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/thread/ShuttleThread.java | 185 ++++++++++++++++++++++++---------------------
1 files changed, 99 insertions(+), 86 deletions(-)
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
--
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