
-// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
-// if (!shuttleProtocol.isIdle()) {
-// continue;
-// }
-//
-// wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
-//
-// //鍒嗛厤浠诲姟鍙�
-// shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
-// //鍒嗛厤婧愬簱浣�
-// shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
-//
-// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-// //鍥涘悜绌挎杞﹀彿
-// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
-// //浠诲姟鍙�
-// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
-// //鍏ュ嚭搴撴ā寮�
-// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
-// //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
-// String currentLocNo = shuttleProtocol.getCurrentLocNo();
-// assignCommand.setSourceLocNo(currentLocNo);
-//
-// if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
-// //鍚屼竴灞�
-// //鍒嗛厤鐩爣搴撲綅
-// shuttleProtocol.setLocNo(wrkMast.getLocNo());
-// //鐩爣搴撲綅
-// assignCommand.setLocNo(wrkMast.getLocNo());
-// wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
-//
-// //鑾峰彇浠庡皬杞�
-// }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
-//
-// //灏忚溅褰撳墠灞傞珮
-// Integer currentLev = 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
-// String liftLocNo = liftSlave.getLiftLocNo(currentLev);
-// shuttleProtocol.setLocNo(liftLocNo);
-// //鐩爣搴撲綅
-// assignCommand.setLocNo(liftLocNo);
-// wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
-// }
-//
-// if (wrkMastMapper.updateById(wrkMast) > 0) {
-// //涓嬪彂浠诲姟
-// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
-// }
-// }
-//
-// }
-// }
-//
-// }
-// }
-//
-// }
/**
* 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
@@ -728,13 +619,13 @@
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 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);
if (staProtocol == null) {
continue;
@@ -797,6 +688,19 @@
//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);
+ 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);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+ }
assignCommand.setCommands(commands);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getLocNo());
@@ -851,17 +755,24 @@
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //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(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
- command.setRunSpeed((short) 1000);
command.setRadarTmp((short) 0);
command.setCommandEnd((short) 1);
commands.add(command);
@@ -890,17 +801,24 @@
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //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(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
- command.setRunSpeed((short) 1000);
command.setRadarTmp((short) 0);
command.setCommandEnd((short) 1);
commands.add(command);
@@ -930,17 +848,24 @@
command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //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(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
- command.setRunSpeed((short) 1000);
command.setRadarTmp((short) 0);
command.setCommandEnd((short) 1);
commands.add(command);
@@ -1056,6 +981,18 @@
}
} else if (wrkMast.getWrkSts() == 25) {
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ //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);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
--
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