From e74708ae35b2ad051af052bf542741bf7cd01ec4 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 20 六月 2023 15:16:25 +0800
Subject: [PATCH] 小车出库放完后货，行驶到母轨进行退让
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 992 ++++++++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 852 insertions(+), 140 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index db733ce..e05f7e2 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -8,33 +8,30 @@
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.asrs.entity.*;
+import com.zy.asrs.service.*;
+import com.zy.asrs.utils.Utils;
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.common.model.enums.NavigationMapType;
+import com.zy.common.utils.*;
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.*;
import com.zy.core.model.ShuttleSlave;
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.*;
+import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
+import com.zy.core.model.protocol.StaProtocol;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
import java.text.MessageFormat;
import java.util.ArrayList;
import java.util.Date;
-import java.util.HashMap;
import java.util.List;
/**
@@ -133,11 +130,16 @@
//鐢垫睜鐢甸噺鐧惧垎姣�
shuttleProtocol.setBatteryPower(modbusTcpNet.getByteTransform().TransInt16(content,4));
//鐢垫睜娓╁害
- shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransInt16(content,6));
+ shuttleProtocol.setBatteryTemp(modbusTcpNet.getByteTransform().TransUInt16(content, 6));
//閿欒缂栧彿
shuttleProtocol.setErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,8));
//Plc杈撳嚭鐘舵�両O
- shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content,10));
+ boolean[] booleans = modbusTcpNet.getByteTransform().TransBool(content, 10, 2);
+ shuttleProtocol.setPlcOutputLift(booleans[1]);
+ shuttleProtocol.setPlcOutputTransfer(booleans[2]);
+ shuttleProtocol.setPlcOutputBrake(booleans[3]);
+ shuttleProtocol.setPlcOutputCharge(booleans[4]);
+ shuttleProtocol.setPlcOutputStatusIO(modbusTcpNet.getByteTransform().TransInt16(content, 10));
//閿欒淇℃伅鐮�
shuttleProtocol.setStatusErrorCode(modbusTcpNet.getByteTransform().TransInt16(content,12));
//PLC杈撳叆鐘舵��
@@ -149,7 +151,7 @@
//璇诲埌鐨勪簩缁寸爜Y鏂瑰悜鍋忕Щ閲�
shuttleProtocol.setCodeOffsetY(modbusTcpNet.getByteTransform().TransInt16(content,20));
//褰撳墠鐨勭數鍘嬪��
- shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransInt16(content,22));
+ shuttleProtocol.setCurrentVoltage(modbusTcpNet.getByteTransform().TransUInt16(content, 22));
//褰撳墠鐨勬ā鎷熼噺鍊�
shuttleProtocol.setCurrentAnalogValue(modbusTcpNet.getByteTransform().TransInt16(content,24));
//褰撳墠鐨勫崌闄嶄己鏈嶉�熷害
@@ -168,15 +170,43 @@
shuttleProtocol.setPakMk(true);
}
- //鍥涘悜绌挎杞︾┖闂层�佹湁浠诲姟涓旀爣璁颁负true锛岄渶瑕佹墽琛屼换鍔＄殑涓嬩竴鏉℃寚浠�
- if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE && shuttleProtocol.getTaskNo() != 0 && shuttleProtocol.getPakMk()) {
+// if (shuttleProtocol.getErrorCode() != 0 && shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.WORKING) {
+// //鍑虹幇閿欒
+// resetAndTryFix(shuttleProtocol.getTaskNo());
+// }
+//
+// if(shuttleProtocol.getProtocolStatusType() == ShuttleProtocolStatusType.FIXING
+// && shuttleProtocol.getTaskNo() != 0
+// && shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE){
+// //澶勪簬鏁呴殰淇鐘舵��
+// //鎵ц涓嬩竴姝ユ寚浠�
+// executeWork(shuttleProtocol.getTaskNo());
+// }
+
+ //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()) {
//鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getAssignCommand());
+ executeWork(shuttleProtocol.getTaskNo());
}
+
+// //妫�娴嬫槸鍚︽湁鎻愬崌鏈洪攣瀹氭爣璁帮紝鏈夊垯妫�娴嬫彁鍗囨満鏄惁鍒颁綅锛屾槸鍚﹁兘璧颁笅涓�姝ュ懡浠�
+// if (shuttleProtocol.getBusyStatusType() == ShuttleStatusType.IDLE
+// && shuttleProtocol.getTaskNo() != 0) {
+// Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
+// if (o != null) {
+// ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+// if (redisCommand.getLiftSecurityMk()) {
+// //鎵ц涓嬩竴姝ユ寚浠�
+// executeWork(shuttleProtocol.getTaskNo());
+// }
+// }
+// }
//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());
+ BasShuttle basShuttle = shuttleService.selectById(slave.getId());
if (basShuttle == null) {
basShuttle = new BasShuttle();
//鍥涘悜绌挎杞﹀彿
@@ -247,6 +277,18 @@
return false;
}
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ if (shuttleService == null) {
+ News.error("绯荤粺閿欒");
+ return false;
+ }
+
+ BasShuttle basShuttle = shuttleService.selectById(slave.getId().shortValue());
+ if (basShuttle == null) {
+ News.error("鍥涘悜绌挎杞︿笉瀛樺湪");
+ return false;
+ }
+
command.setShuttleNo(slave.getId().shortValue());
// 寮�濮嬩换鍔�
short[] array = new short[17];
@@ -281,6 +323,7 @@
array[7] = middleToDistDistances[1];
}
+ array[8] = basShuttle.getRunSpeed().shortValue();//鍥涘悜绌挎杞﹁繍琛岄�熷害锛屼粠绯荤粺鏁版嵁搴撹鍑�
if (command.getRunDirection() != null) {
//灏忚溅杩愯鏂瑰悜
array[8] = command.getRunDirection();
@@ -323,6 +366,11 @@
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;
@@ -343,121 +391,401 @@
}
//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<>();
+ private void assignWork(ShuttleAssignCommand assignCommand) {
+ ShuttleRedisCommand redisCommand = new ShuttleRedisCommand();
- //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<NavigateNode> allNode = new ArrayList<>();
+ List<ShuttleCommand> commands = new ArrayList<>();
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ BasShuttleService shuttleService = SpringUtils.getBean(BasShuttleService.class);
+ NavigateMapData navigateMapData;
+
+ //鑾峰彇灏忚溅绉诲姩閫熷害
+ BasShuttle basShuttle = shuttleService.selectById(slave.getId());
+ Integer runSpeed = 1000;
+ if (basShuttle != null) {
+ Integer runSpeed1 = basShuttle.getRunSpeed();
+ if (runSpeed1 != null) {
+ runSpeed = runSpeed1;
+ }
}
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+
+ 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
+ LocMast currentLocMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ List<NavigateNode> firstMastResult = NavigateUtils.calc(currentLocMast.getLocNo(), assignCommand.getSourceLocNo(), NavigationMapType.NORMAL.id);//灏忚溅鍒颁腑鐐癸紝澶勪簬鏃犺揣鐘舵�侊紝浣跨敤姝ｅ父閫氶亾鍦板浘
+
+ if (firstMastResult != null) {
+ allNode.addAll(firstMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(firstMastResult);
+ //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);
+ //涓棿璺緞
+ NavigateNode middlePath = nodes.get(nodes.size() - 2);
+ //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�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+
+ //姝ｅ父绉诲姩鍛戒护
+ Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
+ Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//鐩爣浜岀淮鐮�
+ Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//鐩爣浜岀淮鐮�
+ commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
+ }
+
+ //鎵樼洏椤跺崌
+ commands.add(getPalletCommand((short) 1));
+ }else {
+ //娌℃湁璁＄畻鍒拌矾寰勶紝鍙兘瀛樺湪灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆
+ if (currentLocMast.getLocNo().equals(assignCommand.getSourceLocNo())) {
+ //灏忚溅浣嶇疆灏辨槸璧风偣浣嶇疆锛屾棤闇�绉诲姩锛岀洿鎺ラ《鍗�
+ //鎵樼洏椤跺崌
+ commands.add(getPalletCommand((short) 1));
+ }
+ }
+
+ //璁＄畻涓偣鍒扮粓鐐硅矾寰�
+ List<NavigateNode> secMastResult = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getLocNo(), NavigationMapType.DFX.id);//灏忚溅浠庝腑鐐瑰埌缁堢偣锛屽浜庢湁璐х姸鎬侊紝浣跨敤DFX鍦板浘
+
+ if (secMastResult != null) {
+ allNode.addAll(secMastResult);//灏嗚妭鐐硅繘琛屼繚瀛�
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(secMastResult);
+ //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);
+ //涓棿璺緞
+ NavigateNode middlePath = nodes.get(nodes.size() - 2);
+ //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�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+
+ //姝ｅ父绉诲姩鍛戒护
+ Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
+ Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//涓棿浜岀淮鐮�
+ Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//鐩爣浜岀淮鐮�
+ commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
+ }
+
+ //鎵樼洏涓嬮檷
+ commands.add(getPalletCommand((short) 2));
+ }
+
+ if (firstMastResult == null || secMastResult == null) {
+ throw new CoolException(MessageFormat.format( "鍥涘悜绌挎杞﹀嚭鍏ュ簱璺緞鎼滅储澶辫触 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
+ }
+
+ navigateMapData = new NavigateMapData(Utils.getLev(currentLocMast.getLocNo()));
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData.writeNavigateNodeToRedisMap(firstMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData.writeNavigateNodeToRedisMap(secMastResult, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ break;
+ case 3://鎵樼洏椤跺崌
+ case 4://鎵樼洏涓嬮檷
+ commands.add(getPalletCommand(assignCommand.getTaskMode() == 3 ? (short) 1 : (short) 2));
+ break;
+ case 5://寮哄埗宸︾Щ
+ commands.add(getForceMoveCommand((short) 2));
+ break;
+ case 6://寮哄埗鍙崇Щ
+ commands.add(getForceMoveCommand((short) 1));
+ break;
+ case 7://寮哄埗涓婄Щ
+ commands.add(getForceMoveCommand((short) 3));
+ break;
+ case 8://寮哄埗涓嬬Щ
+ commands.add(getForceMoveCommand((short) 4));
+ break;
+ case 9://鐘舵�佸浣�
+ ShuttleCommand reset = getResetCommand();
+ commands.add(reset);
+ break;
+ case 10://姝ｆ柟鍚�(鍙�)瀵诲簱浣�
+ commands.add(getFindLocCommand((short) 1));
+ break;
+ case 11://璐熸柟鍚�(宸�)瀵诲簱浣�
+ commands.add(getFindLocCommand((short) 2));
+ break;
+ case 12://鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
+ commands.add(getFindLocCommand((short) 4));
+ break;
+ case 13://鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�
+ commands.add(getFindLocCommand((short) 3));
+ break;
+ case 14://绉诲姩鍒扮洰鏍囧簱浣�
+ String startQr = shuttleProtocol.getCurrentCode().toString();//璧峰浣嶇疆
+ //濡傛灉绌挎杞﹀湪鎻愬崌鏈哄唴锛岀Щ鍔ㄦ椂闇�瑕佸厛涓嬪彂鍑烘彁鍗囨満鍛戒护
+ if (liftProtocol.getBarcode().intValue() == shuttleProtocol.getCurrentCode().intValue()) {
+ //绌挎杞﹀嚭鎻愬崌鏈�
+ Short liftArrival = liftProtocol.getPositionArrivalFeedback();//鎻愬崌鏈轰綅缃弽棣�
+ String liftSiteLocNo = Utils.liftArrivalToOutInStaLocNo(liftArrival);
+ LocMast locMast1 = locMastService.selectById(liftSiteLocNo);
+ ShuttleCommand moveCommand = getMoveCommand(liftProtocol.getBarcode(), Short.parseShort(locMast1.getQrCodeValue()), 1400, ShuttleRunDirection.BOTTOM.id, liftProtocol.getBarcode(), 1400, runSpeed);
+ commands.add(moveCommand);
+
+ //璧峰浣嶇疆淇敼涓烘彁鍗囨満鍙ｇ珯鐐逛綅缃�
+ startQr = locMast1.getQrCodeValue();
+ }
+
+ LocMast locMast = locMastService.queryByQrCode(startQr);
+ List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), assignCommand.getLocNo(), NavigationMapType.NONE.id);//鎵嬪姩鍛戒护-绉诲姩鍛戒护锛屼娇鐢ㄦ棤杩囨护鍦板浘
+
+ if (result != null) {
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData = new NavigateMapData(Utils.getLev(locMast.getLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(result, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
+ allNode.addAll(result);//灏嗚妭鐐硅繘琛屼繚瀛�
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
+ //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);
+ //涓棿璺緞
+ NavigateNode middlePath = nodes.get(nodes.size() - 2);
+ //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�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
+ Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//涓棿浜岀淮鐮�
+ Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//鐩爣浜岀淮鐮�
+ //姝ｅ父绉诲姩鍛戒护
+ commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
+ }
+ }
+ break;
+ case 15://鍏呯數寮�鍏�
+ commands.add(getChargeSwitchCommand());
+ break;
+ case 16://绉诲姩鍒版彁鍗囨満
+ LocMast locMast1 = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ int lev = Utils.getLev(locMast1.getLocNo());//绌挎杞﹀綋鍓嶉珮搴�
+ String liftSiteLocNo = Utils.levToOutInStaLocNo(lev);//褰撳墠妤煎眰绔欑偣搴撲綅鍙�
+ LocMast liftSitelocMast = locMastService.selectById(liftSiteLocNo);
+ List<NavigateNode> result1 = NavigateUtils.calc(locMast1.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id);//绉诲姩鍒版彁鍗囨満锛屼娇鐢ㄦ棤杩囨护鍦板浘
+
+ Short endStartCode = null;
+ if (result1 != null) {
+ //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ navigateMapData = new NavigateMapData(Utils.getLev(locMast1.getLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(result1, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+
+ allNode.addAll(result1);//灏嗚妭鐐硅繘琛屼繚瀛�
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result1);
+ //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);
+ //涓棿璺緞
+ NavigateNode middlePath = nodes.get(nodes.size() - 2);
+ //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�
+ Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ Short startCode = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());//寮�濮嬩簩缁寸爜
+ Short middleCode = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());//涓棿浜岀淮鐮�
+ Short distCode = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());//鐩爣浜岀淮鐮�
+ endStartCode = distCode;
+ //姝ｅ父绉诲姩鍛戒护
+ commands.add(getMoveCommand(startCode, distCode, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCode, middleToDistDistance, runSpeed));
+ }
+ }
+
+ if (endStartCode == null && shuttleProtocol.getCurrentCode() == Short.parseShort(liftSitelocMast.getQrCodeValue())) {
+ //绌挎杞﹀凡缁忓湪鎻愬崌鏈虹珯鐐瑰彛
+ endStartCode = shuttleProtocol.getCurrentCode();
+ }
+
+ //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
+ ShuttleCommand moveCommand = getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, runSpeed);
+ commands.add(moveCommand);
+ break;
+ default:
+ }
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
}
- //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);
+ redisCommand.setShuttleNo(assignCommand.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ redisCommand.setWrkNo(assignCommand.getTaskNo());//宸ヤ綔鍙�
+ redisCommand.setCommandStep(0);//鍛戒护鎵ц姝ュ簭
+ redisCommand.setAssignCommand(assignCommand);//鍛戒护
+ redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());//鍙戠敓閿欒鏃跺皾璇曟墽琛岀殑鎸囦护锛屼紭鍏堢骇鏈�楂�
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));
+ redisUtil.set("shuttle_wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand));
//鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand);
+ executeWork(assignCommand.getTaskNo());
}
//鎵ц涓嬪彂鐨勬寚浠�
- private boolean executeWork(ShuttleAssignCommand assignCommand) {
+ private boolean executeWork(Short wrkNo) {
//璇诲彇redis鏁版嵁
- if (assignCommand == null) {
+ if (wrkNo == 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
- 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);
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return false;
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- 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);
- break;
- default:
+ if (!checkLiftStation(wrkNo)) {//妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
+ return false;
}
- command.setCommandEnd((short) 1);
+ //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�
+ ShuttleCommand errorCommand = errorCommands.get(0);//鍙栧嚭鎸囦护
+
+ if(errorCommand.getCommandWord() == 1){//姝ｅ父琛岃蛋鍛戒护锛岄渶瑕佸厛鎵ц瀹屾壘搴撲綅鍛戒护鍚庯紝鍐嶆墽琛�
+ LocMastService locMastService = SpringUtils.getBean(LocMastService.class);
+ LocMast locMast = locMastService.queryByQrCode(shuttleProtocol.getCurrentCode().toString());
+ LocMast distLocMast = locMastService.queryByQrCode(errorCommand.getStartCodeNum().toString());
+ if (shuttleProtocol.getCurrentCode().equals(errorCommand.getStartCodeNum())) {
+ //璧风偣鍜岀粓鐐瑰睘浜庡悓涓�搴撲綅锛屾棤闇�鍐嶆墽琛岀Щ鍔ㄦ搷浣�
+ errorCommands.remove(0);//绉婚櫎璇ュ懡浠�
+ redisCommand.setErrorCommands(new ArrayList<ShuttleCommand>());
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+ //姝ュ簭鍥為��
+ commandStep--;
+ redisCommand.setCommandStep(commandStep);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ shuttleProtocol.setPakMk(true);
+ return true;
+ }else {
+ List<NavigateNode> result = NavigateUtils.calc(locMast.getLocNo(), distLocMast.getLocNo(), NavigationMapType.DFX.id);//閿欒鎭㈠锛屼娇鐢―FX鍦板浘
+ if (result != null) {
+ //鑾峰彇鍒嗘璺緞
+ ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(result);
+ //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�
+
+ String qrCodeValue = distLocMast.getQrCodeValue();
+ errorCommand.setCommandWord((short) 1);
+ errorCommand.setStartCodeNum(shuttleProtocol.getCurrentCode());
+ errorCommand.setMiddleCodeNum((short) 1);
+ errorCommand.setDistCodeNum((short) Integer.parseInt(qrCodeValue));
+ errorCommand.setStartToDistDistance(allDistance);
+ errorCommand.setRunSpeed((short) 1000);
+ errorCommand.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
+ errorCommand.setForceMoveDistance(0);
+ errorCommand.setIOControl((short) 0);
+ errorCommand.setCommandEnd((short) 1);
+ break;
+ }
+ }
+ }
+
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+ //姝ュ簭鍥為��
+ commandStep--;
+ redisCommand.setCommandStep(commandStep);
+ }
+
+ if (!write(errorCommand)) {
+ 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(errorCommand));
+ 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(errorCommand));
+ errorCommands.remove(0);
+ redisCommand.setErrorCommands(errorCommands);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ return true;
+ }
+ }
+
+ List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+ //path璺緞鏁扮洰
+ int size = commands.size();
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+
+ //鍙栧嚭鍛戒护
+ ShuttleCommand command = commands.get(commandStep);
+
+ if (assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_IN.id.shortValue()
+ || assignCommand.getTaskMode() == ShuttleTaskModeType.PAK_OUT.id.shortValue()
+ ) {
+ //灏忚溅澶卞幓鍧愭爣锛岀姝笅鍙戝懡浠�
+ if (shuttleProtocol.getCurrentCode() == 0) {
+ return false;
+ }
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+
+
+ //鍒ゆ柇灏忚溅褰撳墠浜岀淮鐮佹槸鍚︿负鎻愬崌鏈轰簩缁寸爜
+ if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
+ //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()) {
+ return false;//鎻愬崌鏈哄繖锛岀姝笅鍙戝懡浠�
+ }
+
+ Short distCodeNum = command.getDistCodeNum();//鐩爣浜岀淮鐮�
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ BasDevp basDevp = basDevpService.queryByQrCode(distCodeNum.intValue());//鐩爣绔欑偣
+ if (basDevp == null) {
+ return false;//鎵句笉鍒扮洰鏍囩珯锛岀姝笅鍙戝懡浠�
+ }
+
+ int lev = Utils.getLev(basDevp.getLocNo());//鐩爣浜岀淮鐮佹墍鍦ㄦゼ灞�
+ int liftLev = liftProtocol.getLev().intValue();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
+ if (liftLev != lev) {
+ return false;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傦紝绂佹涓嬪彂鍛戒护
+ }
+
+ //鑾峰彇鐩爣绔欎俊鎭�
+ SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
+ if (staProtocol == null) {
+ return false;//绔欑偣淇℃伅涓嶅瓨鍦紝绂佹涓嬪彂鍛戒护
+ }
+ if (!staProtocol.isLiftArrival()) {
+ return false;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse锛岀姝笅鍙戝懡浠�
+ }
+ }
+ }
+
//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));
@@ -465,49 +793,433 @@
} 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));
- //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
if (commandStep < size - 1) {
//鏇存柊redis鏁版嵁
//姝ュ簭澧炲姞
commandStep++;
- map.put("commandStep", commandStep);
+ redisCommand.setCommandStep(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));
+ 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(command)
- );
- 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�
+ if (liftProtocol != null) {
+ liftProtocol.setSecurityMk(false);
+ }
}
+
+ String locNo = shuttleProtocol.getLocNo() == null ? shuttleProtocol.getSourceLocNo() : shuttleProtocol.getLocNo();
+ if (locNo != null) {
+ //瑙ｉ櫎閿佸畾鐨勫簱浣嶈矾寰�
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(locNo));
+ navigateMapData.writeNavigateNodeToRedisMap(redisCommand.getAssignCommand().getNodes(), false);
+ }
+
//鍒犻櫎redis
- redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
+ redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
- //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ 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
+ //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);
+ 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 {
+ if (!assignCommand.getCharge()) {
+ //瀵逛富绾跨▼鎶涘嚭绛夊緟纭鐘舵�亀aiting
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WAITING);
+ }else {
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
+ }
+ 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));
+ }
- 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;
}
+ /**
+ * 妫�娴嬫槸鍚︽湁鎻愬崌鏈虹珯鐐癸紝鏈夊垯璋冨害鎻愬崌鏈�
+ */
+ private boolean checkLiftStation(Short wrkNo) {
+ //璇诲彇redis鏁版嵁
+ if (wrkNo == null) {
+ return false;
+ }
+
+ //鎷垮埌鎻愬崌鏈虹嚎绋�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return false;
+ }
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+
+ //妫�娴嬫槸鍚﹀瓨鍦ㄦ彁鍗囨満鍙ｇ殑鎸囦护
+ List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
+ if (commands.size() > 0) {
+ if (commands.get(commandStep).getCommandWord() != 1) {
+ //涓嶆槸琛岃蛋鍛戒护锛岀洿鎺ユ斁琛�
+ return true;
+ }
+
+ if (commands.get(0).getStartCodeNum() == null) {
+ return false;
+ }
+ //鍛戒护璧峰浣嶇疆灏辨槸鎻愬崌鏈轰簩缁寸爜锛屽垯涓嶈繘琛屾牎楠�
+ if (commands.get(0).getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()) {
+ return true;
+ }
+ }
+
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ ArrayList<Short> qrCodeValues = new ArrayList<>();
+ for (BasDevp basDevp : basDevpService.selectList(null)) {
+ //灏嗘墍鏈夋彁鍗囨満鍙ｄ簩缁寸爜瀛樺叆list
+ 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) {
+ //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 (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());
+ siteNo = basDevp.getDevNo();
+ break;
+ }
+ }
+ }
+
+ if (step == 0) {
+ //鏃犻渶鍚庣画妫�娴嬶紝鐩存帴鏀捐
+ 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
+ Integer shuttleLocNoLev = shuttleLocNo == null ? 0 : Utils.getLev(shuttleLocNo);//搴撲綅鍙峰搴斿眰楂�
+
+ //鍒ゆ柇绌挎杞﹀拰鎻愬崌鏈烘槸鍚﹀湪鐩爣妤煎眰
+ if (shuttleLocNoLev >= 2) {
+ shuttleLocNoLev++;
+ }
+
+ //鍒ゆ柇杈撻�佺嚎绔欑偣鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙�
+ if (siteNo != null) {
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(siteNo);
+ 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;
+ }
+
+ if (redisCommand.getLiftSecurityMk()) {
+ //宸茬粡鎵ц杩囨彁鍗囨満鍛戒护锛岀姝笅鍙�
+ return false;
+ }
+
+ //缁欐彁鍗囨満鍒嗛厤浠诲姟
+ liftProtocol.setTaskNo(shuttleProtocol.getTaskNo());//璁剧疆浠诲姟鍙�
+ liftProtocol.setShuttleNo(shuttleProtocol.getShuttleNo());//璁剧疆鍥涘悜绌挎杞﹀彿
+ liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
+ 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_" + redisCommand.getWrkNo(), JSON.toJSONString(redisCommand));
+
+ //鍛戒护list
+ ArrayList<LiftCommand> liftCommands = new ArrayList<>();
+ LiftCommand liftCommand = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), shuttleLocNoLev);
+ liftCommands.add(liftCommand);//灏嗗懡浠ゆ坊鍔犺繘list
+
+ LiftAssignCommand liftAssignCommand = new LiftAssignCommand();
+ liftAssignCommand.setCommands(liftCommands);
+ liftAssignCommand.setLiftNo(liftProtocol.getLiftNo());
+ liftAssignCommand.setTaskNo(liftProtocol.getTaskNo());
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, liftAssignCommand));
+ return true;
+ }
+
+ /**
+ * 澶嶄綅骞跺皾璇曚慨澶嶉敊璇�
+ */
+ private boolean resetAndTryFix(Short wrkNo) {
+ //璇诲彇redis鏁版嵁
+ if (wrkNo == null) {
+ return false;
+ }
+
+ Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
+ if (o == null) {
+ return false;
+ }
+
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ List<ShuttleCommand> commands = redisCommand.getAssignCommand().getCommands();
+ //褰撳墠姝ュ簭
+ int commandStep = redisCommand.getCommandStep();
+ //path璺緞鏁扮洰
+ int size = commands.size();
+
+ ArrayList<ShuttleCommand> list = new ArrayList<>();
+
+ //鍙栧嚭鍛戒护
+ ShuttleCommand command = commands.get(commandStep - 1);
+
+ //澶嶄綅鍛戒护
+ ShuttleCommand resetCommand = getResetCommand();
+ list.add(resetCommand);
+
+ //杞﹁締绌洪棽锛岀瓑寰呭啓鍏ユ壘搴撲綅鍛戒护
+ //鎵惧簱浣嶅懡浠�
+ short direction = 1;
+ switch (command.getRunDirection()) {//杞崲杩愯鏂瑰悜
+ case 1:
+ direction = 2;
+ break;
+ case 2:
+ direction = 1;
+ break;
+ case 3:
+ direction = 4;
+ break;
+ case 4:
+ direction = 3;
+ break;
+ default:
+ direction = 1;
+ }
+ //鎵惧簱浣嶅懡浠�
+ ShuttleCommand searchCommand = getFindLocCommand(direction, 1200, (short) 1000);
+ list.add(searchCommand);
+
+ //绉诲姩杞﹁締锛岄渶瑕佸湪鎵ц瀹屽鎵惧畾浣嶇偣鍚庡啀鎵ц
+ ShuttleCommand moveCommand = new ShuttleCommand();
+ moveCommand.setCommandWord((short) 1);
+ moveCommand.setStartCodeNum(command.getStartCodeNum());//瀛樺叆鐩爣搴撲綅鍙�
+ list.add(moveCommand);
+
+ redisCommand.setErrorCommands(list);
+ //浠诲姟鏁版嵁淇濆瓨鍒皉edis
+ redisUtil.set("shuttle_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.FIXING);
+ return true;
+ }
+
+ /**
+ * 鑾峰彇鎵樼洏椤跺崌鍛戒护
+ * @param lift 1椤跺崌锛�2涓嬮檷
+ */
+ public ShuttleCommand getPalletCommand(Short lift) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 2);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(0);
+ command.setMiddleToDistDistance(0);
+ command.setRunDirection((short) 0);
+ command.setForceMoveDistance(0);
+ command.setPalletLift(lift);
+ command.setRunSpeed((short) 0);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 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, 500);
+ }
+
+ /**
+ * 姝ｅ父绉诲姩鍛戒护
+ */
+ public ShuttleCommand getMoveCommand(Short startCodeNum, Short distCodeNum, Integer startToDistDistance, Short runDirection, Short middleCodeNum, Integer middleToDistDistance, Integer runSpeed) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 1);
+ command.setStartCodeNum(startCodeNum);
+ command.setMiddleCodeNum(middleCodeNum);
+ command.setDistCodeNum(distCodeNum);
+ command.setStartToDistDistance(startToDistDistance);
+ command.setMiddleToDistDistance(middleToDistDistance);
+ command.setRunDirection(runDirection);
+ command.setForceMoveDistance(0);
+ command.setIOControl((short) 0);
+ command.setRunSpeed(runSpeed.shortValue());
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 寮哄埗绉诲姩鍛戒护
+ * @param direction 绉诲姩鏂瑰悜 1宸︾Щ锛�2鍙崇Щ锛�3鍓嶇Щ锛�4鍚庣Щ
+ */
+ public ShuttleCommand getForceMoveCommand(Short direction) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 3);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(600);
+ command.setRunDirection(direction);
+ command.setForceMoveDistance(600);
+ command.setIOControl((short) 0);
+ command.setCommandEnd((short) 1);
+ command.setRunSpeed((short) 1000);
+ return command;
+ }
+
+ /**
+ * 鐘舵�佸浣嶅懡浠�
+ */
+ public ShuttleCommand getResetCommand() {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 6);
+ command.setStartCodeNum((short) 0);
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum((short) 0);
+ command.setStartToDistDistance(0);
+ command.setMiddleToDistDistance(0);
+ command.setRunDirection((short) 0);
+ command.setPalletLift((short) 0);
+ command.setPalletLift((short) 0);
+ command.setForceMoveDistance(0);
+ command.setChargeSwitch((short) 0);
+ command.setIOControl((short) 0);
+ command.setRunSpeed((short) 0);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇瀵诲簱浣嶅懡浠�
+ * @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
+ */
+ public ShuttleCommand getFindLocCommand(Short direction, Integer startToDistance, Short runSpeed) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 4);
+ command.setRunDirection(direction);
+ command.setStartToDistDistance(startToDistance);
+ command.setRunSpeed((short) runSpeed);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * 鑾峰彇瀵诲簱浣嶅懡浠わ紝榛樿绉诲姩璺濈3000锛岃繍琛岄�熷害1000
+ * @param direction 1:鍚戞鏂瑰悜(宸�)瀵诲簱浣�,2:鍚戣礋鏂瑰悜(鍙�)瀵诲簱浣�,3:鍚戣礋鏂瑰悜(鍚�)瀵诲簱浣�,4:鍚戞鏂瑰悜(鍓�)瀵诲簱浣�
+ */
+ public ShuttleCommand getFindLocCommand(Short direction) {
+ return getFindLocCommand(direction, 3000, (short) 1000);
+ }
+
+ /**
+ * 鑾峰彇鍏呯數寮�鍏冲懡浠�
+ */
+ public ShuttleCommand getChargeSwitchCommand() {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 5);
+ command.setChargeSwitch((short) 1);
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
+ /**
+ * charge锛�1=>寮�濮嬪厖鐢碉紝2=>鏂紑鍏呯數
+ */
+ public ShuttleCommand getChargeSwitchCommand(Short charge) {
+ ShuttleCommand command = new ShuttleCommand();
+ command.setCommandWord((short) 5);//鍏呯數
+ command.setShuttleNo(shuttleProtocol.getShuttleNo());
+ command.setChargeSwitch(charge);//寮�濮嬪厖鐢�
+ command.setCommandEnd((short) 1);
+ return command;
+ }
+
/******************************************************************************************/
/**************************************** 娴嬭瘯涓撶敤 *****************************************/
/*****************************************************************************************/
--
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