取货高度
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cbs
parent
5507e49ff7
commit
81423a8ad3
@ -137,6 +137,7 @@ public class PathApiImpl implements PathApi {
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@Override
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public void graphMatchData(String message) {
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TenantContextHolder.setTenantId(1L);
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log.info("匹配路网的消息 :{}",message);
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pathPlanningService.graphMatchData(message);
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}
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@ -64,7 +64,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
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@Override
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public void robotReactiveStatus(String message) {
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TenantContextHolder.setTenantId(1L);
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log.info("切换地图 :{}",message);
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log.info("车辆所在楼层和异常信息 :{}",message);
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RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
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String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
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String robotNo = robotInformationService.getRobotNoByMac(data.getMac());
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@ -144,7 +144,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
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@Value("${zn.robot_config.offset_height}")
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private Double offsetHeight;
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@Value("${zn.robot_config.default_tray_height:1.0}")
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@Value("${zn.robot_config.default_tray_height:0.82}")
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private Double defaultTrayHeight;
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@Resource
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@ -152,7 +152,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
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robotTaskDetailMapper.insertBatch(bean);
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}
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chargeLogMapper.insertBatch(logs);
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chargeLogMapper.insert(logs);
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robotPathPlanningService.sendChargeTaskToPP(logs, taskDetailDOS, robots);
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@ -96,6 +96,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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@Value("${zn.move-no:MOVE}")
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private String moveTaskNo;
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@Value("${zn.robot_config.default_tray_height:0.82}")
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private Double defaultTrayHeight;
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@Autowired
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private RobotTaskMapper robotTaskMapper;
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@ -262,12 +265,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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detailAddVO.setTaskType(RobotTaskTypeEnum.MOVE_TO_POINT.getType());
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detailAddVO.setReleaseType(ReleaseTakeEnum.TO_LOCATION.getType());
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detailAddVO.setReleaseId(v.getId());
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detailAddVO.setToLocationNo(sortMap.get(v.getId())+"");
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detailAddVO.setToLocationNo(sortMap.get(v.getId()) + "");
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detailAddVO.setRobotNo(v.getRobotNo());
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taskDetails.add(detailAddVO);
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TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
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.orderId(detailAddVO.getId()+"")
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.orderId(detailAddVO.getId() + "")
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.orderType(PathTaskTypeEnum.MOVE_TO_WAIT.getType())
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.priority(1l)
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.createTime(LocalDateTime.now())
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@ -297,9 +300,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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}
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@Override
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public void sendChargeTaskToPP(List<RobotChargeLogDO> logs, List<RobotTaskDetailDO> taskDetailDOS,
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List<RobotInformationDO> robots) {
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@ -424,7 +424,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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pathPlanning.setWaitIds(waitIds);
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i++;
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} else if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(taskDetailDO.getTaskType())) {
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moveToPoint(pathPlanning,taskDetailDO);
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moveToPoint(pathPlanning, taskDetailDO);
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}
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if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
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@ -454,9 +454,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
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pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
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pathPlanning.setTakePointId(fromLocation.getMapItemId());
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if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
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pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTotalHeight() + ""));
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}
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pathPlanningSetTakeHeight(pathPlanning, fromLocation);
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pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
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pathPlanning.setTakeOffsetHeight(offsetHeight);
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if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
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@ -469,11 +468,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
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pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
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pathPlanning.setReleasePointId(toLocation.getMapItemId());
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if (ObjectUtil.isNotEmpty(toLocation.getLocationStorey()) && ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
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pathPlanning.setReleaseHeight(0.0);
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}else if (ObjectUtil.isNotEmpty(toLocation.getLocationTrayHeight())) {
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pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
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}
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pathPlanningSetReleaseHeight(pathPlanning,toLocation);
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pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
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pathPlanning.setReleaseOffsetHeight(offsetHeight);
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if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
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@ -495,8 +491,52 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
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}
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}
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/**
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* 设置放货高度
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* @param pathPlanning
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* @param toLocation
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*/
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private void pathPlanningSetReleaseHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO toLocation) {
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if ( ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
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pathPlanning.setReleaseHeight(0.0);
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return;
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}
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WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
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.eq(WareHouseLocationDO::getId, toLocation.getMapItemId())
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.eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey()-1)
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.last("limit 1"));
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if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
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pathPlanning.setReleaseHeight(Double.valueOf(nextLocation.getLocationTotalHeight() + ""));
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return;
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}
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Integer locationStorey = toLocation.getLocationStorey() - 1;
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double height = locationStorey * defaultTrayHeight;
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log.info("放货设置默认高度 :{}",pathPlanning.getReleaseHeight());
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pathPlanning.setReleaseHeight(height);
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}
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/**
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* 设置取货高度
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*
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* @param pathPlanning
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* @param fromLocation
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*/
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private void pathPlanningSetTakeHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO fromLocation) {
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if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
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pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTotalHeight() + ""));
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return;
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}
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Integer locationStorey = fromLocation.getLocationStorey();
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double height = locationStorey * defaultTrayHeight;
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log.info("取货设置默认取货高度 :{}",height);
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pathPlanning.setTakeHeight(height);
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}
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/**
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* 移动到路径点
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*
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* @param pathPlanning
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* @param taskDetailDO
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*/
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@ -226,7 +226,7 @@ zn:
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camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
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do_cycle: true #是否开启循环
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lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
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robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
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robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
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cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
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full_electricity: 100 #机器人充满电的电量
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task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
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@ -240,7 +240,7 @@ zn:
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check_sku_info: true #校验物料信息
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robot_config: #机器人取放货默认配置
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offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
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default_tray_height: 1.1 #默认每层高度
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default_tray_height: 0.82 #默认每层高度
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open_rate_limiter: true #是否开启限流
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path_planning:
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task_chche_time: 1209600 #任务缓存的时间， 默认一星期
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