From ee5e6e5d4714358de0371f83d02739cb765b4dbf Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期六, 01 七月 2023 08:18:29 +0800
Subject: [PATCH] fixed
---
src/main/java/com/zy/core/thread/ShuttleThread.java | 236 ++++++++++++++++++++++++++++------------------------------
1 files changed, 114 insertions(+), 122 deletions(-)
diff --git a/src/main/java/com/zy/core/thread/ShuttleThread.java b/src/main/java/com/zy/core/thread/ShuttleThread.java
index 029180e..844aa2d 100644
--- a/src/main/java/com/zy/core/thread/ShuttleThread.java
+++ b/src/main/java/com/zy/core/thread/ShuttleThread.java
@@ -646,88 +646,21 @@
return false;
}
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
+
Object o = redisUtil.get("shuttle_wrk_no_" + wrkNo);
if (o == null) {
return false;
}
ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ if (shuttleProtocol.getBusyStatus().intValue() == ShuttleStatusType.BUSY.id) {
+ return false;//灏忚溅鐘舵�佸繖
+ }
+
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;
}
-
-// 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, Utils.getShuttlePoints(errorCommand.getShuttleNo().intValue()));//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;
-// }
-// }
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
@@ -751,10 +684,36 @@
//涓婁竴鏉℃寚浠よ捣鐐规槸鎻愬崌鏈轰簩缁寸爜锛屽垯娓呴浂鎻愬崌鏈轰换鍔″彿
if (command.getStartCodeNum().intValue() == liftProtocol.getBarcode().intValue()) {
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂�
- if (liftProtocol.isIdleNoTask()) {
+ if (liftProtocol.isIdleNoTask() && liftProtocol.getTaskNo().intValue() == redisCommand.getWrkNo().intValue()) {
liftProtocol.setTaskNo((short) 0);//娓呯┖浠诲姟鍙�
+ WrkMast wrkMast = wrkMastService.selectById(wrkNo);
+ if (wrkMast != null) {
+ wrkMast.setLiftNo(null);//瑙ｉ攣鎻愬崌鏈�
+ wrkMastService.updateById(wrkMast);
+ }
}
}
+
+ //鍏ュ簱鍛戒护锛屽綋灏忚溅鍙栧畬璐у悗锛岄渶瑕佸皢鎻愬崌鏈洪噴鏀�
+ if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.PAK_IN.id) {
+ //鍒ゆ柇涓婁竴鏉℃寚浠ょ殑璧风偣鏄惁涓鸿緭閫佺珯鐐逛笖鐩爣鐐逛笉鏄彁鍗囨満鍐呴儴浜岀淮鐮�
+ Short startCodeNum = command.getStartCodeNum();
+ BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
+ BasDevp basDevp = basDevpService.queryByQrCode(startCodeNum.intValue());//鐩爣绔欑偣
+ if (basDevp != null && command.getDistCodeNum().intValue() != liftProtocol.getBarcode().intValue()) {
+ //涓婁竴鏉℃寚浠ょ殑璧风偣涓鸿緭閫佺珯鐐逛笖鐩爣鐐逛笉鏄彁鍗囨満鍐呴儴浜岀淮鐮�
+ //姝ゆ椂灏忚溅搴旇宸茬粡绂诲紑杈撻�佺珯鐐癸紝鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂蹭笖鏈夊伐浣滃彿
+ if (liftProtocol.isIdleNoTask() && liftProtocol.getTaskNo().intValue() == redisCommand.getWrkNo().intValue()) {
+ liftProtocol.setTaskNo((short) 0);//娓呯┖浠诲姟鍙�
+ WrkMast wrkMast = wrkMastService.selectById(wrkNo);
+ if (wrkMast != null) {
+ wrkMast.setLiftNo(null);//瑙ｉ攣鎻愬崌鏈�
+ wrkMastService.updateById(wrkMast);
+ }
+ }
+ }
+ }
+
}
} else if (command.getCommandWord().intValue() == 2) {
//鎵樼洏椤跺崌鍛戒护
@@ -981,11 +940,10 @@
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;
- }
}
+
+ //褰撳墠绛夊緟鎵ц鐨勬寚浠�
+ ShuttleCommand command = commands.get(commandStep);
BasDevpService basDevpService = SpringUtils.getBean(BasDevpService.class);
ArrayList<Short> qrCodeValues = new ArrayList<>();
@@ -994,32 +952,53 @@
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 (command.getDistCodeNum() == null || command.getStartCodeNum() == null) {
- continue;
- }
+ 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 (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());
- siteNo = basDevp.getDevNo();
- break;
- }
+ if (qrCodeValue.intValue() == command.getDistCodeNum().intValue() || (qrCodeValue.intValue() == command.getStartCodeNum().intValue() && command.getDistCodeNum().intValue() == liftProtocol.getBarcode().intValue())) {
+ //瀛樺湪
+ 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
+ if (siteNo == null) {
+ //鎵句笉鍒扮珯鐐癸紝璇存槑杩樻湭鍒版彁鍗囨満
return true;
}
+
+
+// //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 (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());
+// 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()) {
@@ -1032,10 +1011,6 @@
}
}
}
-// 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
@@ -1047,29 +1022,39 @@
}
//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$() == shuttleLocNoLev) {
- liftProtocol.setTaskNo(wrkNo);//缁欐彁鍗囨満鍐欏伐浣滃彿锛岄槻姝㈣鍗犵敤
- return true;//鎻愬崌鏈哄埌浣�
- }
- executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//璋冨害鎻愬崌鏈�
- return false;//鎻愬崌鏈烘病鏈夊埌浣�
- }
+ SiemensDevpThread siemensDevpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ StaProtocol staProtocol = siemensDevpThread.getStation().get(siteNo);
+ if (!staProtocol.isLiftArrival()) {
+ //杈撻�佺嚎鍙嶉鎻愬崌鏈烘病鏈夊埌浣�
+ executeLift(liftThread, liftProtocol, redisCommand, shuttleLocNoLev);//璋冨害鎻愬崌鏈�
+ return false;
}
- return false;
+ if (shuttleProtocol.getCurrentCode().intValue() == liftProtocol.getBarcode().intValue()) {
+ //灏忚溅澶勪簬鎻愬崌鏈哄唴
+ return true;
+ }else {
+ if (liftProtocol.getPositionArrivalFeedback$() == shuttleLocNoLev) {
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁浠诲姟鍙�
+ if (liftProtocol.getTaskNo().intValue() != 0) {
+ //鍒ゆ柇浠诲姟鍙锋槸鍚﹀拰褰撳墠灏忚溅浠诲姟涓�鑷�
+ if (liftProtocol.getTaskNo().intValue() != wrkNo.intValue()) {
+ return false;//浠诲姟鍙蜂笉涓�鑷达紝涓旀彁鍗囨満浠诲姟鍙蜂笉涓�0
+ }
+ }
+ liftProtocol.setTaskNo(wrkNo);//缁欐彁鍗囨満鍐欏伐浣滃彿锛岄槻姝㈣鍗犵敤
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
+ WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
+ if (wrkMast != null) {
+ wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//閿佸畾鎻愬崌鏈猴紝闃叉琚姠鍗�
+ wrkMastService.updateById(wrkMast);
+ }
+ 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�
+ }
+
}
private boolean executeLift(LiftThread liftThread, LiftProtocol liftProtocol, ShuttleRedisCommand redisCommand, Integer shuttleLocNoLev) {//璋冨害鎻愬崌鏈�
@@ -1088,6 +1073,13 @@
return false;
}
+ WrkMastService wrkMastService = SpringUtils.getBean(WrkMastService.class);
+ WrkMast wrkMast = wrkMastService.selectById(shuttleProtocol.getTaskNo());
+ if (wrkMast != null) {
+ wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//閿佸畾鎻愬崌鏈猴紝闃叉琚姠鍗�
+ wrkMastService.updateById(wrkMast);
+ }
+
//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
--
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