From ddeaa535350db85a54a041da6a4d74e50877d637 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 04 四月 2023 14:34:02 +0800
Subject: [PATCH] 修复寻路算法路线数据4(站点)无法移动问题
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 427 ++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 356 insertions(+), 71 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 1e3d471..73613c9 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -4,32 +4,37 @@
import HslCommunication.Core.Types.OperateResult;
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
-import HslCommunication.Profinet.Siemens.SiemensPLCS;
-import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
-import com.core.common.RadixTools;
+import com.core.common.SpringUtils;
import com.core.exception.CoolException;
+import com.zy.asrs.entity.BasShuttle;
+import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.service.BasShuttleOptService;
+import com.zy.asrs.service.BasShuttleService;
+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.core.News;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
-import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.ShuttleStatusType;
-import com.zy.core.enums.SlaveType;
+import com.zy.core.enums.*;
import com.zy.core.model.ShuttleSlave;
-import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
+import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
-import com.zy.core.model.command.SteCommand;
import com.zy.core.model.protocol.ShuttleProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
+import java.util.ArrayList;
import java.util.Date;
-import java.util.Random;
+import java.util.HashMap;
+import java.util.List;
/**
* 鍥涘悜绌挎杞︾嚎绋�
@@ -41,10 +46,11 @@
private ModbusTcpNet modbusTcpNet;
private ShuttleSlave slave;
private ShuttleProtocol shuttleProtocol;
- private SiemensS7Net siemensS7Net;
+ private RedisUtil redisUtil;
- public ShuttleThread(ShuttleSlave slave) {
+ public ShuttleThread(ShuttleSlave slave,RedisUtil redisUtil) {
this.slave = slave;
+ this.redisUtil = redisUtil;
}
@Override
@@ -65,6 +71,10 @@
// 鍐欏叆鏁版嵁
case 2:
write((ShuttleCommand) task.getData());
+ break;
+ //涓嬪彂浠诲姟
+ case 3:
+ assignWork((ShuttleAssignCommand) task.getData());
break;
default:
break;
@@ -99,7 +109,7 @@
@Override
public void close() {
-
+ modbusTcpNet.ConnectClose();
}
private void readStatus() {
@@ -109,6 +119,7 @@
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
shuttleProtocol.setShuttleNo(slave.getId().shortValue());
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
}
//----------璇诲彇鍥涘悜绌挎杞︾姸鎬�-----------
@@ -151,17 +162,82 @@
///璇诲彇鍥涘悜绌挎杞︾姸鎬�-end
- OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
- log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+ //灏忚溅澶勪簬蹇欑鐘舵�侊紝灏嗘爣璁扮疆涓簍rue
+ if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.BUSY) {
+ shuttleProtocol.setPakMk(true);
+ }
- // 鏍规嵁瀹炴椂淇℃伅鏇存柊鏁版嵁搴�
- //.....
+ //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟銆佹爣璁颁负true銆佸瓨鍦ㄤ换鍔℃寚浠わ紝闇�瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
+ if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+ && shuttleProtocol.getTaskNo() != 0
+ && shuttleProtocol.getPakMk()
+ && shuttleProtocol.getAssignCommand() != null) {
+ //鎵ц涓嬩竴姝ユ寚浠�
+ executeWork(shuttleProtocol.getAssignCommand());
+ }
+
+ //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());
+ if (basShuttle == null) {
+ basShuttle = new BasShuttle();
+ //鍥涘悜绌挎杞﹀彿
+ basShuttle.setShuttleNo(slave.getId());
+ shuttleService.insert(basShuttle);
+ }
+ //灏忚溅蹇欑姸鎬佷綅
+ basShuttle.setBusyStatus(shuttleProtocol.getBusyStatus().intValue());
+ //褰撳墠浜岀淮鐮�
+ basShuttle.setCurrentCode(shuttleProtocol.getCurrentCode().intValue());
+ //鐢垫睜鐢甸噺鐧惧垎姣�
+ basShuttle.setBatteryPower(shuttleProtocol.getBatteryPower().intValue());
+ //鐢垫睜娓╁害
+ basShuttle.setBatteryTemp(shuttleProtocol.getBatteryTemp().intValue());
+ //閿欒缂栧彿
+ basShuttle.setErrorCode(shuttleProtocol.getErrorCode().intValue());
+ //Plc杈撳嚭鐘舵�両O
+ basShuttle.setPlcOutputStatusIo(shuttleProtocol.getPlcOutputStatusIO().intValue());
+ //閿欒淇℃伅鐮�
+ basShuttle.setStatusErrorCode(shuttleProtocol.getStatusErrorCode().intValue());
+ //PLC杈撳叆鐘舵��
+ basShuttle.setPlcInputStatus(shuttleProtocol.getPlcInputStatus().intValue());
+ //褰撳墠鎴栬�呬箣鍓嶈鍒扮殑浜岀淮鐮佸��
+ basShuttle.setCurrentOrBeforeCode(shuttleProtocol.getCurrentOrBeforeCode().intValue());
+ //璇诲埌鐨勪簩缁寸爜X鏂瑰悜鍋忕Щ閲�
+ basShuttle.setCodeOffsetX(shuttleProtocol.getCodeOffsetX().intValue());
+ //璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
+ basShuttle.setCodeOffsetY(shuttleProtocol.getCodeOffsetY().intValue());
+ //褰撳墠鐨勭數鍘嬪��
+ basShuttle.setCurrentVoltage(shuttleProtocol.getCurrentVoltage().intValue());
+ //褰撳墠鐨勬ā鎷熼噺鍊�
+ basShuttle.setCurrentAnalogValue(shuttleProtocol.getCurrentAnalogValue().intValue());
+ //褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
+ basShuttle.setCurrentLiftServoSpeed(shuttleProtocol.getCurrentLiftServoSpeed().intValue());
+ //褰撳墠鐨勮璧颁己鏈嶉�熷害
+ basShuttle.setCurrentMoveServoSpeed(shuttleProtocol.getCurrentMoveServoSpeed().intValue());
+ //褰撳墠鐨勫崌闄嶄己鏈嶈礋杞界巼
+ basShuttle.setCurrentLiftServoLoad(shuttleProtocol.getCurrentLiftServoLoad().intValue());
+ //褰撳墠鐨勮璧颁己鏈嶈礋杞界巼
+ basShuttle.setCurrentMoveServoLoad(shuttleProtocol.getCurrentMoveServoLoad().intValue());
+ //褰撳墠灏忚溅鐘舵�侊紙鍐呴儴鑷垜缁存姢锛�
+ basShuttle.setShuttleStatus(shuttleProtocol.getProtocolStatus());
+ //浠诲姟鍙�
+ basShuttle.setWrkNo(shuttleProtocol.getTaskNo().intValue());
+ //淇敼鏃堕棿
+ basShuttle.setUpdateTime(new Date());
+ //浣滀笟鏍囪
+ basShuttle.setPakMk(shuttleProtocol.getPakMk());
+ if (shuttleService.updateById(basShuttle)) {
+ OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+// log.info(MessageFormat.format("銆恵0}銆慬id:{1}] <<<<< 瀹炴椂鏁版嵁鏇存柊鎴愬姛",DateUtils.convert(new Date()), slave.getId()));
+ }
}else {
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆憑1}鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐�", DateUtils.convert(new Date()), slave.getId()));
throw new CoolException(MessageFormat.format( "鍥涘悜绌挎杞lc鐘舵�佷俊鎭け璐� ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
}
} catch (Exception e) {
+ e.printStackTrace();
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戠┛姊溅plc鐘舵�佷俊鎭け璐� ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
initShuttle();
}
@@ -173,47 +249,77 @@
return false;
}
- command.setShuttleNo(slave.getId());
+ command.setShuttleNo(slave.getId().shortValue());
// 寮�濮嬩换鍔�
- //...
short[] array = new short[17];
//鎺у埗鎸囦护瀛�
array[0] = command.getCommandWord();
- //鍚浜岀淮缂栧彿
- array[1] = command.getStartCodeNum();
- //涓棿浜岀淮缂栧彿
- array[2] = command.getMiddleCodeNum();
- //鐩爣浜岀淮缂栧彿
- array[3] = command.getDistCodeNum();
+ if (command.getStartCodeNum() != null) {
+ //鍚浜岀淮缂栧彿
+ array[1] = command.getStartCodeNum();
+ }
- //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴︼紝鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
- array[4] = startToDistDistances[0];
- array[5] = startToDistDistances[1];
+ if (command.getMiddleCodeNum() != null) {
+ //涓棿浜岀淮缂栧彿
+ array[2] = command.getMiddleCodeNum();
+ }
- //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
- array[6] = middleToDistDistances[0];
- array[7] = middleToDistDistances[1];
+ if (command.getDistCodeNum() != null) {
+ //鐩爣浜岀淮缂栧彿
+ array[3] = command.getDistCodeNum();
+ }
- //灏忚溅杩愯鏂瑰悜
- array[8] = command.getRunDirection();
- //鎵樼洏椤跺崌
- array[9] = command.getPalletLift();
+ if (command.getStartToDistDistance() != null) {
+ //璧风偣鍒扮洰鏍囩偣鐨勮窛绂婚暱搴︼紝鍏堝皢int杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] startToDistDistances = CommonUtils.intToShorts(command.getStartToDistDistance());
+ array[4] = startToDistDistances[0];
+ array[5] = startToDistDistances[1];
+ }
- //灏忚溅寮哄埗绉诲姩璺濈锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
- short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
- array[10] = forceMoveDistances[0];
- array[11] = forceMoveDistances[1];
+ if (command.getMiddleToDistDistance() != null) {
+ //涓棿鐐瑰埌鐩爣鐐圭殑璺濈闀垮害锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] middleToDistDistances = CommonUtils.intToShorts(command.getMiddleToDistDistance());
+ array[6] = middleToDistDistances[0];
+ array[7] = middleToDistDistances[1];
+ }
- //鍏呯數寮�鍏�
- array[12] = command.getChargeSwitch();
- //灏忚溅IO鎺у埗
- array[13] = command.getIOControl();
- //灏忚溅杩愯閫熷害
- array[14] = command.getRunSpeed();
- //灏忚溅闆疯揪澶囩敤
- array[15] = command.getRadarTmp();
+ if (command.getRunDirection() != null) {
+ //灏忚溅杩愯鏂瑰悜
+ array[8] = command.getRunDirection();
+ }
+
+ if (command.getPalletLift() != null) {
+ //鎵樼洏椤跺崌
+ array[9] = command.getPalletLift();
+ }
+
+ if (command.getForceMoveDistance() != null) {
+ //灏忚溅寮哄埗绉诲姩璺濈锛屽厛灏唅nt杞负byte鏁扮粍锛屽啀灏哹yte鏁扮粍杞垚涓や釜short锛屽垎鍒崰鐢�4鍜�5绌洪棿
+ short[] forceMoveDistances = CommonUtils.intToShorts(command.getForceMoveDistance());
+ array[10] = forceMoveDistances[0];
+ array[11] = forceMoveDistances[1];
+ }
+
+ if (command.getChargeSwitch() != null) {
+ //鍏呯數寮�鍏�
+ array[12] = command.getChargeSwitch();
+ }
+
+ if (command.getIOControl() != null) {
+ //灏忚溅IO鎺у埗
+ array[13] = command.getIOControl();
+ }
+
+ if (command.getRunSpeed() != null) {
+ //灏忚溅杩愯閫熷害
+ array[14] = command.getRunSpeed();
+ }
+
+ if (command.getRadarTmp() != null) {
+ //灏忚溅闆疯揪澶囩敤
+ array[15] = command.getRadarTmp();
+ }
+
//鎸囦护缁撴潫浣�
array[16] = command.getCommandEnd();
@@ -236,9 +342,188 @@
if (null == shuttleProtocol) {
shuttleProtocol = new ShuttleProtocol();
}
-// shuttleProtocol.setShuttleNo(slave.getId().shortValue());
-// shuttleProtocol.setBusyStatus(ShuttleStatusType.BUSY);
-// shuttleProtocol.setCurrentCode("0");
+ }
+
+ //鍒嗛厤浠诲姟
+ private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
+ //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");
+ }
+ }
+ }
+
+ //鍥涘悜绌挎杞﹀彿
+ map.put("shuttle_no", assignCommand.getShuttleNo());
+ //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);
+ shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
+ 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(map));
+ //鎵ц涓嬪彂浠诲姟
+ executeWork(assignCommand);
+ }
+
+ //鎵ц涓嬪彂鐨勬寚浠�
+ private boolean executeWork(ShuttleAssignCommand 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)
+ shuttleProtocol.setPakMk(false);
+
+ Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
+ if (o == null) {
+ return false;
+ }
+ HashMap map = JSON.parseObject(o.toString(), HashMap.class);
+ //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�
+
+ 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);
+
+ 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));
+ return false;
+ } 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));
+
+ //鍒ゆ柇鏁版嵁鏄惁鎵ц瀹屾垚
+ if (commandStep < size - 1) {
+ //鏇存柊redis鏁版嵁
+ //姝ュ簭澧炲姞
+ commandStep++;
+ map.put("commandStep", commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("wrk_no_" + map.get("wrk_no").toString(), JSON.toJSONString(map));
+ }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);
+ }
+ //鍒犻櫎redis
+ redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
+
+ 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
+ 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
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.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));
+ }
+
+ }
+
+ }
+ return true;
}
/******************************************************************************************/
@@ -249,26 +534,26 @@
slave.setId(1);
slave.setIp("192.168.4.24");
slave.setPort(502);
- ShuttleThread thread = new ShuttleThread(slave);
- thread.connect();
- thread.readStatus();
-
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 0);
- command.setStartCodeNum((short) 12323);
- command.setMiddleCodeNum((short) 22323);
- command.setDistCodeNum((short) 29999);
- command.setStartToDistDistance(109999);
- command.setMiddleToDistDistance(5000);
- command.setRunDirection((short) 1);
- command.setPalletLift((short) 2);
- command.setForceMoveDistance(3000);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRunSpeed((short) 0);
- command.setRadarTmp((short) 0);
- command.setCommandEnd((short) 1);
- thread.write(command);
+// ShuttleThread thread = new ShuttleThread(slave);
+// thread.connect();
+// thread.readStatus();
+//
+// ShuttleCommand command = new ShuttleCommand();
+// command.setCommandWord((short) 0);
+// command.setStartCodeNum((short) 12323);
+// command.setMiddleCodeNum((short) 22323);
+// command.setDistCodeNum((short) 29999);
+// command.setStartToDistDistance(109999);
+// command.setMiddleToDistDistance(5000);
+// command.setRunDirection((short) 1);
+// command.setPalletLift((short) 2);
+// command.setForceMoveDistance(3000);
+// command.setChargeSwitch((short) 2);
+// command.setIOControl((short) 0);
+// command.setRunSpeed((short) 0);
+// command.setRadarTmp((short) 0);
+// command.setCommandEnd((short) 1);
+// thread.write(command);
}
}
--
Gitblit v1.9.1