From f57741a11f0cce1f7ac0f2c8ab0627c046cb855b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 14 四月 2023 11:11:53 +0800
Subject: [PATCH] 穿梭车到达提升机口前，优先调度提升机优化
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 208 +++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 191 insertions(+), 17 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index aad864d..3b92522 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -68,6 +68,10 @@
@Autowired
private BasSteErrLogService basSteErrLogService;
@Autowired
+ private BasShuttleErrLogService basShuttleErrLogService;
+ @Autowired
+ private BasShuttleErrService basShuttleErrService;
+ @Autowired
private BasCrnErrorMapper basCrnErrorMapper;
@Autowired
private BasSteService basSteService;
@@ -793,6 +797,20 @@
//鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
//鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
+ if (wrkMast.getWrkSts() == 8) {
+ //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+ BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
+ ShuttleCommand moveCommand = new ShuttleCommand();
+ moveCommand.setCommandWord((short) 1);
+ moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
+ moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//鎻愬崌鏈哄彛浜岀淮鐮�
+ moveCommand.setStartToDistDistance(1300);
+ moveCommand.setMiddleToDistDistance(0);
+ moveCommand.setRunDirection(commands.get(0).getRunDirection());
+ moveCommand.setRunSpeed((short) 1000);
+ moveCommand.setCommandEnd((short) 1);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+ }
assignCommand.setCommands(commands);
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getLocNo());
@@ -847,14 +865,22 @@
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ command.setStartCodeNum(startCodeNum);
+
+ command.setMiddleCodeNum((short) 1);
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ command.setDistCodeNum(distCodeNum);
+
command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
command.setRunSpeed((short) 1000);
@@ -886,14 +912,22 @@
ShuttleCommand command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ command.setStartCodeNum(startCodeNum);
+
+ command.setMiddleCodeNum((short) 1);
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ command.setDistCodeNum(distCodeNum);
+
command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
command.setRunSpeed((short) 1000);
@@ -926,14 +960,22 @@
command = new ShuttleCommand();
command.setCommandWord((short) 1);
- command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
- command.setMiddleCodeNum((short) 0);
- command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
+ command.setStartCodeNum(startCodeNum);
+
+ command.setMiddleCodeNum((short) 1);
+
+ //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
+ Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
+ command.setDistCodeNum(distCodeNum);
+
command.setStartToDistDistance(allDistance);
- command.setMiddleToDistDistance(1000);
+ command.setMiddleToDistDistance(0);
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
command.setPalletLift((short) 1);
- command.setForceMoveDistance(1000);
+ command.setForceMoveDistance(0);
command.setChargeSwitch((short) 2);
command.setIOControl((short) 0);
command.setRunSpeed((short) 1000);
@@ -1052,6 +1094,19 @@
}
} else if (wrkMast.getWrkSts() == 25) {
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
+ //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
+ BasDevp basDevp = basDevpService.selectById(109);//鑾峰彇鎻愬崌鏈轰俊鎭�
+ ShuttleCommand moveCommand = new ShuttleCommand();
+ moveCommand.setCommandWord((short) 1);//灏忚溅绉诲姩鎸囦护瀛�
+ moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//鎻愬崌鏈轰簩缁寸爜
+ moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
+ moveCommand.setStartToDistDistance(1300);
+ moveCommand.setMiddleToDistDistance(0);
+ moveCommand.setRunDirection(commands.get(0).getRunDirection());
+ moveCommand.setRunSpeed((short) 1000);
+ moveCommand.setCommandEnd((short) 1);
+ commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
+
//鍒嗛厤鐩爣搴撲綅
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
//鐩爣搴撲綅
@@ -2918,10 +2973,129 @@
*/
public void recErr() {
try {
+ this.recShuttleErr();
this.recCrnErr();
this.recSteErr();
} catch (Exception e) {
News.error("recErr fail", e);
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞﹀紓甯镐俊鎭褰�
+ */
+ private void recShuttleErr() {
+ Date now = new Date();
+ for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
+ // 鑾峰彇鍫嗗灈鏈轰俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ if (shuttleThread == null) {
+ continue;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (shuttleProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
+ WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
+ null, // 缂栧彿
+ wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ (int) shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�" // 澶囨敞
+ );
+ if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
+ }
+ }
+ } else {
+ // 寮傚父淇
+ if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basShuttleErrLogService.updateById(latest)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ }
+ }
+ }
+ }else {
+ //鏃犱换鍔�
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
+ // 鏈夊紓甯�
+ if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
+ // 璁板綍鏂板紓甯�
+ if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
+ BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
+ null, // 缂栧彿
+ null, // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ null, // 宸ヤ綔鐘舵��
+ null, // 鍏ュ嚭搴撶被鍨�
+ shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ null, // plc
+ null, // 鐩爣搴撲綅
+ null, // 鐩爣绔�
+ null, // 婧愮珯
+ null, // 婧愬簱浣�
+ null, // 鏉＄爜
+ (int)shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "鏃犱换鍔″紓甯�" // 澶囨敞
+ );
+ if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
+ }
+ }
+ // 鏃犲紓甯�
+ } else {
+ // 寮傚父淇
+ if (latest != null && latest.getStatus() == 1) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basShuttleErrLogService.updateById(latest)) {
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ }
+ }
+ }
+ }
}
}
@@ -3643,8 +3817,8 @@
} else if (wrkCharge.getWrkSts() == 56) {
//鍏呯數涓�
- //鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺
- if (shuttleProtocol.getBatteryPower() == 1000) {
+ //鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺锛屾弧鐢�1000鎴栫數鍘�54V浠ヤ笂
+ if (shuttleProtocol.getBatteryPower() >= 1000 || shuttleProtocol.getCurrentVoltage() >= 540) {
//鍏呮弧锛屾柇寮�鍏呯數
List<ShuttleCommand> commands = new ArrayList<>();
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
--
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