package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.baomidou.mybatisplus.mapper.Wrapper;
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import com.core.common.Cools;
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import com.core.common.DateUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.Utils;
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import com.zy.asrs.utils.VersionUtils;
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import com.zy.common.model.LocTypeDto;
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import com.zy.common.model.MatDto;
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import com.zy.common.model.SearchLocParam;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.CollectionUtils;
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import com.zy.common.utils.HttpHandler;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.*;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.LedCommand;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.BarcodeThread;
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import com.zy.core.thread.LedThread;
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import com.zy.core.thread.SiemensDevpThread;
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import com.zy.core.thread.SiemensRgvThread;
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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.beans.factory.annotation.Value;
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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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import java.util.concurrent.TimeUnit;
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import java.util.stream.Collectors;
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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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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Autowired
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private CommonService commonService;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastStaMapper wrkMastStaMapper;
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@Autowired
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private FillingMastService fillingMastService;
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@Autowired
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private VacuumMastService vacuumMastService;
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@Value("${wms.url}")
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private String wmsUrl;
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public Integer wrkNo1 = 10000;
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public Integer wrkNo2 = 20000;
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/**
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* 堆垛机演示 ===>> 库位移转
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*/
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public void getRgvTask() {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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if (!rgv.getDemo()){
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continue;
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}
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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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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if (staProtocol.isPakMk()){
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VacuumMast vacuumMast = vacuumMastService.selectByStatusIsN();
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FillingMast fillingMast = fillingMastService.selectByStatusIsn();
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Date now = new Date();
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WrkMastSta wrkMastSta = new WrkMastSta();
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int workNo = commonService.getWorkNo(0);
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wrkMastSta.setWrkNo((long)workNo);
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wrkMastSta.setWrkStart(2);
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wrkMastSta.setWrkEnd(vacuumMast.getStaNo());
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// wrkMastSta.setStaStart();
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wrkMastSta.setStaEnd(fillingMast.getStaNo());
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wrkMastSta.setCreateTime(now);
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wrkMastSta.setUpdateTime(now);
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wrkMastSta.setBignTime(now);
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wrkMastSta.setType(0); //类型 0:非空 1:空板
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wrkMastSta.setWrkType(3); //工作类型 1:取（叠盘） 2：放 3：取放 4：拆盘
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Integer insert = wrkMastStaMapper.insert(wrkMastSta);
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if (insert>0){
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devpThread.setPakMk(devp.getId(),false);
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}
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}
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}
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}
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}
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}
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public synchronized void RGVDemoShow0() {
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try {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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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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// if (){ //输送线状态
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//
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// }
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}else {
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rgvProtocol = rgvProtocol.clone();
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}
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if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
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&& rgvProtocol.getModeType() == RgvModeType.AUTO
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&& rgvProtocol.getLoaded1()==0
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&& rgvProtocol.getTaskNo1() == 0
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&& rgvThread.isPakMk()
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){
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WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts0();
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if (!Cools.isEmpty(wrkMastSta)){
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// 命令下发区 --------------------------------------------------------------------------
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RgvCommand rgvCommand = new RgvCommand();
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rgvCommand.setRgvNo(rgv.getId()); // RGV编号
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rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
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rgvCommand.setTaskNo1(wrkNo1); // 工位1工作号
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rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
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rgvCommand.setSourceStaNo1(wrkMastSta.getWrkStart().shortValue()); //工位1起点
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rgvCommand.setDestinationStaNo1(wrkMastSta.getWrkEnd().shortValue()); //工位1目标站点
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rgvCommand.setCommand((short) 1); //工位1任务确认
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if (!MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, rgvCommand))) {
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//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
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log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
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} else {
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vacuumMastStatusSetY(wrkMastSta.getWrkEnd());
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rgvThread.setPakMk(false);
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wrkMastSta.setWrkSts(1);
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Integer update = wrkMastStaMapper.updateById(wrkMastSta);
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if (update>0){
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}else {
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log.error("RGV命令下发后，更新工作任务状态失败");
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}
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}
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}
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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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log.error("Rgv演示 ===>> 失败", 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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public synchronized void RGVDemoShow1() {
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try {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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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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// if (){ //输送线状态
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//
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// }
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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if (!rgv.getDemo()) {
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continue;
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}
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}else {
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rgvProtocol = rgvProtocol.clone();
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}
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if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
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&& rgvProtocol.getModeType() == RgvModeType.AUTO
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&& rgvProtocol.getLoaded1()==0
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&& rgvProtocol.getTaskNo1() == 0
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&& rgvThread.isPakMk()
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){
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WrkMastSta wrkMastSta = wrkMastStaMapper.selectWrkSts1();
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if (!Cools.isEmpty(wrkMastSta)){
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// 命令下发区 --------------------------------------------------------------------------
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RgvCommand rgvCommand = new RgvCommand();
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rgvCommand.setRgvNo(rgv.getId()); // RGV编号
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rgvCommand.setAckFinish1(false); // 工位1任务完成确认位
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rgvCommand.setTaskNo1(wrkNo1); // 工位1工作号
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rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
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rgvCommand.setSourceStaNo1(wrkMastSta.getWrkEnd().shortValue()); //工位1起点
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rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
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rgvCommand.setCommand((short) 1); //工位1任务确认
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if (!MessageQueue.offer(SlaveType.Rgv, rgv.getId(), new Task(4, rgvCommand))) {
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//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
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log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgv.getId(), JSON.toJSON(rgvCommand));
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} else {
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rgvThread.setPakMk(false);
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vacuumMastStatusSetN(wrkMastSta.getWrkEnd());
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fillingMastStatusSetY(wrkMastSta.getStaEnd());
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wrkMastSta.setWrkSts(2);
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Integer update = wrkMastStaMapper.updateById(wrkMastSta);
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if (update>0){
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}else {
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log.error("RGV命令下发后，更新工作任务状态失败");
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}
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}
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}
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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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log.error("Rgv演示 ===>> 失败", 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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public synchronized void RGVDemoShow2() throws InterruptedException {
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for (RgvSlave rgv : slaveProperties.getRgv()) {
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// if (!rgv.getDemo()) {
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// continue;
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// }
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SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}else {
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rgvProtocol = rgvProtocol.clone();
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}
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if ((rgvProtocol.getStatusType1() == RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)
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&& rgvProtocol.getModeType() == RgvModeType.AUTO
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&& rgvProtocol.getTaskNo1() >0
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// && (rgvProtocol.getStatusType() == RgvStatusType.WORKING1)
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){
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boolean rgvComplete = rgvComplete(rgv.getId());
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if (rgvComplete){
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rgvThread.setPakMk(true);
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}
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}
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}
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}
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public boolean vacuumMastStatusSetN(Integer staNo){
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EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
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vacuumMastEntityWrapper.eq("sta_no",staNo);
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VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
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vacuumMast.setStatus("N");
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boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
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return update;
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}
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public boolean vacuumMastStatusSetY(Integer staNo){
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EntityWrapper<VacuumMast> vacuumMastEntityWrapper = new EntityWrapper<>();
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vacuumMastEntityWrapper.eq("sta_no",staNo);
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VacuumMast vacuumMast = vacuumMastService.selectOne(vacuumMastEntityWrapper);
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vacuumMast.setStatus("Y");
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boolean update = vacuumMastService.update(vacuumMast, vacuumMastEntityWrapper);
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return update;
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}
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public boolean fillingMastStatusSetN(Integer staNo){
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EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
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fillingMastEntityWrapper.eq("sta_no",staNo);
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FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
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fillingMast.setStatus("N");
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boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
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return update;
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}
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public boolean fillingMastStatusSetY(Integer staNo){
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EntityWrapper<FillingMast> fillingMastEntityWrapper = new EntityWrapper<>();
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fillingMastEntityWrapper.eq("sta_no",staNo);
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FillingMast fillingMast = fillingMastService.selectOne(fillingMastEntityWrapper);
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fillingMast.setStatus("Y");
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boolean update = fillingMastService.update(fillingMast, fillingMastEntityWrapper);
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return update;
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}
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/*
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* 小车复位
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* */
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public synchronized boolean rgvComplete(Integer rgvId){
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try{
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// 命令下发区 --------------------------------------------------------------------------
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if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
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//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
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log.error("RGV命令下发失败，RGV号={}",rgvId);
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return false;
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} else {
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log.info("RGV命令下发成功，RGV号={}",rgvId);
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return true;
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}
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}catch (Exception e){
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log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
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return false;
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}
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}
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}
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