From c2b0be1a368a88e4adb6dda12d0aa5d3bb0df838 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 27 六月 2023 16:50:50 +0800
Subject: [PATCH] 搜索最近穿梭车，提升机完成方法
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 184 ++++++++++++++++++++++++++++++++++-----------
1 files changed, 138 insertions(+), 46 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 8b52bed..7d23d51 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -134,16 +134,19 @@
//閿欒缂栧彿
shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
//Plc杈撳嚭鐘舵�両O
- boolean[] booleans = modbusTcpNet.getByteTransform().TransBool(content, 10, 2);
- shuttleProtocol.setPlcOutputLift(booleans[1]);
- shuttleProtocol.setPlcOutputTransfer(booleans[2]);
- shuttleProtocol.setPlcOutputBrake(booleans[3]);
- shuttleProtocol.setPlcOutputCharge(booleans[4]);
+ int plcOutIo = modbusTcpNet.getByteTransform().TransUInt16(content, 10);
+ int[] plcOutIos = CommonUtils.byteToBits((byte) plcOutIo);
+ shuttleProtocol.setPlcOutputLift(plcOutIos[1] == 1);
+ shuttleProtocol.setPlcOutputTransfer(plcOutIos[2] == 1);
+ shuttleProtocol.setPlcOutputBrake(plcOutIos[3] == 1);
+ shuttleProtocol.setPlcOutputCharge(plcOutIos[4] == 1);
shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
//閿欒淇℃伅鐮�
shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
+ int plcInIo = modbusTcpNet.getByteTransform().TransUInt16(content, 14);
+ int[] plcInIos = CommonUtils.byteToBits((byte) plcInIo);
//PLC杈撳叆鐘舵��
- shuttleProtocol.setPlcInputStatus(modbusTcpNet.getByteTransform().TransInt16(content,14));
+ shuttleProtocol.setPlcInputStatus((short) plcInIos[6]);
//褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
shuttleProtocol.setCurrentOrBeforeCode(modbusTcpNet.getByteTransform().TransInt16(content,16));
//璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
@@ -366,6 +369,11 @@
OperateResult result = modbusTcpNet.Write("0", array);;
if (result != null && result.IsSuccess) {
+ try {
+ Thread.sleep(3000);//鍛戒护涓嬪彂鍚庝紤鐪�1s
+ } catch (InterruptedException e) {
+ throw new RuntimeException(e);
+ }
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙慬id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] >>>>> 鍛戒护涓嬪彂锛� {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
return true;
@@ -648,9 +656,6 @@
return false;
}
- //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
- shuttleProtocol.setPakMk(false);
-
List<ShuttleCommand> errorCommands = redisCommand.getErrorCommands();
if (errorCommands.size() > 0) {
//浼樺厛鎵ц璇ユ寚浠�
@@ -731,6 +736,63 @@
int size = commands.size();
ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ if (commandStep != 0) {
+ //鍒ゆ柇涓婁竴鏉℃寚浠ゆ槸鍚﹀畬鎴�
+ ShuttleCommand command = commands.get(commandStep - 1);
+ if (command.getCommandWord().intValue() == 1) {
+ //绉诲姩鍛戒护
+ if (command.getDistCodeNum().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
+ //涓婁竴鏉℃寚浠ょ殑鐩爣浣嶇疆鍜屽綋鍓嶅皬杞︿綅缃浉鍚岋紝鍒欒瀹氫笂涓�鏉′换鍔″畬鎴�
+ command.setComplete(true);
+ }
+ } else if (command.getCommandWord().intValue() == 2) {
+ //鎵樼洏椤跺崌鍛戒护
+ if (command.getPalletLift().intValue() == 1) {
+ //椤跺崌
+ //鍒ゆ柇鏄惁椤跺崌鍒颁綅
+ if (shuttleProtocol.getPlcOutputLift()) {
+ //鑷姩妯″紡
+ if (assignCommand.getAuto() && shuttleProtocol.getPlcInputStatus().intValue() == 1) {
+ //椤跺崌鍒颁綅,涓旀墭鐩橀浄杈炬湁鐗╋紝璁ゅ畾浠诲姟瀹屾垚
+ command.setComplete(true);
+ }else {
+ //鎵嬪姩妯″紡锛屼笉鍒ゆ柇鎵樼洏闆疯揪
+ //椤跺崌鍒颁綅锛岃瀹氫换鍔″畬鎴�
+ command.setComplete(true);
+ }
+ }
+ }else {
+ //涓嬮檷
+ //鍒ゆ柇鏄惁涓嬮檷鍒颁綅锛屽垽鏂墭鐩橀浄杈炬槸鍚︽棤鐗�
+ if (!shuttleProtocol.getPlcOutputLift() && !shuttleProtocol.getPlcOutputTransfer()) {
+ //鑷姩妯″紡
+ if (assignCommand.getAuto() && shuttleProtocol.getPlcInputStatus().intValue() == 0) {
+ //涓嬮檷鍒颁綅锛屼笖鎵樼洏闆疯揪鏃犵墿锛岃瀹氫换鍔″畬鎴�
+ command.setComplete(true);
+ }else {
+ //鎵嬪姩妯″紡锛屼笉鍒ゆ柇鎵樼洏闆疯揪
+ //涓嬮檷鍒颁綅锛屼笖鎵樼洏闆疯揪鏃犵墿锛岃瀹氫换鍔″畬鎴�
+ command.setComplete(true);
+ }
+ }
+ }
+ } else if (command.getCommandWord().intValue() == 5) {
+ //鍏呯數鍛戒护
+ //鍒ゆ柇灏忚溅鍏呯數寮�鍏�
+ if (shuttleProtocol.getPlcOutputCharge()) {
+ //姝ｅ父鍏呯數锛岃瀹氫换鍔″畬鎴�
+ command.setComplete(true);
+ }
+ }
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+
+ if (!command.getComplete()) {
+ //涓婁竴鏉′换鍔℃湭瀹屾垚锛岀姝笅鍙戝懡浠�
+ return false;
+ }
+ }
+
//鍙栧嚭鍛戒护
ShuttleCommand command = commands.get(commandStep);
@@ -752,8 +814,12 @@
//灏忚溅褰撳墠鍛戒护璧峰浣嶇疆灏辨槸鎻愬崌鏈轰簩缁寸爜锛岃鏄庡皬杞﹂渶瑕佸悜鎻愬崌鏈哄绉诲姩锛屽垯闇�瑕佸垽鏂姸鎬佹槸鍚︽弧瓒�
if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()){
//鎻愬崌鏈烘槸鍚︾┖闂诧紝鎻愬崌鏈烘槸鍚﹀埌杈剧洰鏍囨ゼ灞傦紝鐩爣妤煎眰鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙蜂綅
- if (!liftProtocol.isIdle()) {
+ if (!liftProtocol.isIdleNoTask()) {
return false;//鎻愬崌鏈哄繖锛岀姝笅鍙戝懡浠�
+ }
+ if (liftProtocol.getTaskNo().intValue() != wrkNo) {
+ //鎻愬崌鏈哄伐浣滃彿鍜屽綋鍓嶅伐浣滀笉鐩稿悓锛岀姝笅鍙戝懡浠�
+ return false;
}
Short distCodeNum = command.getDistCodeNum();//鐩爣浜岀淮鐮�
@@ -781,7 +847,6 @@
}
}
-
//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));
@@ -789,10 +854,25 @@
} else {
News.info("鍥涘悜绌挎杞﹀懡浠や笅鍙戞垚鍔燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
- try {
- Thread.sleep(1000);//鍛戒护涓嬪彂瀹屽悗浼戠湢1s
- } catch (InterruptedException e) {
- throw new RuntimeException(e);
+ //灏嗘爣璁扮疆涓篺alse(闃叉閲嶅彂)
+ shuttleProtocol.setPakMk(false);
+
+ //淇濆瓨鏁版嵁鍒版暟鎹簱鍋氭祦姘�
+ BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
+ if (shuttleOptService != null) {
+ BasShuttleOpt opt = new BasShuttleOpt(
+ assignCommand.getTaskNo().intValue(),
+ assignCommand.getShuttleNo().intValue(),
+ new Date(),
+ ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
+ assignCommand.getSourceLocNo(),
+ assignCommand.getLocNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command)
+ );
+ shuttleOptService.insert(opt);
}
//鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
@@ -805,23 +885,6 @@
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�
- BasShuttleOptService shuttleOptService = SpringUtils.getBean(BasShuttleOptService.class);
- if (shuttleOptService != null) {
- BasShuttleOpt opt = new BasShuttleOpt(
- assignCommand.getTaskNo().intValue(),
- assignCommand.getShuttleNo().intValue(),
- new Date(),
- ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
- assignCommand.getSourceLocNo(),
- assignCommand.getLocNo(),
- null,
- null,
- null,
- JSON.toJSONString(assignCommand)
- );
- shuttleOptService.insert(opt);
- }
if (redisCommand.getLiftSecurityMk()) {
//鏇鹃攣瀹氳繃鎻愬崌鏈猴紝闇�瑕佽繘琛岃В閿�
@@ -856,7 +919,7 @@
}else {
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
}
- News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屽畬鎴愮瓑寰呯‘璁や腑锛岀┛姊溅鍙�={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
+ News.info("鍥涘悜绌挎杞︿换鍔℃墽琛屼笅鍙戝畬鎴愮瓑寰呮墽琛岀粨鏉燂紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", shuttleProtocol.getShuttleNo(), JSON.toJSON(command));
}
}
@@ -916,14 +979,19 @@
qrCodeValues.add(Short.parseShort(basDevp.getQrCodeValue()));
}
- //閬嶅巻鎵�鏈夋寚浠わ紝鍒ゆ柇鏄惁鏈夊埌鎻愬崌鏈哄彛鐨勬寚浠わ紝骞惰幏鍙栧埌杈捐鎻愬崌鏈哄彛鎵�闇�姝ュ簭
+ //閬嶅巻鎵�鏈夋寚浠わ紝鍒ゆ柇鏄惁鏈夊埌鎻愬崌鏈哄彛鐨勬寚浠ゆ垨浠庢彁鍗囨満鍙ｅ墠寰�鎻愬崌鏈哄唴鐨勬寚浠わ紝骞惰幏鍙栧埌杈捐鎻愬崌鏈哄彛鎵�闇�姝ュ簭
int step = 0;
Integer siteNo = null;//绔欑偣鍙�
ShuttleCommand command = null;
for (int i = 0; i < commands.size(); i++) {
command = commands.get(i);
for (Short qrCodeValue : qrCodeValues) {
- if (qrCodeValue.intValue() == command.getDistCodeNum().intValue()) {
+ //鐩爣浣嶇疆鏄彁鍗囨満鍙ｏ紝鎴栬捣鐐逛綅缃槸鎻愬崌鏈哄彛涓旂洰鏍囨槸鍘绘彁鍗囨満鍐�
+ if (command.getDistCodeNum() == null || command.getStartCodeNum() == null) {
+ continue;
+ }
+
+ if (qrCodeValue.intValue() == command.getDistCodeNum().intValue() || (qrCodeValue.intValue() == command.getStartCodeNum().intValue() && command.getDistCodeNum().intValue() == liftProtocol.getBarcode().intValue())) {
//瀛樺湪
step = i + 1;
BasDevp basDevp = basDevpService.queryByQrCode(qrCodeValue.intValue());
@@ -938,11 +1006,21 @@
return true;
}
- //鍒ゆ柇涓嬩竴姝ユ槸鍚︿负鎻愬崌鏈哄彛
- if (commandStep + 1 != step) {
- //涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
- return true;
+ //鍒ゆ柇涓嬩竴姝ユ槸鍚︿负鎻愬崌鏈哄彛鎴栨彁鍗囨満鍐�
+ if (commandStep < commands.size()) {
+ ShuttleCommand command1 = commands.get(commandStep);
+ Short distCodeNum = command1.getDistCodeNum();
+ if (distCodeNum != null) {
+ BasDevp basDevp = basDevpService.queryByQrCode(Integer.valueOf(distCodeNum));
+ if (basDevp == null && distCodeNum.intValue() != liftProtocol.getBarcode().intValue()) {
+ return true;//涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
+ }
+ }
}
+// if (commandStep + 1 != step) {
+// //涓嬩竴姝ヤ笉鏄彁鍗囨満鍙ｏ紝璺宠繃鍚庣画娴佺▼
+// return true;
+// }
//鑾峰彇鍥涘悜绌挎杞﹀綋鍓嶆ゼ灞�
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
@@ -957,13 +1035,28 @@
if (siteNo != null) {
SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
StaProtocol staProtocol = siemensDevpThread.getStation().get(siteNo);
- if (staProtocol.isLiftArrival()
- && liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
- //杈撻�佺嚎鍙嶉鎻愬崌鏈哄埌浣嶄笖鎻愬崌鏈烘ゼ灞傚弽棣堜负鍚屼竴灞傦紝鐩存帴鏀捐
+ if (!staProtocol.isLiftArrival()) {
+ //杈撻�佺嚎鍙嶉鎻愬崌鏈烘病鏈夊埌浣�
+ executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//璋冨害鎻愬崌鏈�
+ return false;
+ }
+
+ if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
+ //灏忚溅澶勪簬鎻愬崌鏈哄唴
return true;
+ }else {
+ if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
+ return true;//鎻愬崌鏈哄埌浣�
+ }
+ executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//璋冨害鎻愬崌鏈�
+ return false;//鎻愬崌鏈烘病鏈夊埌浣�
}
}
+ return false;
+ }
+
+ private boolean executeLift(LiftThread liftThread, LiftProtocol liftProtocol, ShuttleRedisCommand redisCommand, Integer shuttleLocNoLev) {//璋冨害鎻愬崌鏈�
if (liftProtocol.getRunning()) {
//鎻愬崌鏈鸿繍琛屼腑锛岀姝笅鍙�
return false;
@@ -981,7 +1074,7 @@
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("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ redisUtil.set("shuttle_wrk_no_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
//鍛戒护list
ArrayList<LiftCommand> liftCommands = new ArrayList<>();
@@ -994,8 +1087,7 @@
liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));
-
- return false;
+ return true;
}
/**
@@ -1088,7 +1180,7 @@
* 姝ｅ父绉诲姩鍛戒护,榛樿绉诲姩閫熷害1000
*/
public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance) {
- return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 1000);
+ return getMoveCommand(startCodeNum, distCodeNum, startToDistDistance, runDirection, middleCodeNum, middleToDistDistance, 500);
}
/**
--
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