From b7e0039880d9f6e71230dbf9c13538de4f8135b8 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 10 六月 2023 19:23:26 +0800
Subject: [PATCH] 输送线条码读取bug、出入库模式信号、链条控制信号
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 381 ++++++++++++++++++++++++++++--------------------------
1 files changed, 197 insertions(+), 184 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index a834aac..025d0e9 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -16,11 +16,9 @@
import com.zy.asrs.service.BasShuttleOptService;
import com.zy.asrs.service.BasShuttleService;
import com.zy.asrs.service.LocMastService;
+import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
-import com.zy.common.utils.CommonUtils;
-import com.zy.common.utils.NavigatePositionConvert;
-import com.zy.common.utils.NavigateUtils;
-import com.zy.common.utils.RedisUtil;
+import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
@@ -178,7 +176,7 @@
if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
//鍑虹幇閿欒
- reset(shuttleProtocol.getAssignCommand());
+ resetAndTryFix(shuttleProtocol.getTaskNo());
}
if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
@@ -200,7 +198,7 @@
//妫�娴嬫槸鍚︽湁鎻愬崌鏈洪攣瀹氭爣璁帮紝鏈夊垯妫�娴嬫彁鍗囨満鏄惁鍒颁綅锛屾槸鍚﹁兘璧颁笅涓�姝ュ懡浠�
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
&& shuttleProtocol.getTaskNo() != 0) {
- Object o = redisUtil.get("wrk_no_" + shuttleProtocol.getTaskNo());
+ Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
if (o != null) {
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
if (redisCommand.getLiftSecurityMk()) {
@@ -212,7 +210,7 @@
//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());
+ BasShuttle basShuttle = shuttleService.selectById(slave.getId());
if (basShuttle == null) {
basShuttle = new BasShuttle();
//鍥涘悜绌挎杞﹀彿
@@ -394,9 +392,10 @@
//鍒嗛厤浠诲姟
private void assignWork(ShuttleAssignCommand assignCommand) {
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()) {
case 1://鍏ュ簱
case 2://鍑哄簱
@@ -404,7 +403,12 @@
//璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
if (firstMastResult != null) {
+ allNode.addAll(firstMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
@@ -415,58 +419,29 @@
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));
}
}
//璁＄畻涓偣鍒扮粓鐐硅矾寰�
List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
if (secMastResult != null) {
+ allNode.addAll(secMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
@@ -477,120 +452,57 @@
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
+ commands.add(getForceMoveCommand((short) 2));
+ break;
case 6://寮哄埗鍙崇Щ
+ commands.add(getForceMoveCommand((short) 1));
+ break;
case 7://寮哄埗涓婄Щ
+ commands.add(getForceMoveCommand((short) 3));
+ break;
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) 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());
List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(result, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
if (result != null) {
+ allNode.addAll(result);//灏嗚妭鐐硅繘琛屼繚瀛�
//鑾峰彇鍒嗘璺緞
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
//灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
@@ -603,29 +515,19 @@
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:
}
assignCommand.setCommands(commands);
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
}
ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
@@ -638,7 +540,7 @@
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(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
//鎵ц涓嬪彂浠诲姟
executeWork(assignCommand.getTaskNo());
}
@@ -650,7 +552,7 @@
return false;
}
- Object o = redisUtil.get("wrk_no_" + wrkNo);
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
if (o == null) {
return false;
}
@@ -683,7 +585,7 @@
commandStep--;
redisCommand.setCommandStep(commandStep);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
shuttleProtocol.setPakMk(true);
return true;
}else {
@@ -731,7 +633,7 @@
errorCommands.remove(0);
redisCommand.setErrorCommands(errorCommands);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
return true;
}
}
@@ -769,7 +671,7 @@
commandStep++;
redisCommand.setCommandStep(commandStep);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
}else {
//宸叉墽琛屽畬鎴�
//淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
@@ -799,8 +701,13 @@
}
}
+ String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
+ //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("wrk_no_" + redisCommand.getWrkNo());
+ redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
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
@@ -836,7 +743,7 @@
return false;
}
- Object o = redisUtil.get("wrk_no_" + wrkNo);
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
if (o == null) {
return false;
}
@@ -925,7 +832,7 @@
liftProtocol.setSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
redisCommand.setLiftSecurityMk(true);//鏍囪缃负true锛岄槻姝㈠叾浠栦换鍔″崰鐢ㄥ綋鍓嶆彁鍗囨満
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
//鍛戒护list
ArrayList<LiftCommand> liftCommands = new ArrayList<>();
@@ -950,19 +857,19 @@
/**
* 澶嶄綅骞跺皾璇曚慨澶嶉敊璇�
*/
- private boolean reset(ShuttleAssignCommand assignCommand) {
+ private boolean resetAndTryFix(Short wrkNo) {
//璇诲彇redis鏁版嵁
- if (assignCommand == null) {
+ if (wrkNo == null) {
return false;
}
- Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
if (o == null) {
return false;
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- List<ShuttleCommand> commands = assignCommand.getCommands();
+ List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
//褰撳墠姝ュ簭
int commandStep = redisCommand.getCommandStep();
//path璺緞鏁扮洰
@@ -974,29 +881,13 @@
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;
@@ -1012,11 +903,8 @@
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
@@ -1027,11 +915,136 @@
redisCommand.setErrorCommands(list);
//浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
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
+ */
+ public 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
+ */
+ public 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
+ */
+ public 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�
+ */
+ public 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�
+ */
+ public 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�
+ */
+ public ShuttleCommand getFindLocCommand(Short direction) {
+ return getFindLocCommand(direction, 3000, (short) 1000);
+ }
+
+ /**
+ * 鑾峰彇鍏呯數寮�鍏冲懡浠�
+ */
+ public ShuttleCommand getChargeSwitchCommand() {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 8);
+ command.setIOControl((short) 4);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * charge锛�1=>寮�濮嬪厖鐢碉紝2=>鏂紑鍏呯數
+ */
+ public ShuttleCommand getChargeSwitchCommand(Short charge) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 5);//鍏呯數
+ command.setShuttleNo(shuttleProtocol.getShuttleNo());
+ command.setChargeSwitch(charge);//寮�濮嬪厖鐢�
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
--
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