package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
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import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
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import com.core.common.Cools;
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import com.core.exception.CoolException;
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import com.zy.asrs.domain.param.CreateCyclePlanParam;
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import com.zy.asrs.domain.param.CreateLocMoveTaskParam;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.WrkCyclePlanMapper;
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import com.zy.asrs.service.*;
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import com.zy.common.service.CommonService;
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import com.zy.core.enums.CyclePlanLocStatus;
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import com.zy.core.enums.CyclePlanStatus;
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import com.zy.core.enums.LocStsType;
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import com.zy.core.enums.SlaveType;
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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.text.SimpleDateFormat;
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import java.util.*;
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import java.util.stream.Collectors;
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@Slf4j
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@Service
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public class WrkCyclePlanServiceImpl extends ServiceImpl<WrkCyclePlanMapper, WrkCyclePlan> implements WrkCyclePlanService {
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@Autowired
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private WrkCyclePlanLocService wrkCyclePlanLocService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDualCrnpService basDualCrnpService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private WrkMastService wrkMastService;
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@Override
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@Transactional(rollbackFor = Exception.class)
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public WrkCyclePlan createPlan(CreateCyclePlanParam param) {
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if (param.getCrnOptions() == null || param.getCrnOptions().isEmpty()) {
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throw new CoolException("请选择堆垛机");
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}
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if (param.getBayFrom() == null || param.getBayTo() == null) {
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throw new CoolException("请填写列范围");
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}
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if (param.getLevFrom() == null || param.getLevTo() == null) {
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throw new CoolException("请填写层范围");
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}
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if (param.getBayFrom() > param.getBayTo()) {
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throw new CoolException("列范围起始不能大于结束");
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}
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if (param.getLevFrom() > param.getLevTo()) {
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throw new CoolException("层范围起始不能大于结束");
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}
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// 检查是否有同堆垛机的运行中/暂停计划
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for (CreateCyclePlanParam.CrnOption crnOption : param.getCrnOptions()) {
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checkCrnAvailable(crnOption.getCrnNo(), crnOption.getCrnType());
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}
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// 按堆垛机逐个校验并生成移转计划
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List<WrkCyclePlanLoc> planLocs = new ArrayList<>();
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int seq = 1;
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Set<Integer> userSelectedRows = (param.getRows() != null && !param.getRows().isEmpty())
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? new HashSet<>(param.getRows()) : null;
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for (CreateCyclePlanParam.CrnOption crnOption : param.getCrnOptions()) {
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List<Integer> crnRows = getCrnControlRows(crnOption.getCrnNo(), crnOption.getCrnType());
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// 过滤用户选择的排号
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List<Integer> rows;
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if (userSelectedRows != null) {
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rows = new ArrayList<>();
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for (Integer row : crnRows) {
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if (userSelectedRows.contains(row)) {
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rows.add(row);
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}
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}
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} else {
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rows = crnRows;
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}
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if (rows.isEmpty()) {
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continue;
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}
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// 查询该堆垛机范围内的库位
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QueryWrapper<LocMast> locQuery = new QueryWrapper<>();
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locQuery.in("row1", rows)
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.between("bay1", param.getBayFrom(), param.getBayTo())
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.between("lev1", param.getLevFrom(), param.getLevTo())
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.eq("status", 1);
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List<LocMast> locs = locMastService.list(locQuery);
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if (locs.isEmpty()) {
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continue;
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}
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// 校验：该堆垛机范围内应恰好有1个在库托盘
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List<LocMast> fullLocs = new ArrayList<>();
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List<LocMast> emptyLocs = new ArrayList<>();
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int otherCount = 0;
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for (LocMast loc : locs) {
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if ("F".equals(loc.getLocSts())) {
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fullLocs.add(loc);
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} else if ("O".equals(loc.getLocSts())) {
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emptyLocs.add(loc);
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} else {
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otherCount++;
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}
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}
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String crnLabel = crnOption.getCrnType().equals(SlaveType.Crn.name())
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? "堆垛机" + crnOption.getCrnNo() : "双工位堆垛机" + crnOption.getCrnNo();
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if (fullLocs.isEmpty()) {
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throw new CoolException(crnLabel + "范围内没有在库托盘");
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}
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if (fullLocs.size() > 1) {
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throw new CoolException(crnLabel + "范围内应恰好有1个在库托盘，当前有" + fullLocs.size() + "个");
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}
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if (emptyLocs.isEmpty()) {
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throw new CoolException(crnLabel + "范围内没有空库位，无法进行移转");
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}
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if (otherCount > 0) {
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throw new CoolException(crnLabel + "范围内有" + otherCount + "个库位状态异常，请检查");
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}
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// 生成移转计划：将托盘依次移到每个空库位
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LocMast sourceLoc = fullLocs.get(0);
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emptyLocs.sort(Comparator.comparingInt(LocMast::getBay1).thenComparingInt(LocMast::getLev1));
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String currentLocNo = sourceLoc.getLocNo();
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String barcode = sourceLoc.getBarcode();
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for (LocMast emptyLoc : emptyLocs) {
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WrkCyclePlanLoc planLoc = new WrkCyclePlanLoc();
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planLoc.setLocNo(currentLocNo);
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planLoc.setDestLocNo(emptyLoc.getLocNo());
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planLoc.setSeq(seq++);
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planLoc.setLocPlanSts(CyclePlanLocStatus.PENDING.id);
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planLoc.setBarcode(barcode);
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planLoc.setAppeTime(new Date());
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if (SlaveType.Crn.name().equals(crnOption.getCrnType())) {
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planLoc.setCrnNo(crnOption.getCrnNo());
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} else {
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planLoc.setDualCrnNo(crnOption.getCrnNo());
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}
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planLocs.add(planLoc);
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currentLocNo = emptyLoc.getLocNo();
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}
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}
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if (planLocs.isEmpty()) {
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throw new CoolException("所选范围内没有可移转的库位");
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}
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// 创建计划
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String planNo = "CYCLE_" + new SimpleDateFormat("yyyyMMddHHmmss").format(new Date());
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WrkCyclePlan plan = new WrkCyclePlan();
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plan.setPlanNo(planNo);
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plan.setCrnList(JSON.toJSONString(param.getCrnOptions()));
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plan.setPlanSts(CyclePlanStatus.NEW.id);
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plan.setTotalCount(planLocs.size());
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plan.setCompletedCount(0);
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plan.setAppeTime(new Date());
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this.save(plan);
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// 保存明细
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for (WrkCyclePlanLoc planLoc : planLocs) {
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planLoc.setPlanId(plan.getId());
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}
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wrkCyclePlanLocService.saveBatch(planLocs);
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return plan;
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}
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@Override
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@Transactional(rollbackFor = Exception.class)
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public void startPlan(Long planId) {
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WrkCyclePlan plan = getById(planId);
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if (plan == null) {
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throw new CoolException("计划不存在");
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}
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if (plan.getPlanSts() != CyclePlanStatus.NEW.id && plan.getPlanSts() != CyclePlanStatus.PAUSED.id) {
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throw new CoolException("当前状态不允许启动");
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}
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plan.setPlanSts(CyclePlanStatus.RUNNING.id);
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plan.setModiTime(new Date());
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updateById(plan);
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}
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@Override
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@Transactional(rollbackFor = Exception.class)
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public void pausePlan(Long planId) {
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WrkCyclePlan plan = getById(planId);
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if (plan == null) {
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throw new CoolException("计划不存在");
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}
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if (plan.getPlanSts() != CyclePlanStatus.RUNNING.id) {
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throw new CoolException("当前状态不允许暂停");
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}
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plan.setPlanSts(CyclePlanStatus.PAUSED.id);
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plan.setModiTime(new Date());
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updateById(plan);
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}
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@Override
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public void resumePlan(Long planId) {
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startPlan(planId);
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}
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@Override
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@Transactional(rollbackFor = Exception.class)
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public void resetPlan(Long planId) {
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WrkCyclePlan plan = getById(planId);
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if (plan == null) {
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throw new CoolException("计划不存在");
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}
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// 取消活跃的WrkMast任务
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List<WrkCyclePlanLoc> activeLocs = wrkCyclePlanLocService.list(
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new QueryWrapper<WrkCyclePlanLoc>()
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.eq("plan_id", planId)
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.eq("loc_plan_sts", CyclePlanLocStatus.MOVING.id)
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);
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for (WrkCyclePlanLoc loc : activeLocs) {
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if (loc.getWrkNo() != null) {
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try {
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cancelWrkMast(loc.getWrkNo());
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} catch (Exception e) {
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log.error("跑库重置取消任务失败, wrkNo={}", loc.getWrkNo(), e);
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}
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}
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}
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// 重置所有明细（包括MOVING状态的）
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wrkCyclePlanLocService.update(null, new com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper<WrkCyclePlanLoc>()
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.eq("plan_id", planId)
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.set("loc_plan_sts", CyclePlanLocStatus.PENDING.id)
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.set("wrk_no", null)
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.set("modi_time", new Date()));
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// 重置计划
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plan.setPlanSts(CyclePlanStatus.NEW.id);
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plan.setCompletedCount(0);
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plan.setModiTime(new Date());
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updateById(plan);
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}
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@Override
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@Transactional(rollbackFor = Exception.class)
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public void advancePlan(Long planId) {
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WrkCyclePlan plan = getById(planId);
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if (plan == null || plan.getPlanSts() != CyclePlanStatus.RUNNING.id) {
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return;
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}
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// 按堆垛机分组推进
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List<WrkCyclePlanLoc> pendingLocs = wrkCyclePlanLocService.list(
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new QueryWrapper<WrkCyclePlanLoc>()
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.eq("plan_id", planId)
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.eq("loc_plan_sts", CyclePlanLocStatus.PENDING.id)
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.orderByAsc("seq")
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);
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if (pendingLocs.isEmpty()) {
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// 没有待执行的，检查是否全部完成
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long movingCount = wrkCyclePlanLocService.count(
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new QueryWrapper<WrkCyclePlanLoc>()
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.eq("plan_id", planId)
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.eq("loc_plan_sts", CyclePlanLocStatus.MOVING.id)
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);
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if (movingCount == 0) {
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plan.setPlanSts(CyclePlanStatus.COMPLETED.id);
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plan.setModiTime(new Date());
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updateById(plan);
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}
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return;
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}
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// 按堆垛机分组，每组取第一个待执行的
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Map<String, List<WrkCyclePlanLoc>> groupedByCrn = pendingLocs.stream()
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.collect(Collectors.groupingBy(this::getCrnKey, LinkedHashMap::new, Collectors.toList()));
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for (Map.Entry<String, List<WrkCyclePlanLoc>> entry : groupedByCrn.entrySet()) {
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// 检查该堆垛机是否有正在执行的任务
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boolean hasActive = hasActiveTaskForCrn(planId, entry.getKey());
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if (hasActive) {
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continue;
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}
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// 提交第一个待执行的任务
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WrkCyclePlanLoc planLoc = entry.getValue().get(0);
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submitLocMoveTask(plan, planLoc);
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}
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}
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@Override
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public void onWrkMastComplete(Integer wrkNo) {
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try {
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WrkCyclePlanLoc planLoc = wrkCyclePlanLocService.getOne(
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new QueryWrapper<WrkCyclePlanLoc>().eq("wrk_no", wrkNo)
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);
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if (planLoc == null) {
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return;
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}
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planLoc.setLocPlanSts(CyclePlanLocStatus.DONE.id);
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planLoc.setModiTime(new Date());
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wrkCyclePlanLocService.updateById(planLoc);
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// 原子递增 completedCount，避免并发丢失更新
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WrkCyclePlan plan = getById(planLoc.getPlanId());
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if (plan != null) {
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update(new com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper<WrkCyclePlan>()
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.eq("id", plan.getId())
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.setSql("completed_count = completed_count + 1"));
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// 重新读取判断是否全部完成
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plan = getById(plan.getId());
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if (plan != null && plan.getCompletedCount() >= plan.getTotalCount()) {
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plan.setPlanSts(CyclePlanStatus.COMPLETED.id);
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plan.setModiTime(new Date());
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updateById(plan);
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}
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}
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} catch (Exception e) {
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log.error("跑库计划onWrkMastComplete处理异常, wrkNo={}", wrkNo, e);
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}
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}
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private void submitLocMoveTask(WrkCyclePlan plan, WrkCyclePlanLoc planLoc) {
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try {
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// 检测托盘实际位置：在该堆垛机控制范围内查找在库库位
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String actualLocNo = planLoc.getLocNo();
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List<Integer> crnRows = getCrnControlRows(
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planLoc.getCrnNo() != null ? planLoc.getCrnNo() : planLoc.getDualCrnNo(),
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planLoc.getCrnNo() != null ? SlaveType.Crn.name() : SlaveType.DualCrn.name()
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);
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LocMast actualLoc = locMastService.getOne(
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new QueryWrapper<LocMast>()
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.in("row1", crnRows)
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.eq("loc_sts", String.valueOf(LocStsType.F))
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.eq("status", 1)
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.last("LIMIT 1")
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);
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if (actualLoc != null) {
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actualLocNo = actualLoc.getLocNo();
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}
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CreateLocMoveTaskParam param = new CreateLocMoveTaskParam();
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param.setSourceLocNo(actualLocNo);
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param.setLocNo(planLoc.getDestLocNo());
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WrkMast wrkMast = commonService.createLocMoveTaskReturnMast(param);
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// 记录实际移出库位
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planLoc.setLocNo(actualLocNo);
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planLoc.setWrkNo(wrkMast.getWrkNo());
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planLoc.setLocPlanSts(CyclePlanLocStatus.MOVING.id);
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planLoc.setModiTime(new Date());
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wrkCyclePlanLocService.updateById(planLoc);
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} catch (Exception e) {
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log.error("跑库计划提交移库任务失败, planId={}, locNo={}", plan.getId(), planLoc.getLocNo(), e);
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}
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}
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private boolean hasActiveTaskForCrn(Long planId, String crnKey) {
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QueryWrapper<WrkCyclePlanLoc> query = new QueryWrapper<WrkCyclePlanLoc>()
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.eq("plan_id", planId)
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.eq("loc_plan_sts", CyclePlanLocStatus.MOVING.id);
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List<WrkCyclePlanLoc> movingLocs = wrkCyclePlanLocService.list(query);
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for (WrkCyclePlanLoc loc : movingLocs) {
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if (crnKey.equals(getCrnKey(loc))) {
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return true;
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}
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}
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return false;
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}
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private String getCrnKey(WrkCyclePlanLoc loc) {
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if (loc.getCrnNo() != null) {
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return "Crn_" + loc.getCrnNo();
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} else if (loc.getDualCrnNo() != null) {
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return "DualCrn_" + loc.getDualCrnNo();
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}
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return "unknown";
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}
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private List<Integer> getCrnControlRows(Integer crnNo, String crnType) {
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if (SlaveType.Crn.name().equals(crnType)) {
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BasCrnp crnp = basCrnpService.getOne(new QueryWrapper<BasCrnp>().eq("crn_no", crnNo));
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if (crnp == null) {
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throw new CoolException("堆垛机" + crnNo + "不存在");
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}
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List<List<Integer>> rowGroups = crnp.getControlRows$();
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List<Integer> rows = new ArrayList<>();
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for (List<Integer> group : rowGroups) {
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rows.addAll(group);
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}
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return rows;
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} else if (SlaveType.DualCrn.name().equals(crnType)) {
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BasDualCrnp dualCrnp = basDualCrnpService.getOne(new QueryWrapper<BasDualCrnp>().eq("crn_no", crnNo));
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if (dualCrnp == null) {
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throw new CoolException("双工位堆垛机" + crnNo + "不存在");
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}
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List<List<Integer>> rowGroups = dualCrnp.getControlRows$();
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List<Integer> rows = new ArrayList<>();
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for (List<Integer> group : rowGroups) {
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rows.addAll(group);
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}
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return rows;
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}
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throw new CoolException("未知堆垛机类型：" + crnType);
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}
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private void checkCrnAvailable(Integer crnNo, String crnType) {
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// 检查是否有同堆垛机的运行中或暂停计划
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List<WrkCyclePlan> existingPlans = list(
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new QueryWrapper<WrkCyclePlan>()
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.in("plan_sts", CyclePlanStatus.RUNNING.id, CyclePlanStatus.PAUSED.id)
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);
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for (WrkCyclePlan existingPlan : existingPlans) {
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List<CreateCyclePlanParam.CrnOption> crnOptions = JSON.parseArray(existingPlan.getCrnList(), CreateCyclePlanParam.CrnOption.class);
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if (crnOptions != null) {
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for (CreateCyclePlanParam.CrnOption opt : crnOptions) {
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if (crnNo.equals(opt.getCrnNo()) && crnType.equals(opt.getCrnType())) {
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throw new CoolException("堆垛机" + crnNo + "已有运行中或暂停的跑库计划（" + existingPlan.getPlanNo() + "）");
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}
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}
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}
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}
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}
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private void cancelWrkMast(Integer wrkNo) {
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WrkMast wrkMast = wrkMastService.selectByWorkNo(wrkNo);
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if (wrkMast == null) {
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return;
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}
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wrkMastService.update(null, new com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper<WrkMast>()
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.eq("wrk_no", wrkNo)
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.set("mk", "taskForceCancel")
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.set("memo", "跑库计划重置")
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.set("modi_time", new Date()));
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}
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@Override
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@Transactional(rollbackFor = Exception.class)
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public void deletePlan(Long planId) {
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WrkCyclePlan plan = getById(planId);
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if (plan == null) {
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throw new CoolException("计划不存在");
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}
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if (plan.getPlanSts() == CyclePlanStatus.RUNNING.id) {
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throw new CoolException("运行中的计划不能删除，请先暂停或重置");
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}
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// 取消活跃任务
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List<WrkCyclePlanLoc> activeLocs = wrkCyclePlanLocService.list(
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new QueryWrapper<WrkCyclePlanLoc>()
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.eq("plan_id", planId)
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.eq("loc_plan_sts", CyclePlanLocStatus.MOVING.id)
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);
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for (WrkCyclePlanLoc loc : activeLocs) {
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if (loc.getWrkNo() != null) {
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try {
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cancelWrkMast(loc.getWrkNo());
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} catch (Exception e) {
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log.error("跑库删除取消任务失败, wrkNo={}", loc.getWrkNo(), e);
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}
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}
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}
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// 删除明细
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wrkCyclePlanLocService.remove(new QueryWrapper<WrkCyclePlanLoc>().eq("plan_id", planId));
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// 删除计划
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removeById(planId);
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}
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}
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