package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.zy.asrs.entity.BasCircularShuttle;
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import com.zy.asrs.entity.BasDevpPosition;
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import com.zy.asrs.entity.BasRgv;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasCircularShuttleService;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.common.service.CommonService;
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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.RgvModeType;
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import com.zy.core.enums.RgvStatusType;
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import com.zy.core.enums.RgvTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.RgvThread;
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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 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 IX on 2024/10/01
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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 SlaveProperties slaveProperties;
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@Autowired
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private BasRgvServiceImpl basRgvService;
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@Autowired
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private BasCircularShuttleService basCircularShuttleService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private CommonService commonService;
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@Value("${constant-parameters.perimeter}")
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private Long perimeter;
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@Value("${constant-parameters.proportion}")
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private Long proportion;
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@Value("${constant-parameters.acceleration}")
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private Long acceleration;
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@Value("${constant-parameters.rgvCount}")
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private Long rgvCount;
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@Value("${constant-parameters.rgvDate}")
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private Double rgvDate;
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@Value("${wms.url}")
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private String wmsUrl;
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@Value("${wms.reportOutPath}")
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private String wmsOutPath;
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@Value("${wms.reportSwitch}")
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private boolean reportSwitch;
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@Value("${wms.reportSwitchAuto}")
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private boolean reportSwitchAuto;
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public synchronized void rgvTheHandlingTaskIsIssued() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts", 9)
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.orderBy("io_pri", false)
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.orderBy("modi_time", true));
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if (wrkMasts.isEmpty()) {
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return;
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}
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List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0));
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LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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rgvProtocolList.add(rgvProtocol);
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}
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runRgv:
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for (WrkMast wrkMast : wrkMasts) {
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Integer rgvSstaNo = wrkMast.getRgvSstaNo();
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BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 站点
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long position = basDevpPositions.getPlcPosition(); // 起始站位置
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position += 50; // 小车取货定位精度 +- 50,站点位置10000，小车在10050也是可以取的
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TreeMap<Long, RgvProtocol> map = new TreeMap<>();
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for (RgvProtocol rgvProtocol : rgvProtocolList) {
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long distance;
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if (rgvProtocol.getRgvPos() <= position) {
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distance = position - rgvProtocol.getRgvPos();
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} else {
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distance = position + (perimeter - rgvProtocol.getRgvPos());
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}
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map.put(distance, rgvProtocol);
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}
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position -= 50;
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// log.info("取货站点：{}，后面小车排序", basDevpPositions.getDevNo());
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// StringBuilder sb = new StringBuilder();
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// for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
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// RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
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// sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
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// }
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// log.info(sb.toString());
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for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
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RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 最近距离小车
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// log.info("取货站点：{}，后面最近小车：{},状态:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
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int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
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if (rgvProtocol.modeType == RgvModeType.AUTO
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&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
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&& rgvProtocol.getTaskNo1() == 0
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&& rgvProtocol.getAlarm() == 0) {
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if (count != 0) {
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log.error("{}呼叫小车：{}号小车空闲，但工作档显示该小车有任务",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
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break ;
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}
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RgvCommand rgvCommand = new RgvCommand();
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rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
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rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
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rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
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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(wrkMast.getRgvSstaNo().shortValue()); //工位1起点
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rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().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, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
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log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
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break runRgv;
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}
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log.info("RGV命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
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Date now = new Date();
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wrkMast.setRgvNo(rgvProtocol.getRgvNo());
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wrkMast.setWrkSts(10L);
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wrkMast.setRgvCreateTime(now);
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wrkMastService.updateById(wrkMast);
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break runRgv;
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} else if(rgvProtocol.modeType == RgvModeType.AUTO
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&& rgvProtocol.getTaskNo1() != 0){ // 当前小车放货目标位置在当前任务取货点之后，跳过任务分配，不再则判断下个小车目标位置
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WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 当前rgv任务
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if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
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// 当前rgv任务目标站点
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BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
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long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 当前rgv任务目标站点位置
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// 获取RGV当前位置和状态
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long currentRgvPos = rgvProtocol.getRgvPos();
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int rgvStatus = rgvProtocol.getStatusType().id;
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// 定义浮动范围（仅停靠状态适用）
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long posTolerance = (rgvStatus == 0 || rgvStatus == 2 || rgvStatus == 3 || rgvStatus == 6 || rgvStatus == 7 || rgvStatus == 8 || rgvStatus == 100) ? 50 : 0;
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if(currentRgvPos < rgvDstaNoPosition + posTolerance) { // 小车当前位置 < rgv目标位置
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if(!(currentRgvPos - posTolerance < position && position < rgvDstaNoPosition + posTolerance)) { // 这个任务位置是在当前rgv位置前面并且这个任务起点在当前rgv目标站点之后
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break; // 当前rgv放货完成后，可以取当前任务
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}
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} else {
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if(!(currentRgvPos + posTolerance < position || position < rgvDstaNoPosition - posTolerance)) {
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break;
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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("自动下发小车取放任务失败，异常：" + e);
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}
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}
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//任务完成
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public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
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try {
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.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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}
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BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
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if (basRgv == null) {
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log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
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continue;
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}
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// 只有当RGV等待WCS确认、自动
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if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
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&& rgvProtocol.getModeType() == RgvModeType.AUTO
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&& rgvProtocol.getTaskNo1() != 0
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) {
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log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
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if (Cools.isEmpty(wrkMast)) {
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log.error("未查到小车执行任务！" + rgvProtocol.getTaskNo1());
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continue;
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} else if(wrkMast.getWrkSts() != 10) {
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log.warn("执行任务状态不符合！" + rgvProtocol.getTaskNo1());
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continue;
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}
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boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
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if (!rgvComplete) {
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log.error("小车复位失败，小车号{}！", rgvProtocol.getRgvNo());
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break;
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}
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wrkMast.setWrkSts(2L);
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if (wrkMast.getIoType()==120){
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wrkMast.setWrkSts(53L);
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}
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Date now = new Date();
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wrkMast.setRgvFinishTime(now);
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wrkMastService.updateById(wrkMast);
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}
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}
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} catch (Exception e) {
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log.error("小车复位线程报错！" + e);
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}
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}
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// 小车取货越位,任务取消
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public synchronized void rgvTaskCancel() {
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try {
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for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.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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}
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// 只有当RGV等待WCS确认、自动
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if (rgvProtocol.getStatusType() == RgvStatusType.PICK_UP_OFFSIDE
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&& rgvProtocol.getModeType() == RgvModeType.AUTO
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&& rgvProtocol.getTaskNo1() != 0
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) {
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue())
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.eq("rgv_no",rgvProtocol.getRgvNo()));
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if (Cools.isEmpty(wrkMast)) {
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log.error(rgvProtocol.getRgvNo() + "小车取货越位未查到小车执行任务！" + rgvProtocol.getTaskNo1());
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continue;
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} else if(wrkMast.getWrkSts() != 10) {
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log.warn(rgvProtocol.getRgvNo() + "小车取货越位执行任务状态不符合！" + rgvProtocol.getTaskNo1());
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continue;
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}
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log.info("{}号小车小车取货越位，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
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boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
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if (!rgvComplete) {
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log.error("小车取货越位,任务取消,复位失败，小车号{}！", rgvProtocol.getRgvNo());
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break;
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}
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wrkMast.setWrkSts(9L);
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wrkMast.setRgvNo(0);
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wrkMast.setRgvCreateTime(new Date());
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wrkMastService.updateById(wrkMast);
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}
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}
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} catch (Exception e) {
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log.error("小车复位线程报错！" + e);
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}
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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 rgvNo) {
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try {
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// 命令下发区 --------------------------------------------------------------------------
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if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
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log.error("小车复位RGV命令下发失败，RGV号={}", rgvNo);
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return false;
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} else {
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log.info("小车复位RGV命令下发成功，RGV号={}", rgvNo);
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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, rgvNo);
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return false;
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}
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}
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}
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