From eb5eb35a7ef56a01a4c788a8c2efef9fc7b823e7 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 27 三月 2023 14:04:54 +0800
Subject: [PATCH] 四向穿梭车线程完善
---
src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java | 6
src/main/resources/mapper/BasShuttleOptMapper.xml | 21 +++
src/main/java/com/zy/asrs/service/BasShuttleOptService.java | 8 +
src/main/java/com/zy/asrs/service/impl/BasShuttleOptServiceImpl.java | 12 +
src/main/java/com/zy/core/thread/ShuttleThread.java | 166 +++++++++++++----------
src/main/java/com/zy/asrs/mapper/BasShuttleOptMapper.java | 12 +
src/main/java/com/zy/asrs/mapper/WrkMastMapper.java | 2
src/main/resources/mapper/WrkMastMapper.xml | 7 +
src/main/java/com/zy/asrs/entity/BasShuttleOpt.java | 151 +++++++++++++++++++++
9 files changed, 311 insertions(+), 74 deletions(-)
diff --git a/src/main/java/com/zy/asrs/entity/BasShuttleOpt.java b/src/main/java/com/zy/asrs/entity/BasShuttleOpt.java
new file mode 100644
index 0000000..8739111
--- /dev/null
+++ b/src/main/java/com/zy/asrs/entity/BasShuttleOpt.java
@@ -0,0 +1,151 @@
+package com.zy.asrs.entity;
+
+import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
+import com.baomidou.mybatisplus.enums.IdType;
+import com.baomidou.mybatisplus.annotations.TableField;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.text.SimpleDateFormat;
+import java.util.Date;
+import com.core.common.SpringUtils;
+import com.zy.system.service.UserService;
+import com.zy.system.entity.User;
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import com.baomidou.mybatisplus.annotations.TableName;
+import java.io.Serializable;
+
+@Data
+@TableName("asr_bas_shuttle_opt")
+public class BasShuttleOpt implements Serializable {
+
+ private static final long serialVersionUID = 1L;
+
+ @ApiModelProperty(value= "")
+ @TableId(value = "id", type = IdType.AUTO)
+ private Long id;
+
+ /**
+ * 浠诲姟鍙�
+ */
+ @ApiModelProperty(value= "浠诲姟鍙�")
+ @TableField("wrk_no")
+ private Integer wrkNo;
+
+ /**
+ * 绌挎杞﹀彿
+ */
+ @ApiModelProperty(value= "绌挎杞﹀彿")
+ @TableField("shuttle_no")
+ private Integer shuttleNo;
+
+ /**
+ * 涓嬪彂鏃堕棿
+ */
+ @ApiModelProperty(value= "涓嬪彂鏃堕棿")
+ @TableField("send_time")
+ @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
+ private Date sendTime;
+
+ /**
+ * 浣滀笟
+ */
+ @ApiModelProperty(value= "浣滀笟")
+ private String mode;
+
+ /**
+ * 璧风偣搴撲綅
+ */
+ @ApiModelProperty(value= "璧风偣搴撲綅")
+ @TableField("source_loc_no")
+ private String sourceLocNo;
+
+ /**
+ * 鐩爣搴撲綅
+ */
+ @ApiModelProperty(value= "鐩爣搴撲綅")
+ @TableField("dist_loc_no")
+ private String distLocNo;
+
+ /**
+ * 淇敼鏃堕棿
+ */
+ @ApiModelProperty(value= "淇敼鏃堕棿")
+ @TableField("update_time")
+ @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
+ private Date updateTime;
+
+ /**
+ * 淇敼浜哄憳
+ */
+ @ApiModelProperty(value= "淇敼浜哄憳")
+ @TableField("update_by")
+ private Long updateBy;
+
+ /**
+ * 澶囨敞
+ */
+ @ApiModelProperty(value= "澶囨敞")
+ private String memo;
+
+ /**
+ * 鍛戒护
+ */
+ @ApiModelProperty(value= "鍛戒护")
+ private String command;
+
+ public BasShuttleOpt() {}
+
+ public BasShuttleOpt(Integer wrkNo,Integer shuttleNo,Date sendTime,String mode,String sourceLocNo,String distLocNo,Date updateTime,Long updateBy,String memo,String command) {
+ this.wrkNo = wrkNo;
+ this.shuttleNo = shuttleNo;
+ this.sendTime = sendTime;
+ this.mode = mode;
+ this.sourceLocNo = sourceLocNo;
+ this.distLocNo = distLocNo;
+ this.updateTime = updateTime;
+ this.updateBy = updateBy;
+ this.memo = memo;
+ this.command = command;
+ }
+
+// BasShuttleOpt basShuttleOpt = new BasShuttleOpt(
+// null, // 浠诲姟鍙�
+// null, // 绌挎杞﹀彿
+// null, // 涓嬪彂鏃堕棿
+// null, // 浣滀笟
+// null, // 璧风偣搴撲綅
+// null, // 鐩爣搴撲綅
+// null, // 淇敼鏃堕棿
+// null, // 淇敼浜哄憳
+// null, // 澶囨敞
+// null // 鍛戒护
+// );
+
+ public String getSendTime$(){
+ if (Cools.isEmpty(this.sendTime)){
+ return "";
+ }
+ return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.sendTime);
+ }
+
+ public String getUpdateTime$(){
+ if (Cools.isEmpty(this.updateTime)){
+ return "";
+ }
+ return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
+ }
+
+ public String getUpdateBy$(){
+ UserService service = SpringUtils.getBean(UserService.class);
+ User user = service.selectById(this.updateBy);
+ if (!Cools.isEmpty(user)){
+ return String.valueOf(user.getUsername());
+ }
+ return null;
+ }
+
+
+}
diff --git a/src/main/java/com/zy/asrs/mapper/BasShuttleOptMapper.java b/src/main/java/com/zy/asrs/mapper/BasShuttleOptMapper.java
new file mode 100644
index 0000000..311b4e9
--- /dev/null
+++ b/src/main/java/com/zy/asrs/mapper/BasShuttleOptMapper.java
@@ -0,0 +1,12 @@
+package com.zy.asrs.mapper;
+
+import com.zy.asrs.entity.BasShuttleOpt;
+import com.baomidou.mybatisplus.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.springframework.stereotype.Repository;
+
+@Mapper
+@Repository
+public interface BasShuttleOptMapper extends BaseMapper<BasShuttleOpt> {
+
+}
diff --git a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
index e2804a1..791fe3d 100644
--- a/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
+++ b/src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -95,4 +95,6 @@
List<WrkMast> selectAll(@Param("staNo")Integer staNo);
WrkMast selectAllC();
+
+ List<WrkMast> selectWorkWaiting(Integer workNo);
}
diff --git a/src/main/java/com/zy/asrs/service/BasShuttleOptService.java b/src/main/java/com/zy/asrs/service/BasShuttleOptService.java
new file mode 100644
index 0000000..2c95587
--- /dev/null
+++ b/src/main/java/com/zy/asrs/service/BasShuttleOptService.java
@@ -0,0 +1,8 @@
+package com.zy.asrs.service;
+
+import com.zy.asrs.entity.BasShuttleOpt;
+import com.baomidou.mybatisplus.service.IService;
+
+public interface BasShuttleOptService extends IService<BasShuttleOpt> {
+
+}
diff --git a/src/main/java/com/zy/asrs/service/impl/BasShuttleOptServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/BasShuttleOptServiceImpl.java
new file mode 100644
index 0000000..b72a156
--- /dev/null
+++ b/src/main/java/com/zy/asrs/service/impl/BasShuttleOptServiceImpl.java
@@ -0,0 +1,12 @@
+package com.zy.asrs.service.impl;
+
+import com.zy.asrs.mapper.BasShuttleOptMapper;
+import com.zy.asrs.entity.BasShuttleOpt;
+import com.zy.asrs.service.BasShuttleOptService;
+import com.baomidou.mybatisplus.service.impl.ServiceImpl;
+import org.springframework.stereotype.Service;
+
+@Service("basShuttleOptService")
+public class BasShuttleOptServiceImpl extends ServiceImpl<BasShuttleOptMapper, BasShuttleOpt> implements BasShuttleOptService {
+
+}
diff --git a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
index a64075c..7205ca1 100644
--- a/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
+++ b/src/main/java/com/zy/core/model/protocol/ShuttleProtocol.java
@@ -1,6 +1,7 @@
package com.zy.core.model.protocol;
import com.zy.core.enums.ShuttleStatusType;
+import com.zy.core.model.command.ShuttleAssignCommand;
import lombok.Data;
import lombok.extern.slf4j.Slf4j;
@@ -22,6 +23,11 @@
private Short taskNo = 0;
/**
+ * 浠诲姟鎸囦护
+ */
+ private ShuttleAssignCommand assignCommand;
+
+ /**
* 婧愬簱浣�
*/
private String sourceLocNo;
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 2586420..ffc4717 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -7,7 +7,10 @@
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.BasShuttleOpt;
+import com.zy.asrs.service.BasShuttleOptService;
import com.zy.common.model.NavigateNode;
import com.zy.common.utils.CommonUtils;
import com.zy.common.utils.NavigatePositionConvert;
@@ -19,6 +22,7 @@
import com.zy.core.cache.OutputQueue;
import com.zy.core.enums.ShuttleRunDirection;
import com.zy.core.enums.ShuttleStatusType;
+import com.zy.core.enums.ShuttleTaskModeType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
@@ -170,7 +174,7 @@
//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()) {
//鎵ц涓嬩竴姝ユ寚浠�
- executeWork(shuttleProtocol.getTaskNo());
+ executeWork(shuttleProtocol.getAssignCommand());
}
}else {
@@ -178,6 +182,7 @@
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();
}
@@ -286,91 +291,92 @@
//鍒嗛厤浠诲姟
private void assignWork(ShuttleAssignCommand assignCommand) {
+ //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());
+ 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);
+ }
+
+ //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);
+ //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 void executeWork(ShuttleAssignCommand assignCommand) {
+ //璇诲彇redis鏁版嵁
+ 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:
- case 2:
- //璁＄畻璺緞
- List<NavigateNode> calc = NavigateUtils.calc(assignCommand.getSourceLocNo(), assignCommand.getDistLocNo(), assignCommand.getTaskMode().intValue());
- if (calc != null) {
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘map瀛樺叆redis涓�
- HashMap<String, Object> map = new HashMap<>();
- //鍛戒护鎵ц姝ュ簭
- map.put("commandStep", 0);
- //璺緞鏁版嵁
- map.put("path", data);
- //宸ヤ綔鍙�
- map.put("wrk_no", assignCommand.getTaskNo());
- //浠诲姟鏁版嵁淇濆瓨鍒皉edis
- redisUtil.set("wrk_no_" + assignCommand.getTaskNo(), JSON.toJSONString(map));
- shuttleProtocol.setTaskNo(assignCommand.getTaskNo());
+ 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 path = JSON.parseObject(o1.toString(), ArrayList.class);
- //鎵ц涓嬪彂浠诲姟
- executeWork(assignCommand.getTaskNo());
- }
+ size = path.size();
+ //寮�濮嬭矾寰�
+ JSONObject startPath = JSON.parseObject(path.get(0).toString());
+ //鐩爣璺緞
+ JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
+
+ command.setCommandWord((short) 1);
+ command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
+ command.setMiddleCodeNum((short) 0);
+ command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
+ command.setStartToDistDistance(1000);
+ command.setMiddleToDistDistance(1000);
+ command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).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:
- case 4:
+ 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);
- write(command);
break;
- case 5:
- case 6:
- case 7:
- case 8:
+ 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);
- write(command);
break;
}
- }
-
- //鎵ц涓嬪彂鐨勬寚浠�
- private void executeWork(Short taskNo) {
- //璇诲彇redis鏁版嵁
- Object o = redisUtil.get("wrk_no_" + taskNo);
- HashMap map = JSON.parseObject(o.toString(), HashMap.class);
- //褰撳墠姝ュ簭
- int commandStep = Integer.parseInt(map.get("commandStep").toString());
- //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 path = JSON.parseObject(o1.toString(), ArrayList.class);
-
- int size = path.size();
- //寮�濮嬭矾寰�
- JSONObject startPath = JSON.parseObject(path.get(0).toString());
- System.out.println(startPath);
- //鐩爣璺緞
- JSONObject endPath = JSON.parseObject(path.get(size - 1).toString());
- System.out.println(endPath);
-
- //涓嬪彂鍛戒护
- ShuttleCommand command = new ShuttleCommand();
- command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getIntValue("x"), startPath.getIntValue("y")));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getIntValue("x"), endPath.getIntValue("y")));
- command.setStartToDistDistance(1000);
- command.setMiddleToDistDistance(1000);
- command.setRunDirection(ShuttleRunDirection.get(startPath.get("direction").toString()).id);
- command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
- command.setChargeSwitch((short) 2);
- command.setIOControl((short) 0);
- command.setRunSpeed((short) 1000);
- command.setRadarTmp((short) 0);
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));
@@ -391,12 +397,24 @@
}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.getDistLocNo(),
+ null,
+ null,
+ null,
+ JSON.toJSONString(command)
+ );
+ shuttleOptService.insert(opt);
+ }
//鍒犻櫎redis
redisUtil.del("wrk_no_" + map.get("wrk_no").toString());
-
- //銆傘�傘��
- //1銆佸懡浠や笅鏂归渶瑕佸垽鏂皬杞︾┖闂茬姸鎬�
- //2銆�
}
}
diff --git a/src/main/resources/mapper/BasShuttleOptMapper.xml b/src/main/resources/mapper/BasShuttleOptMapper.xml
new file mode 100644
index 0000000..dd0694a
--- /dev/null
+++ b/src/main/resources/mapper/BasShuttleOptMapper.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.zy.asrs.mapper.BasShuttleOptMapper">
+
+ <!-- 閫氱敤鏌ヨ鏄犲皠缁撴灉 -->
+ <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasShuttleOpt">
+ <id column="id" property="id" />
+ <result column="wrk_no" property="wrkNo" />
+ <result column="shuttle_no" property="shuttleNo" />
+ <result column="send_time" property="sendTime" />
+ <result column="mode" property="mode" />
+ <result column="source_loc_no" property="sourceLocNo" />
+ <result column="dist_loc_no" property="distLocNo" />
+ <result column="update_time" property="updateTime" />
+ <result column="update_by" property="updateBy" />
+ <result column="memo" property="memo" />
+ <result column="command" property="command" />
+
+ </resultMap>
+
+</mapper>
diff --git a/src/main/resources/mapper/WrkMastMapper.xml b/src/main/resources/mapper/WrkMastMapper.xml
index f098ac4..2d90877 100644
--- a/src/main/resources/mapper/WrkMastMapper.xml
+++ b/src/main/resources/mapper/WrkMastMapper.xml
@@ -234,5 +234,12 @@
#{item}
</foreach>
</select>
+
+ <select id="selectWorkWaiting" resultMap="BaseResultMap">
+ select *
+ from dbo.asr_wrk_mast
+ where 1=1
+ wrk_no=#{workNo} and wrk_sts in (4,7)
+ </select>
</mapper>
--
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