package com.zy.asrs.wcs.core.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONArray;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import com.zy.asrs.common.domain.dto.StartupDto;
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import com.zy.asrs.common.domain.param.SearchLocParam;
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import com.zy.asrs.common.utils.HttpHandler;
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import com.zy.asrs.framework.common.Cools;
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import com.zy.asrs.framework.common.SnowflakeIdWorker;
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import com.zy.asrs.wcs.core.domain.dto.MatDto;
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import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
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import com.zy.asrs.wcs.core.domain.dto.StaDto;
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import com.zy.asrs.wcs.core.entity.*;
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import com.zy.asrs.wcs.core.kernel.AnalyzeService;
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import com.zy.asrs.wcs.core.model.MapNode;
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import com.zy.asrs.wcs.core.model.enums.*;
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import com.zy.asrs.wcs.core.service.*;
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import com.zy.asrs.wcs.core.utils.RedisUtil;
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import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
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import com.zy.asrs.wcs.core.utils.Utils;
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import com.zy.asrs.wcs.rcs.News;
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import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
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import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
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import com.zy.asrs.wcs.rcs.entity.Device;
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import com.zy.asrs.wcs.rcs.model.command.LedCommand;
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import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
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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.ShuttleProtocol;
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import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
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import com.zy.asrs.wcs.rcs.service.DeviceService;
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import com.zy.asrs.wcs.rcs.thread.BarcodeThread;
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import com.zy.asrs.wcs.rcs.thread.DevpThread;
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import com.zy.asrs.wcs.rcs.thread.LedThread;
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import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
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import com.zy.asrs.wcs.system.entity.Dict;
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import com.zy.asrs.wcs.system.service.DictService;
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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 org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.*;
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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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@Autowired
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private DeviceService deviceService;
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@Autowired
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private LocCtgService locCtgService;
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@Autowired
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private LocService locService;
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@Autowired
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private SnowflakeIdWorker snowflakeIdWorker;
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@Autowired
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private TaskCtgService taskCtgService;
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@Autowired
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private DictService dictService;
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@Autowired
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private ShuttleDispatcher shuttleDispatcher;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private BasConveyorService basConveyorService;
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@Autowired
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private BasConveyorStaService basConveyorStaService;
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@Autowired
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private BasConveyorPathService basConveyorPathService;
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@Autowired
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private BasLedService basLedService;
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@Autowired
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private DeviceBarcodeService deviceBarcodeService;
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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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try {
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// 根据输送线plc遍历
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List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
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.eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
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.eq(Device::getStatus, 1));
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for (Device devp : list) {
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BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
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// 遍历入库口
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for (StaDto inSta : JSON.parseArray(basConveyor.getInSta(), StaDto.class)) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, devp.getId().intValue());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg + "前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg + "后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg + "高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg + "左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg + "右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg + "超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg + "扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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// led 异常显示
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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ledThread.error(errMsg);
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}
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continue;
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}
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
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) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if (!Cools.isEmpty(barcode)) {
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News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode) || "00000000".equals(barcode)) {
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staProtocol.setWorkNo((short) 32002);
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staProtocol.setStaNo(inSta.getBackSta().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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devpThread.writeWorkSta(staProtocol.getSiteId(), (short) 32002, inSta.getBackSta().shortValue());
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// led 异常显示
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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String errorMsg = "扫码失败，请重试";
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ledThread.error(errorMsg);
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}
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continue;
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}
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}
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//获取入库任务类型
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TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
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.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
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.eq(TaskCtg::getStatus, 1));
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// 判断重复工作档
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Task task1 = taskService.getOne(new LambdaQueryWrapper<Task>()
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.eq(Task::getOriginSite, inSta.getStaNo())
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.eq(Task::getTaskCtg, taskCtg.getId())
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.in(Task::getTaskSts, 1, 2, 3)
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.eq(Task::getZpallet, barcode));
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if (task1 != null) {
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News.error("工作档已存在,工作号={}", task1.getTaskNo());
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continue;
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}
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try {
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//获取WMS地址
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Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "WMS_URL").eq(Dict::getStatus, 1));
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if (dict == null) {
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News.error("WMS地址未配置");
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continue;
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}
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String wmsUrl = dict.getValue();
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1(staProtocol.getLocType1().shortValue());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v2")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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//获取输送路径
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BasConveyorPath conveyorPath = basConveyorPathService.getOne(new LambdaQueryWrapper<BasConveyorPath>()
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.eq(BasConveyorPath::getTypeNo, TaskCtgType.IN.val())
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.eq(BasConveyorPath::getDeviceId, devp.getId())
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.eq(BasConveyorPath::getStnNo, staProtocol.getSiteId()));
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if (conveyorPath == null) {
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News.error("输送路径不存在");
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}else {
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devpThread.writeWorkSta(staProtocol.getSiteId(), dto.getWorkNo().shortValue(), conveyorPath.getDeviceStn().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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}
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}else {
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if (ledThread != null) {
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String errorMsg = jsonObject.getString("msg");
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if (!Cools.isEmpty(errorMsg)) {
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ledThread.error(errorMsg);
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ledThread.setLedMk(false);
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}
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}
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News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
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}
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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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/**
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* 初始化实时地图
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*/
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public synchronized void initRealtimeBasMap() {
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try {
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List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
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.like(Dict::getFlag, "map-")
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.eq(Dict::getStatus, 1));
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TreeMap<Integer, ArrayList<ArrayList<MapNode>>> levData = new TreeMap<>();
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for (Dict dict : dicts) {
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String[] split = dict.getFlag().split("-");
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int lev = Integer.parseInt(split[1]);
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Object data = redisUtil.get(DeviceRedisConstant.MAP + lev);
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if (data != null) {
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continue;
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}
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TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
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//排序Row
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JSONArray value = JSON.parseArray(dict.getValue());
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for (Object o : value) {
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JSONObject item = JSON.parseObject(o.toString());
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if (item.getString("type").equals("SHELF")) {
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JSONObject property = JSON.parseObject(item.getString("property"));
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Integer row1 = property.getInteger("row");
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ArrayList<JSONObject> bays = new ArrayList<>();
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if (rows.containsKey(row1)) {
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bays.addAll(rows.get(row1));
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}
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bays.add(property);
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rows.put(row1, bays);
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}
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}
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ArrayList<ArrayList<MapNode>> list = new ArrayList<>();
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//排序Bay
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for (Map.Entry<Integer, List<JSONObject>> entry : rows.entrySet()) {
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ArrayList<MapNode> nodes = new ArrayList<>();
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for (JSONObject object : entry.getValue()) {
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MapNode mapNode = new MapNode();
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mapNode.setValue(object.getInteger("shelfType"));
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mapNode.setTop(object.getInteger("top"));
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mapNode.setBottom(object.getInteger("bottom"));
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mapNode.setLeft(object.getInteger("left"));
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mapNode.setRight(object.getInteger("right"));
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mapNode.setRow(object.getInteger("row"));
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mapNode.setBay(object.getInteger("bay"));
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mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
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mapNode.setXBase(object.getInteger("refx"));
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mapNode.setYBase(object.getInteger("refy"));
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nodes.add(mapNode);
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}
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Collections.sort(nodes, new Comparator<MapNode>() {
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@Override
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public int compare(MapNode o1, MapNode o2) {
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return Integer.compare(o1.getBay(), o2.getBay());
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}
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});
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ArrayList<MapNode> sortNodes = new ArrayList<>();
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int defaultBay = 1;//默认从1列开始
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for (MapNode node : nodes) {
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if (node.getBay() == defaultBay) {
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defaultBay++;
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sortNodes.add(node);
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continue;
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}
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//存在空缺节点，自动补足
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for (int i = defaultBay; i < node.getBay(); i++) {
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MapNode mapNode = new MapNode();
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mapNode.setValue(-1);
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mapNode.setTop(1000);
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mapNode.setBottom(1000);
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mapNode.setLeft(1000);
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mapNode.setRight(1000);
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mapNode.setRow(node.getRow());
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mapNode.setBay(i);
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mapNode.setNo(node.getRow() + "-" + i);
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mapNode.setXBase(0);
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mapNode.setYBase(0);
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sortNodes.add(mapNode);
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}
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defaultBay = node.getBay() + 1;
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sortNodes.add(node);
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}
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list.add(sortNodes);
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}
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levData.put(lev, list);
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}
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for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
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ArrayList<ArrayList<MapNode>> lists = entry.getValue();//获取地图
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MapNode mapNode = new MapNode();
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mapNode.setValue(-1);
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mapNode.setTop(1000);
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mapNode.setBottom(1000);
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mapNode.setLeft(1000);
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mapNode.setRight(1000);
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mapNode.setRow(0);
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mapNode.setBay(0);
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mapNode.setNo("0-0");
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mapNode.setXBase(0);
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mapNode.setYBase(0);
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//获取最长row
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int row = 0;
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//给每个row首尾增加-1节点
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for (ArrayList<MapNode> list : lists) {
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if (list.size() > row) {
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row = list.size();
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}
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list.add(0, mapNode.clone());
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list.add(mapNode.clone());
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}
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//最后一次检测地图节点是否完整，地图矩阵row均要达到最长row
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for (ArrayList<MapNode> list : lists) {
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int len = (row + 2);//row+2是因为头节点和尾节点存在人为添加的-1节点
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if (list.size() == len) {
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continue;
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}
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//节点长度不满足，进行补足
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for (int i = list.size(); i < len; i++) {
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list.add(mapNode.clone());
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}
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}
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ArrayList<MapNode> headNodes = new ArrayList<>();
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ArrayList<MapNode> footerNodes = new ArrayList<>();
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for (int i = 0; i < row+2; i++) {
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headNodes.add(mapNode.clone());
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footerNodes.add(mapNode.clone());
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}
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lists.add(0, headNodes);
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lists.add(footerNodes);
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Integer lev = entry.getKey();
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Date now = new Date();
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RedisMapDto map = new RedisMapDto();
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map.setData(JSON.toJSONString(lists));
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map.setCreateTime(now);
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map.setUpdateTime(now);
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map.setLev(lev);
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//将地图数据存入redis
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redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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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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BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, task.getDestSite()));
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if (basConveyorSta == null) {
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continue;
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}
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BasConveyor basConveyor = basConveyorService.getById(basConveyorSta.getConveyorId());
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if (basConveyor == null) {
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continue;
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}
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DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
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if (deviceBarcode == null) {
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continue;
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}
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, Integer.parseInt(deviceBarcode.getDeviceId()));
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if (barcodeThread == null) {
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continue;
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}
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if (!barcodeThread.getBarcode().equals(task.getZpallet())) {
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continue;
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}
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
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if (devpThread == null) {
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continue;
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}
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StaProtocol staProtocol = devpThread.getStation().get(basConveyorSta.getSiteNo());
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if (staProtocol == null) {
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continue;
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}
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if (!(staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable())) {
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continue;
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}
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if (Cools.isEmpty(task.getShuttleNo())) {
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//分配小车
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//搜索空闲车
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ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
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if (shuttleThread == null) {
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News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
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continue;
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}
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task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
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task.setUpdateTime(new Date());
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if (!taskService.updateById(task)) {
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News.info("{}任务更新穿梭车号失败", task.getTaskNo());
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}
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continue;
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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 (motionList.isEmpty()) {
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continue;
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}
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motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
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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 analyzeOutBoundTask() {
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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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BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(task.getOriginSite());//获取源站
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if (originStaObj == null) {
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continue;
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}
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BasConveyor basConveyor = basConveyorService.getById(originStaObj.getConveyorId());
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if(basConveyor == null) {
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continue;
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}
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
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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) {
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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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// 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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if (Cools.isEmpty(task.getShuttleNo())) {
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//分配小车
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//搜索空闲车
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ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
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if (shuttleThread == null) {
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News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
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continue;
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}
|
|
task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
|
task.setUpdateTime(new Date());
|
if (!taskService.updateById(task)) {
|
News.info("{}任务更新穿梭车号失败", task.getTaskNo());
|
}
|
continue;
|
}
|
|
// generate motion list
|
List<Motion> motionList = analyzeService.generateMotion(task);
|
if (Cools.isEmpty(motionList)) {
|
log.error("出库 ===>> 暂时没有空闲小车, 任务号={}", task.getTaskNo());
|
continue;
|
}
|
motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
|
|
// 更新工作主档
|
task.setTaskSts(TaskStsType.ANALYZE_OUTBOUND.sts); // 工作状态
|
task.setUpdateTime(new Date());
|
if (!taskService.updateById(task)) {
|
News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
|
}
|
|
}
|
}
|
}
|
|
// 解析小车移动工作档
|
public synchronized void analyzeMoveTask() {
|
for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
|
if (Cools.isEmpty(task.getShuttleNo())) {
|
//分配小车
|
//搜索空闲车
|
ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
|
if (shuttleThread == null) {
|
News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
|
continue;
|
}
|
|
task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
|
task.setUpdateTime(new Date());
|
if (!taskService.updateById(task)) {
|
News.info("{}任务更新穿梭车号失败", task.getTaskNo());
|
}
|
continue;
|
}
|
|
// generate motion list
|
List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
|
if (motionList.isEmpty()) {
|
continue;
|
}
|
motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
|
|
// 更新工作主档
|
task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts); // 工作状态
|
task.setUpdateTime(new Date());
|
if (!taskService.updateById(task)) {
|
News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
|
}
|
}
|
}
|
|
// 解析小车载货移动工作档
|
public synchronized void analyzeLadenMoveTask() {
|
for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) {
|
if (Cools.isEmpty(task.getShuttleNo())) {
|
//分配小车
|
//搜索空闲车
|
ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
|
if (shuttleThread == null) {
|
News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
|
continue;
|
}
|
|
task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
|
task.setUpdateTime(new Date());
|
if (!taskService.updateById(task)) {
|
News.info("{}任务更新穿梭车号失败", task.getTaskNo());
|
}
|
continue;
|
}
|
|
// generate motion list
|
List<Motion> motionList = analyzeService.generateShuttleLadenMoveMotion(task);
|
if (motionList.isEmpty()) {
|
continue;
|
}
|
motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
|
|
// 更新工作主档
|
task.setTaskSts(TaskStsType.ANALYZE_LADEN_MOVE.sts); // 工作状态
|
task.setUpdateTime(new Date());
|
if (!taskService.updateById(task)) {
|
News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
|
}
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
//获取充电任务类型
|
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
|
.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.CHARGE))
|
.eq(TaskCtg::getStatus, 1));
|
if (taskCtg == null) {
|
return;
|
}
|
|
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
|
.eq(Device::getStatus, 1));
|
for (Device device : list) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
|
continue;
|
}
|
|
if (!shuttleThread.isRequireCharge()) {
|
continue;
|
}
|
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
int lev = Utils.getLev(currentLocNo);//获取小车楼层
|
//搜索小车当前楼层充电桩
|
ArrayList<Loc> allChargeLoc = new ArrayList<>();
|
List<Loc> list1 = locService.list(new LambdaQueryWrapper<Loc>()
|
.eq(Loc::getLocSts, LocStsType.C.val())
|
.eq(Loc::getStatus, 1)
|
.eq(Loc::getLev, lev));
|
if (!list1.isEmpty()) {
|
allChargeLoc.addAll(list1);
|
}
|
|
//搜索其他楼层充电桩
|
List<Loc> list2 = locService.list(new LambdaQueryWrapper<Loc>()
|
.eq(Loc::getLocSts, LocStsType.C.val())
|
.eq(Loc::getStatus, 1)
|
.notIn(Loc::getLev, lev));
|
if (!list2.isEmpty()) {
|
allChargeLoc.addAll(list2);
|
}
|
|
//没有找到充电桩
|
if (allChargeLoc.isEmpty()) {
|
continue;
|
}
|
|
//选择空闲充电桩
|
Loc chargeLoc = null;
|
for (Loc loc : allChargeLoc) {
|
// 判断充电位是否被占用(车辆位置)
|
if (Utils.hasShuttleInLoc(loc.getLocNo(), device.getId())) {
|
continue;
|
}
|
|
// 盘点充电位是否存在任务档
|
List<Task> tasks = taskService.hasChargeInLoc(loc.getLocNo());
|
if (!tasks.isEmpty()) {
|
continue;
|
}
|
|
chargeLoc = loc;
|
break;
|
}
|
|
if (chargeLoc == null) {
|
continue;//未找到充电桩
|
}
|
|
if (motionService.count(new LambdaQueryWrapper<Motion>()
|
.eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
|
.eq(Motion::getDevice, device.getDeviceNo())
|
.eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleThread.isRequireCharge()) {
|
continue;
|
}
|
|
Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
|
if (taskCharge != null) {//已有充电任务
|
continue;
|
}
|
|
String chargeLocNo = chargeLoc.getLocNo();
|
Task task = new Task();
|
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
|
task.setTaskNo(String.valueOf(Utils.getTaskNo("CHARGE")));
|
task.setTaskSts(TaskStsType.NEW_CHARGE.sts);
|
task.setTaskCtg(taskCtg.getId());
|
task.setPriority(10);
|
task.setOriginSite(null);
|
task.setOriginLoc(null);
|
task.setDestSite(null);
|
task.setDestLoc(chargeLocNo);
|
task.setIoTime(new Date());
|
task.setStartTime(new Date());
|
task.setHostId(device.getHostId());
|
task.setStatus(1);
|
task.setMemo("charge");
|
task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
|
|
// generate motion list
|
List<Motion> motionList = analyzeService.generateChargeMotion(task);
|
if (Cools.isEmpty(motionList)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
|
continue;
|
}
|
motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
|
|
task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
|
if (!taskService.save(task)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
|
continue;
|
}
|
|
News.info("保存{}号四向穿梭车充电任务成功!!!", device.getDeviceNo());
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 满电后回到待机位
|
*/
|
public synchronized void loopShuttleToStandbyCauseCharge() {
|
Integer enoughPower = 90;
|
Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
|
.eq(Dict::getFlag, "chargeMaxValue")
|
.eq(Dict::getStatus, 1));
|
if (dict != null) {
|
enoughPower = Integer.parseInt(dict.getValue());
|
}
|
|
//获取迁移任务类型
|
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
|
.eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
|
.eq(TaskCtg::getStatus, 1));
|
if (taskCtg == null) {
|
return;
|
}
|
|
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
|
.eq(Device::getStatus, 1));
|
for (Device device : list) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (!shuttleThread.isCharging()) {
|
continue;
|
}
|
|
if (!shuttleThread.isChargingCompleted()) {
|
continue;
|
}
|
|
//查找充电任务
|
Task chargeTask = taskService.getOne(new LambdaQueryWrapper<Task>()
|
.eq(Task::getTaskSts, TaskStsType.CHARGE_WORKING.sts)
|
.eq(Task::getShuttleNo, device.getDeviceNo()));
|
if (chargeTask == null) {
|
continue;
|
}
|
|
//充电完成
|
// 已有迁移任务
|
if (taskService.selectMoveWorking(Integer.valueOf(device.getDeviceNo())) != null) {
|
continue;
|
}
|
|
//获取避让位置
|
String standByLocNo = shuttleDispatcher.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());
|
|
Task task = new Task();
|
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
|
task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
|
task.setTaskSts(TaskStsType.NEW_MOVE.sts);
|
task.setTaskCtg(taskCtg.getId());
|
task.setPriority(10);
|
task.setOriginSite(null);
|
task.setOriginLoc(null);
|
task.setDestSite(null);
|
task.setDestLoc(standByLocNo); // 避让位置
|
task.setIoTime(new Date());
|
task.setStartTime(new Date());
|
task.setHostId(device.getHostId());
|
task.setStatus(1);
|
task.setMemo("charge");
|
task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
|
|
// generate motion list
|
List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(task);
|
if (Cools.isEmpty(motionList)) {
|
News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
|
continue;
|
}
|
motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
|
|
task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts);
|
|
if (!taskService.save(task)) {
|
News.error("保存{}号四向穿梭车迁移任务失败!!!", device.getDeviceNo());
|
continue;
|
}
|
|
chargeTask.setTaskSts(TaskStsType.COMPLETE_CHARGE.sts);
|
chargeTask.setIoTime(new Date());
|
taskService.updateById(chargeTask);
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public void ledExecute() {
|
// 遍历LED
|
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceType, DeviceCtgType.LED.val())
|
.eq(Device::getStatus, 1));
|
for (Device ledDevice : list) {
|
//获取led数据
|
BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
|
.eq(BasLed::getDeviceId, ledDevice.getId()));
|
List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);
|
|
BasConveyor basConveyor = basConveyorService.getById(led.getConveyorId().intValue());
|
if (basConveyor == null) {
|
continue;
|
}
|
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<Task> tasks = new ArrayList<>();
|
for (Integer staNo : staArr) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, staProtocol.getWorkNo()));
|
if (null == task) {
|
continue;
|
}
|
|
tasks.add(task);
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(task.getTaskNo());
|
ledCommand.setIoType(task.getTaskCtg().intValue());
|
ledCommand.setTitle(task.getTaskCtg$());
|
ledCommand.setSourceLocNo(task.getOriginLoc());
|
ledCommand.setLocNo(task.getDestLoc());
|
ledCommand.setStaNo(Integer.parseInt(task.getDestSite()));
|
|
try {
|
//获取WMS地址
|
Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "WMS_URL").eq(Dict::getStatus, 1));
|
if (dict != null) {
|
String wmsUrl = dict.getValue();
|
|
HashMap<String, Object> param = new HashMap<>();
|
param.put("taskNo", task.getTaskNo());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/queryTask")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
List<MatDto> matDtos = JSON.parseArray(jsonObject.getString("data"), MatDto.class);
|
ledCommand.setMatDtos(matDtos);
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
|
commands.add(ledCommand);
|
}
|
// 获取LED线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
|
// 命令下发 -------------------------------------------------------------------------------
|
if (!commands.isEmpty()) {
|
ledThread.write(commands);
|
ledThread.setLedMk(false);
|
}
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
public void ledReset() {
|
// 根据输送线plc遍历
|
List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
|
.eq(Device::getDeviceType, DeviceCtgType.LED.val())
|
.eq(Device::getStatus, 1));
|
for (Device ledDevice : list) {
|
//获取led数据
|
BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
|
.eq(BasLed::getDeviceId, ledDevice.getId()));
|
List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);
|
|
BasConveyor basConveyor = basConveyorService.getById(led.getConveyorId().intValue());
|
if (basConveyor == null) {
|
continue;
|
}
|
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : staArr) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) {
|
continue;
|
}
|
if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.errorReset();
|
ledThread.setLedMk(true);
|
}
|
}
|
|
for (Device ledDevice : list) {
|
//获取led数据
|
BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
|
.eq(BasLed::getDeviceId, ledDevice.getId()));
|
List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);
|
|
BasConveyor basConveyor = basConveyorService.getById(led.getConveyorId());
|
if (basConveyor == null) {
|
continue;
|
}
|
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : staArr) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) { continue; }
|
if (staProtocol.getWorkNo() != 0) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.reset();
|
ledThread.setLedMk(true);
|
}
|
}
|
}
|
|
}
|
