package com.zy.asrs.wcs.core.service.impl;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.wcs.core.entity.Task;
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import com.zy.asrs.wcs.core.kernel.AnalyzeService;
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import com.zy.asrs.wcs.core.model.enums.TaskStsType;
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import com.zy.asrs.wcs.core.service.TaskService;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.core.entity.Motion;
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import com.zy.asrs.wcs.core.service.MotionService;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
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import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
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import com.zy.asrs.wcs.rcs.thread.DevpThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.Date;
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import java.util.List;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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@Autowired
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private TaskService taskService;
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@Autowired
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private AnalyzeService analyzeService;
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@Autowired
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private MotionService motionService;
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateInboundWrk() {
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}
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// 解析入库工作档
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public synchronized void analyzeInBoundTask() {
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for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
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// generate motion list
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List<Motion> motionList = analyzeService.generateMotion(task);
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if (motionList.isEmpty()) {
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continue;
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}
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motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
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// 更新工作主档
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task.setTaskSts(TaskStsType.ANALYZE_INBOUND.sts); // 工作状态
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task.setUpdateTime(new Date());
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if (!taskService.updateById(task)) {
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News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
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}
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}
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}
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/**
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* 出库 ====>> 同一时间一台穿梭车只能有一个出库任务
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*/
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public synchronized void generateOutboundWrkMast() {
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List<Task> tasks = taskService.selectPakOut();
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if (tasks.isEmpty()) {
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return;
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}
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for (Task task : tasks) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(task.getOriginSite()));//源站
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StaProtocol staProtocol1 = devpThread.getStation().get(Integer.parseInt(task.getDestSite()));//目标站
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if (staProtocol == null || staProtocol1 == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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staProtocol1 = staProtocol1.clone();
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}
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// // 查询站点详细信息
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// BasDevp staDetl = basDevpService.selectById(outSta.getStaNo());
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// if (staDetl == null) {
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// log.error("出库 ===>> 站点在数据库不存在, 站点编号={}", outSta.getStaNo());
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// continue;
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// }
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// 判断堆垛机出库站状态
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if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
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if (!(staProtocol1.isAutoing() && !staProtocol1.isLoading() && staProtocol1.getWorkNo() == 0 && staProtocol1.isOutEnable())) {
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continue;
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}
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// //同库位组校验
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// List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
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// List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
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// if (!outerLocMasts.isEmpty()) {
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// News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
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// continue;//浅库位存在未执行任务
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// }
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// generate motion list
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List<Motion> motionList = analyzeService.generateMotion(task);
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if (Cools.isEmpty(motionList)) {
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log.error("出库 ===>> 暂时没有空闲小车, 任务号={}", task.getTaskNo());
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continue;
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}
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motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
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// 更新工作主档
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task.setTaskSts(TaskStsType.ANALYZE_OUTBOUND.sts); // 工作状态
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task.setUpdateTime(new Date());
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if (!taskService.updateById(task)) {
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News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
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}
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}
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}
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}
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/**
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* 四向穿梭车电量检测 ===>> 发起充电
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*/
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public synchronized void loopShuttleCharge() {
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// ShuttleChargeType shuttleCharge = ShuttleChargeType.CHARGE_1;
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// for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
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// // 判断充电位是否被占用
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// if (wrkChargeService.hasShuttleInChargeLoc(shuttleCharge.locNo, shuttle.getId())) {
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// continue;
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// }
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//
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// //获取四向穿梭车线程
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// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
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// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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// if (shuttleProtocol == null) {
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// continue;
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// }
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// if (motionService.selectCount(new EntityWrapper<Motion>()
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// .eq("device_ctg", DeviceCtgType.SHUTTLE.val())
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// .eq("device", shuttle.getId())
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// .eq("motion_sts", MotionStsType.EXECUTING.val())) > 0) {
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// continue;
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// }
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//
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// //判断当前小车是否满足需要充电要求
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// if (!shuttleProtocol.isRequireCharge()) {
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// continue;
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// }
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//
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// WrkCharge wrkCharge = wrkChargeService.selectWorking(null);
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// if (wrkCharge != null) {//已有充电任务
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// continue;
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// }
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//
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// String chargeLocNo = shuttleCharge.locNo;
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// wrkCharge = new WrkCharge();
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// wrkCharge.setShuttleNo(shuttle.getId());
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// wrkCharge.setCharge(shuttleCharge.id);
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// wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
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// wrkCharge.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
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// wrkCharge.setWrkSts(WrkMastStsType.NEW_CHARGE.sts); // 充电任务
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// wrkCharge.setIoType(WrkIoTypeType.CHARGE.sts);
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// wrkCharge.setIoPri((double) 10);
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// wrkCharge.setLocNo(chargeLocNo);
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// wrkCharge.setMemo("charge");
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// wrkCharge.setAppeTime(new Date());
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//
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// // generate motion list
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// List<Motion> motionList = analyzeService.generateChargeMotion(wrkCharge);
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// if (Cools.isEmpty(motionList)) {
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// News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
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// continue;
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// }
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// motionService.batchInsert(motionList, wrkCharge.getUuid(), wrkCharge.getWrkNo());
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//
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// wrkCharge.setWrkSts(WrkMastStsType.ANALYZE_CHARGE.sts);
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//
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// if (!wrkChargeService.insert(wrkCharge)) {
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// News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
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// continue;
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// }
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//
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// News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
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// }
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}
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/**
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* 四向穿梭车电量检测 ===>> 满电后回到待机位
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*/
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public synchronized void loopShuttleToStandbyCauseCharge() {
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// ShuttleChargeType shuttleCharge = ShuttleChargeType.CHARGE_1;
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// Integer enoughPower = 90;
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// Config config = configService.selectOne(new EntityWrapper<Config>()
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// .eq("code", "chargeMaxValue")
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// .eq("status", 1));
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// if (config != null) {
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// enoughPower = Integer.parseInt(config.getValue());
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// }
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//
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// for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
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// //获取四向穿梭车线程
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// ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
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// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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// if (shuttleProtocol == null) {
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// continue;
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// }
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// // 是否存在充电任务
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// WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
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// if (wrkCharge == null) {
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// continue;
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// }
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//
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// if (motionService.selectCount(new EntityWrapper<Motion>()
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// .eq("device_ctg", DeviceCtgType.SHUTTLE.val())
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// .eq("device", shuttle.getId())
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// .eq("motion_sts", MotionStsType.EXECUTING.val())) > 0) {
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// continue;
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// }
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// // 不处于充电中
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// if (!shuttleProtocol.getPlcOutputCharge()) {
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// continue;
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// }
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// // 在充电位
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// if (!shuttleProtocol.getCurrentLocNo().equals(shuttleCharge.locNo)) {
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// continue;
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// }
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// // 电量是否达到满电要求
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// if (shuttleProtocol.getBatteryPower$().intValue() < enoughPower) {
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// continue;
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// }
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// // 已有迁移任务
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// if (wrkChargeService.selectMoveWorking(shuttle.getId()) != null) {
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// continue;
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// }
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//
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// // 待机位
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// String standByLocNo = ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), 2, Utils.getLev(shuttleCharge.locNo)).locNo;
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//
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// shuttleDispatcher.generateShuttleChargeWrkComplete(shuttleProtocol.getShuttleNo().intValue(), standByLocNo);
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//
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// wrkCharge.setWrkSts(WrkMastStsType.COMPLETE_CHARGE.sts);
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// wrkCharge.setIoTime(new Date());
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// wrkChargeMapper.updateById(wrkCharge);
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// }
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}
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}
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