From de27c6f2d428632ed21a015dc6bfb73cc07f31a3 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 30 三月 2023 10:43:55 +0800
Subject: [PATCH] 四向穿梭车入库模式完善
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 105 +++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 90 insertions(+), 15 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index e91d81a..db733ce 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -5,12 +5,14 @@
import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.ModBus.ModbusTcpNet;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
import com.core.common.DateUtils;
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.mapper.BasShuttleMapper;
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;
@@ -161,9 +163,6 @@
///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);
@@ -173,6 +172,62 @@
if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {
//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 {
@@ -288,12 +343,12 @@
}
//鍒嗛厤浠诲姟
- private void assignWork(ShuttleAssignCommand assignCommand) {
+ private void assignWork(ShuttleAssignCommand assignCommand) throws Exception {
//灏嗘map瀛樺叆redis涓�
HashMap<String, Object> map = new HashMap<>();
//璁＄畻璺緞
- List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), assignCommand.getTaskMode().intValue());
+ 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);
@@ -301,8 +356,15 @@
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
@@ -318,8 +380,11 @@
}
//鎵ц涓嬪彂鐨勬寚浠�
- private void executeWork(ShuttleAssignCommand assignCommand) {
+ private boolean executeWork(ShuttleAssignCommand assignCommand) {
//璇诲彇redis鏁版嵁
+ if (assignCommand == null) {
+ return false;
+ }
Object o = redisUtil.get("wrk_no_" + assignCommand.getTaskNo());
HashMap map = JSON.parseObject(o.toString(), HashMap.class);
//褰撳墠姝ュ簭
@@ -336,21 +401,27 @@
ArrayList pathList = JSON.parseObject(data.toString(), ArrayList.class);
//鍙栫涓�鏉¤矾寰�
Object o1 = pathList.get(commandStep);
- ArrayList path = JSON.parseObject(o1.toString(), ArrayList.class);
+ 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�
- JSONObject startPath = JSON.parseObject(path.get(0).toString());
+ NavigateNode startPath = path.get(0);
//鐩爣璺緞
- JSONObject endPath = JSON.parseObject(path.get(path.size() - 1).toString());
+ NavigateNode endPath = path.get(path.size() - 1);
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
+ command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
- command.setStartToDistDistance(1000);
+ command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+ command.setStartToDistDistance(allDistance);
command.setMiddleToDistDistance(1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
command.setForceMoveDistance(1000);
command.setChargeSwitch((short) 2);
@@ -380,6 +451,8 @@
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
//浠诲姟鍙锋竻闆�
shuttleProtocol.setTaskNo((short) 0);
+ //鏍囪澶嶄綅
+ shuttleProtocol.setPakMk(true);
break;
default:
}
@@ -388,6 +461,7 @@
//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));
@@ -413,7 +487,7 @@
new Date(),
ShuttleTaskModeType.get(assignCommand.getTaskMode()).desc,
assignCommand.getSourceLocNo(),
- assignCommand.getDistLocNo(),
+ assignCommand.getLocNo(),
null,
null,
null,
@@ -431,6 +505,7 @@
}
}
+ return true;
}
/******************************************************************************************/
--
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