From c08e857d010676d45ff5f4fc022613b974563d43 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 04 四月 2023 14:58:41 +0800
Subject: [PATCH] 提升机和四向穿梭车入库出优化
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 21 +
src/main/java/com/zy/core/thread/LiftThread.java | 62 ++--
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 432 +++++++++++++++++++++++++++++++-
src/main/java/com/zy/core/thread/ShuttleThread.java | 185 +++++++------
src/main/java/com/zy/asrs/mapper/WrkMastMapper.java | 8
src/main/resources/mapper/WrkMastMapper.xml | 17
src/main/java/com/zy/core/MainProcess.java | 6
src/main/java/com/zy/core/model/LiftSlave.java | 3
src/main/java/com/zy/common/utils/CommonUtils.java | 20 +
9 files changed, 602 insertions(+), 152 deletions(-)
diff --git a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
index 43d11a3..25aea9b 100644
--- a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -98,9 +98,11 @@
WrkMast selectRackInStep48(Short workNo,Integer sourceStaNo);
- WrkMast selectByWorkNo59(Integer workNo);
+ WrkMast selectByWorkNo(Integer workNo);
- WrkMast selectLiftStep6();
+ WrkMast selectLiftStep623();
- WrkMast selectByWorkNo7(Integer workNo);
+ WrkMast selectByWorkNo724(Integer workNo);
+
+ List<WrkMast> selectBy2125();
}
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 0db902b..be5c779 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -602,10 +602,120 @@
}
}
+// /**
+// * 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));
+// }
+// }
+//
+// }
+// }
+//
+// }
+// }
+//
+// }
+
/**
- * 鍏ュ嚭搴� ===>> 鍥涘悜绌挎杞﹀叆鍑哄簱浣滀笟涓嬪彂
+ * 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
*/
- public synchronized void shuttleIoExecute() {
+ 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�
@@ -662,19 +772,28 @@
//鍒嗛厤婧愬簱浣�
shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
+ //鍒涘缓鍒嗛厤鍛戒护
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)
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮�
String currentLocNo = shuttleProtocol.getCurrentLocNo();
- assignCommand.setSourceLocNo(currentLocNo);
+ assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ String locNo = wrkMast.getLocNo();//褰撳墠宸ヤ綔妗ｅ簱浣嶅彿
+ Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
+ Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//灏忚溅褰撳墠灞傞珮
+
+ //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);
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
- //鍚屼竴灞�
+ //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);
+ assignCommand.setCommands(commands);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getLocNo());
//鐩爣搴撲綅
@@ -683,16 +802,13 @@
}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);
+ //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ //鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(liftLocNo);
//鐩爣搴撲綅
assignCommand.setLocNo(liftLocNo);
+ assignCommand.setCommands(commands);
wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
}
@@ -710,8 +826,251 @@
}
+ //鑾峰彇璧风偣-缁堢偣鎸囦护銆俶apType锛�1=銆嬫棤璐у湴鍥撅紝2=銆嬫湁璐у湴鍥�
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
+ //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);
+ List<ShuttleCommand> commands = new ArrayList<>();
+ if (calc == null) {
+ return null;
+ }
+
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ //鐩爣璺緞
+ 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 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()));
+ command.setStartToDistDistance(allDistance);
+ command.setMiddleToDistDistance(1000);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).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);
+ commands.add(command);
+ }
+ return commands;
+ }
+
+ //鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
+ public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
+ //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
+ List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//灏忚溅鏃犺揣锛岃蛋鍏ュ簱鍦板浘
+ List<ShuttleCommand> commands = new ArrayList<>();
+ if (calc == null) {
+ return null;
+ }
+
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ //鐩爣璺緞
+ 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 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()));
+ command.setStartToDistDistance(allDistance);
+ command.setMiddleToDistDistance(1000);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).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);
+ commands.add(command);
+ }
+
+ //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉￠《鍗囨寚浠�
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 2);
+ command.setPalletLift((short) 1);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+
+ //璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
+ List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//灏忚溅鏈夎揣锛岃蛋鍑哄簱鍦板浘(鍑哄簱鍦板浘鏈変笓鐢ㄨ揣閬�)
+ if (calc2 == null) {
+ return null;
+ }
+
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
+ for (ArrayList<NavigateNode> nodes : data2) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ //鐩爣璺緞
+ 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�
+
+ 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()));
+ command.setStartToDistDistance(allDistance);
+ command.setMiddleToDistDistance(1000);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).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);
+ commands.add(command);
+ }
+
+ //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
+ command = new ShuttleCommand();
+ command.setCommandWord((short) 2);
+ command.setPalletLift((short) 2);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+
+ return commands;
+ }
+
/**
- * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�
+ * 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+ */
+ public synchronized void shuttleIoOutExecute() {
+ for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
+ //鎻愬彇涓�鏉″緟鍑哄簱浠诲姟
+ if (wrkMast != null) {
+ String outStaLocNo = null;//鍑哄簱绔欑偣搴撲綅鍙�
+ //鑾峰彇鍑哄簱绔欑偣
+ for (DevpSlave devpSlave : slaveProperties.getDevp()) {
+ for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
+ if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
+ //鍑哄簱绔欑偣鍜屽伐浣滄。鍑哄簱绔欑偣涓�鑷�
+ outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
+ }
+ }
+
+ }
+
+ if (wrkMast.getWrkSts() == 21
+ || wrkMast.getWrkSts() == 25
+ || wrkMast.getWrkSts() == 31) {
+ ShuttleThread shuttleThread = null;
+ HashMap<String, Object> searchIdleShuttle = null;
+ if (wrkMast.getWrkSts() == 21) {
+ //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 if(wrkMast.getWrkSts() == 31 || wrkMast.getWrkSts() == 25) {
+ //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟
+ shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ }
+
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (!shuttleProtocol.isIdle()) {
+ continue;
+ }
+
+ if (outStaLocNo == null) {
+ continue;
+ }
+
+ wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
+ //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+
+ //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);
+
+ //鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
+ //鍒嗛厤婧愬簱浣�
+ shuttleProtocol.setSourceLocNo(currentLocNo);
+
+ 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_OUT.id.shortValue());
+ assignCommand.setSourceLocNo(currentLocNo);
+
+ if (wrkMast.getWrkSts() == 21) {
+ //鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞�
+ if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
+ //鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
+
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getSourceLocNo());
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+ }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(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
+
+ //灏忚溅鍒版彁鍗囨満鍙ｆ寚浠�
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
+ shuttleProtocol.setLocNo(liftLocNo);
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(liftLocNo);
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
+ }
+ } else if (wrkMast.getWrkSts() == 25) {
+ List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ //鍒嗛厤鐩爣搴撲綅
+ shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
+ //鐩爣搴撲綅
+ assignCommand.setLocNo(wrkMast.getSourceLocNo());
+ assignCommand.setCommands(commands);
+ wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
+ }
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ }
+ }
+ }
+
+ /**
+ * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�(浠ュ伐浣滄。鐩爣搴撲綅涓哄熀鐐硅绠楁渶杩戜笖绌洪棽鐨勮溅)
*/
public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
HashMap<String, Object> map = new HashMap<>();
@@ -806,7 +1165,7 @@
//鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id && shuttleProtocol.getTaskNo() != 0) {
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo59(shuttleProtocol.getTaskNo().intValue());
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
case 9:
@@ -814,6 +1173,12 @@
break;
case 5:
wrkMast.setWrkSts(6L);
+ break;
+ case 22:
+ wrkMast.setWrkSts(23L);
+ break;
+ case 26:
+ wrkMast.setWrkSts(27L);
break;
default:
}
@@ -861,7 +1226,7 @@
}
//鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
- WrkMast wrkMast = wrkMastMapper.selectLiftStep6();
+ WrkMast wrkMast = wrkMastMapper.selectLiftStep623();
if (wrkMast == null) {
continue;
}
@@ -891,7 +1256,7 @@
int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
//宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getLocNo();
+ String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
//宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
@@ -938,7 +1303,13 @@
commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
- wrkMast.setWrkSts(7L);//绉诲姩浠诲姟
+ if (wrkMast.getIoType() == 101) {
+ //鍑哄簱浠诲姟
+ wrkMast.setWrkSts(24L);//绉诲姩浠诲姟
+ }else {
+ //鍏ュ簱浠诲姟
+ wrkMast.setWrkSts(7L);//绉诲姩浠诲姟
+ }
//鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
LiftAssignCommand assignCommand = new LiftAssignCommand();
assignCommand.setCommands(commands);
@@ -966,9 +1337,18 @@
//鎻愬崌鏈轰负绛夊緟纭
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo7(liftProtocol.getTaskNo().intValue());
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo724(liftProtocol.getTaskNo().intValue());
if (wrkMast != null) {
- wrkMast.setWrkSts(8L);
+ switch (wrkMast.getWrkSts().intValue()) {
+ case 7:
+ wrkMast.setWrkSts(8L);
+ break;
+ case 24:
+ wrkMast.setWrkSts(25L);
+ break;
+ default:
+ }
+
if (wrkMastMapper.updateById(wrkMast) > 0) {
//璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
@@ -978,6 +1358,8 @@
liftProtocol.setPakMk(true);
//浠诲姟鎸囦护娓呴浂
liftProtocol.setAssignCommand(null);
+ //鎻愬崌鏈鸿В閿�
+ liftProtocol.setLiftLock(false);
News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
} else {
News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
diff --git a/src/main/java/com/zy/common/utils/CommonUtils.java b/src/main/java/com/zy/common/utils/CommonUtils.java
index 2b371c0..9e612fe 100644
--- a/src/main/java/com/zy/common/utils/CommonUtils.java
+++ b/src/main/java/com/zy/common/utils/CommonUtils.java
@@ -44,4 +44,24 @@
return num != 0;
}
+ //浠巖ow銆乥ay銆乴ev鍙傛暟鑾峰彇瀹屾暣搴撲綅鍙�
+ public static String getLocNoFromRBL(Integer row, Integer bay, Integer lev) {
+ StringBuffer sb = new StringBuffer();
+ if (row < 10) {
+ sb.append("0");
+ }
+ sb.append(row);
+ if (bay < 10) {
+ sb.append("00");
+ } else if (bay < 100) {
+ sb.append("0");
+ }
+ sb.append(bay);
+ if (lev < 10) {
+ sb.append("0");
+ }
+ sb.append(lev);
+ return sb.toString();
+ }
+
}
diff --git a/src/main/java/com/zy/core/MainProcess.java b/src/main/java/com/zy/core/MainProcess.java
index b032df4..1be2192 100644
--- a/src/main/java/com/zy/core/MainProcess.java
+++ b/src/main/java/com/zy/core/MainProcess.java
@@ -57,8 +57,10 @@
mainService.crnStnToOutStn();
// 鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
mainService.crnIoExecute();
- // 鍏ュ嚭搴� ===>> 鍥涘悜绌挎杞﹀叆鍑哄簱浣滀笟涓嬪彂
- mainService.shuttleIoExecute();
+ // 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+ mainService.shuttleIoInExecute();
+ // 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
+ mainService.shuttleIoOutExecute();
//鍥涘悜绌挎杞︿换鍔″畬鎴�
mainService.shuttleFinished();
//鎻愬崌鏈轰换鍔�
diff --git a/src/main/java/com/zy/core/model/LiftSlave.java b/src/main/java/com/zy/core/model/LiftSlave.java
index 15e6060..8d66ecf 100644
--- a/src/main/java/com/zy/core/model/LiftSlave.java
+++ b/src/main/java/com/zy/core/model/LiftSlave.java
@@ -45,6 +45,9 @@
sb.append("0");
}
sb.append(bay);
+ if (lev < 10) {
+ sb.append("0");
+ }
sb.append(lev);
return sb.toString();
}
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index d370e72..e29ec7d 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -230,6 +230,27 @@
}
}
+ // 鏄惁澶勪簬绌洪棽寰呭懡鐘舵�侊紝浼犲叆鐨則askNo鍜屽綋鍓峵askNo鐩稿悓鏃跺厑璁告斁琛�
+ public Boolean isIdle(Short taskNo) {
+ boolean res = this.busyStatusType.equals(ShuttleStatusType.IDLE)
+ && this.pakMk.equals(true)
+ && this.errorCodeType.equals(ShuttleErrorCodeType.NORMAL)
+ && (this.taskNo == 0 || this.taskNo == taskNo)
+ ;
+ if (!res) {
+ return res;
+ } else {
+ // 鐢甸噺
+ try {
+ Integer chargeLine = SpringUtils.getBean(BasShuttleService.class).selectById(this.shuttleNo).getChargeLine();
+ return this.getBatteryPower$() > chargeLine;
+ } catch (Exception e) {
+ News.error("fail", e);
+ return false;
+ }
+ }
+ }
+
//閫氳繃褰撳墠浜岀淮鐮佽幏鍙栧綋鍓嶅簱浣嶅彿
public String getCurrentLocNo() {
LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
diff --git a/src/main/java/com/zy/core/thread/LiftThread.java b/src/main/java/com/zy/core/thread/LiftThread.java
index 34ea0c1..d6e574d 100644
--- a/src/main/java/com/zy/core/thread/LiftThread.java
+++ b/src/main/java/com/zy/core/thread/LiftThread.java
@@ -293,32 +293,6 @@
//灏嗘map瀛樺叆redis涓�
HashMap<String, Object> map = new HashMap<>();
- //鎻愬崌鏈哄彿
- map.put("lift_no", assignCommand.getLiftNo());
- //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);
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
- liftProtocol.setAssignCommand(assignCommand);
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
- //鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand);
- }
-
- //鎵ц浠诲姟
- private boolean executeWork(LiftAssignCommand 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)
- liftProtocol.setPakMk(false);
-
//鎵嬪姩妯″紡鎸囦护
if (!assignCommand.getAuto()) {
LiftCommand command = new LiftCommand();
@@ -347,16 +321,38 @@
case 5://澶嶄綅
command.setRun((short) 0);
command.setLiftLock(false);
- liftProtocol.setTaskNo((short) 0);
- liftProtocol.setShuttleNo((short) 0);
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- liftProtocol.setPakMk(true);
break;
default:
}
commands.add(command);
assignCommand.setCommands(commands);
}
+
+ //鎻愬崌鏈哄彿
+ map.put("lift_no", assignCommand.getLiftNo());
+ //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);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("lift_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
+ liftProtocol.setAssignCommand(assignCommand);
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);
+ //鎵ц涓嬪彂浠诲姟
+ executeWork(assignCommand);
+ }
+
+ //鎵ц浠诲姟
+ private boolean executeWork(LiftAssignCommand 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)
+ liftProtocol.setPakMk(false);
Object o = redisUtil.get("lift_wrk_no_" + assignCommand.getTaskNo());
if (o == null) {
@@ -411,6 +407,12 @@
News.info("鎻愬崌鏈轰换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛屾彁鍗囨満鍙�={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
}else {
//鎵嬪姩妯″紡涓嶆姏鍑虹瓑寰呯姸鎬�
+ if (assignCommand.getTaskMode() == 5) {
+ liftProtocol.setTaskNo((short) 0);
+ liftProtocol.setShuttleNo((short) 0);
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
+ liftProtocol.setPakMk(true);
+ }
News.info("鎻愬崌鏈烘墜鍔ㄤ换鍔℃墽琛屽畬鎴愶紝鎻愬崌鏈哄彿={}锛屼换鍔℃暟鎹�={}", command.getLiftNo(), JSON.toJSON(command));
}
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 73613c9..7f4a6fa 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -24,6 +24,7 @@
import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
+import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
@@ -345,28 +346,94 @@
}
//鍒嗛厤浠诲姟
- private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
+ private void assignWork(ShuttleAssignCommand assignCommand) {
//灏嗘map瀛樺叆redis涓�
HashMap<String, Object> map = new HashMap<>();
- 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");
- }
+// 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");
+// }
+// }
+// }
+
+ if (!assignCommand.getAuto()) {
+ List<ShuttleCommand> commands = new ArrayList<>();
+ ShuttleCommand command = new ShuttleCommand();
+ switch (assignCommand.getTaskMode()) {
+ case 1://鍏ュ簱
+ case 2://鍑哄簱
+ //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
+ //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
+ List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), ShuttleTaskModeType.PAK_IN.id);
+ if (calc != null) {
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
+ //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
+ for (ArrayList<NavigateNode> nodes : data) {
+ //寮�濮嬭矾寰�
+ NavigateNode startPath = nodes.get(0);
+ //鐩爣璺緞
+ 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()));
+ command1.setMiddleCodeNum((short) 0);
+ command1.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+ command1.setStartToDistDistance(allDistance);
+ command1.setMiddleToDistDistance(1000);
+ command1.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+ command1.setPalletLift((short) 1);
+ command1.setForceMoveDistance(1000);
+ command1.setChargeSwitch((short) 2);
+ command1.setIOControl((short) 0);
+ command1.setRunSpeed((short) 1000);
+ command1.setRadarTmp((short) 0);
+ command1.setCommandEnd((short) 1);
+ commands.add(command1);
+ }
+ }
+ break;
+ 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);
+ commands.add(command);
+ 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.setForceMoveDistance(1000);
+ command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ break;
+ case 9://鐘舵�佸浣�
+ command.setCommandWord((short) 0);
+ command.setCommandEnd((short) 1);
+ commands.add(command);
+ break;
+ default:
}
+ assignCommand.setCommands(commands);
}
//鍥涘悜绌挎杞﹀彿
@@ -401,79 +468,15 @@
return false;
}
HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ List<ShuttleCommand> commands = assignCommand.getCommands();
//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://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 objectPath = JSON.parseObject(o1.toString(), ArrayList.class);
- ArrayList<NavigateNode> path = new ArrayList<>();
- for (Object o2 : objectPath) {
- NavigateNode navigateNode = JSON.parseObject(o2.toString(), NavigateNode.class);
- path.add(navigateNode);
- }
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(path);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
+ int size = commands.size();
- size = Integer.parseInt(map.get("pathSize").toString());
- //寮�濮嬭矾寰�
- NavigateNode startPath = path.get(0);
- //鐩爣璺緞
- NavigateNode endPath = path.get(path.size() - 1);
+ //鍙栧嚭鍛戒护
+ ShuttleCommand command = commands.get(commandStep);
- command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
- command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).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://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);
- 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.setForceMoveDistance(1000);
- command.setRunDirection((short) (assignCommand.getTaskMode() - 4));
- command.setCommandEnd((short) 1);
- 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);
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- shuttleProtocol.setAssignCommand(null);
- break;
- default:
- }
-
- 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));
@@ -513,6 +516,16 @@
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
+ if (assignCommand.getTaskMode() == 9) {
+ //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);
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
+ //浠诲姟鎸囦护娓呴浂
+ shuttleProtocol.setAssignCommand(null);
+ }
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
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index 90cfbca..203f9a9 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -246,22 +246,27 @@
order by io_pri desc,wrk_sts desc
</select>
- <select id="selectByWorkNo59" resultMap="BaseResultMap">
+ <select id="selectByWorkNo" resultMap="BaseResultMap">
select top 1 * from dbo.asr_wrk_mast
where wrk_no=#{workNo}
- and wrk_sts in (5,9)
</select>
- <select id="selectLiftStep6" resultMap="BaseResultMap">
+ <select id="selectLiftStep623" resultMap="BaseResultMap">
select top 1 * from dbo.asr_wrk_mast
- where wrk_sts in (6)
+ where wrk_sts in (6,23)
and shuttle_no is not null
order by io_pri desc,wrk_sts desc
</select>
- <select id="selectByWorkNo7" resultMap="BaseResultMap">
+ <select id="selectByWorkNo724" resultMap="BaseResultMap">
select top 1 * from dbo.asr_wrk_mast
where wrk_no=#{workNo}
- and wrk_sts in (7)
+ and wrk_sts in (7,24)
+ </select>
+
+ <select id="selectBy2125" resultMap="BaseResultMap">
+ select * from dbo.asr_wrk_mast
+ where wrk_sts in (21,25)
+ order by io_pri desc,wrk_sts desc
</select>
</mapper>
--
Gitblit v1.9.1