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.SpringUtils;
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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.common.model.*;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.service.CommonService;
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import com.zy.common.service.erp.ErpService;
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import com.zy.common.utils.*;
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import com.zy.core.DevpThread;
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import com.zy.core.News;
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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.*;
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import com.zy.core.model.protocol.*;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.*;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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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.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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public class MainServiceImpl {
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@Value("${wms.url}")
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private String wmsUrl;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private WrkDetlService wrkDetlService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private LocDetlService locDetlService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasSteErrLogService basSteErrLogService;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private BasShuttleErrLogService basShuttleErrLogService;
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@Autowired
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private BasLiftErrLogService basLiftErrLogService;
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@Autowired
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private BasShuttleErrService basShuttleErrService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private BasSteService basSteService;
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@Autowired
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private WrkChargeService wrkChargeService;
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@Autowired
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private BasSteErrService basSteErrService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private WrkChargeMapper wrkChargeMapper;
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@Autowired
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private BasMapService basMapService;
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@Autowired
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private ErpService erpService;
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@Autowired
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private OrderMapper orderMapper;
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@Autowired
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private OrderDetlMapper orderDetlMapper;
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@Autowired
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private BasLiftService basLiftService;
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@Autowired
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private ShuttleDispatchUtils shuttleDispatchUtils;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private WrkMastLogMapper wrkMastLogMapper;
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@Autowired
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private BasLiftOptService basLiftOptService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private NavigateMapUtils navigateMapUtils;
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@Autowired
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private WrkDetlLogService wrkDetlLogService;
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@Autowired
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private MatService matService;
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@Autowired
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private NavigateMapData navigateMapData;
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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 void generateStoreWrkFile() {
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try {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) 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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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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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, 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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// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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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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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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}
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continue;
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}
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} else {
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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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// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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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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// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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// }
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continue;
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}
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// 过滤盘点/拣料/并板任务
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WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
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if (null != wrkMast1) {
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast2 != null) {
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News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast2.getWrkNo());
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continue;
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}
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try {
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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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(locTypeDto.getLocType1());
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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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// plc 处理
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barcodeThread.setBarcode("");
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// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
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// staProtocol.setStaNo(dto.getStaNo().shortValue());
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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//
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// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// if (!result) {
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// throw new CoolException("更新plc站点信息失败");
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// }
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
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if (wrkMast == null) {
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continue;
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}
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// 更新工作主档
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wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
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wrkMast.setModiTime(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
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}
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} else if (code == 500) {
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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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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, 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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} else if (code == 700) {
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// staProtocol.setWorkNo((short) 32002);
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// staProtocol.setRollback102(1);//102站回退信号
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
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// led 异常显示
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if (ledThread != null) {
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String errorMsg = barcode + "托盘识别异常，请先进行组托！";
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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ledThread.setLedMk(false);
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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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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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* wms入库
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* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
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*/
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@Deprecated
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public void generateStoreWrkFile0() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) 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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Short workNo = staProtocol.getWorkNo();
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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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&& staProtocol.isPakMk()) {
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "";
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if (staProtocol.isFrontErr()) {
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errMsg = "前超限";
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back = true;
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}
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if (!back && staProtocol.isBackErr()) {
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errMsg = "后超限";
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back = true;
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}
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if (!back && staProtocol.isHighErr()) {
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errMsg = "高超限";
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back = true;
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}
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if (!back && staProtocol.isLeftErr()) {
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errMsg = "左超限";
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back = true;
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}
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if (!back && staProtocol.isRightErr()) {
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errMsg = "右超限";
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back = true;
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}
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if (!back && staProtocol.isWeightErr()) {
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errMsg = "超重";
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back = true;
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}
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if (!back && staProtocol.isBarcodeErr()) {
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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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News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
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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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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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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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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
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}
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
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if (wrkMast == null) { continue; }
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// 命令下发区 --------------------------------------------------------------------------
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
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staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (result) {
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// 更新工作主档
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wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
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wrkMast.setModiTime(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
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}
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} else {
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News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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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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* 拣料、并板再入库
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*/
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@Transactional
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public synchronized void stnToCrnStnPick(){
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try {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历拣料入库口
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for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
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// 获取拣料入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(pickSta.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.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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// && (staProtocol.getWorkNo() > 0)
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&& staProtocol.isPakMk()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.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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continue;
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}
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if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
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continue;
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}
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WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
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if (wrkMast == null) {//找不到工作档
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continue;
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}
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if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104)
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|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
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continue;
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}
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// //*********************同库位组校验*********************
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// boolean flag = false;
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// String th = "";
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// List<String> innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo());
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// for (String loc : innerLoc) {
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// LocMast locMast = locMastService.selectById(loc);
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// if (locMast == null) {
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// continue;
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// }
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//
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// if (!locMast.getLocSts().equals("F")) {
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// flag = true;
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// th = loc + "库位存在未回库任务";
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// break;
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// }
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// }
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// if (flag) {
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// News.info(th);
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// continue;
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// }
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// //*********************同库位组校验*********************
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// // 保存工作主档历史档
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// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
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// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
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// continue;
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// }
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try {
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LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
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SearchLocParam param = new SearchLocParam();
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param.setWrkNo(wrkMast.getWrkNo());
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param.setBarcode(wrkMast.getBarcode());
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param.setIoType(wrkMast.getIoType());
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param.setSourceStaNo(pickSta.getStaNo());
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param.setLiftNo(pickSta.getLiftNo());
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param.setLocType1(locMast.getLocType1());
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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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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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// //获取回库提升机目标站
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// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
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// if (liftStaProtocol == null) {
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// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
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// continue;
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// }
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//
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// // 更新工作档数据状态
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// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54
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// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
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// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
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// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
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// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
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// wrkMast.setShuttleNo(null); // 穿梭车清空
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// wrkMast.setLiftNo(null);// 提升机清空
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// wrkMast.setModiTime(new Date());
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// if (wrkMastMapper.updateById(wrkMast) == 0) {
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// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
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// continue;
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// }
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} else if (code == 500) {
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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();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 拣料、并板再入库(325、331、333、339)
|
*/
|
@Transactional
|
public synchronized void stnToCrnStnPick2(){
|
try {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历拣料入库口
|
for (DevpSlave.Sta pickSta : devp.getPickInSta2()) {
|
// 获取拣料入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& (staProtocol.getWorkNo() > 0)
|
&& staProtocol.isPakMk()) {
|
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
|
if (wrkMast == null) {
|
continue;
|
}
|
if (wrkMast.getSteNo() == null) {
|
wrkMast.setSteNo(1);
|
wrkMastMapper.updateById(wrkMast);
|
staProtocol.setStaNo((short) 341);//写入目标站
|
staProtocol.setPakMk(false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
}
|
}
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 盘点再入库
|
*/
|
@Transactional
|
public synchronized void stnToCrnStnPlate(){
|
try {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历拣料入库口
|
for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
|
// 获取拣料入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
// && (staProtocol.getWorkNo() > 0)
|
&& staProtocol.isPakMk()) {
|
|
// 获取条码扫描仪信息
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
|
if (barcodeThread == null) {
|
continue;
|
}
|
String barcode = barcodeThread.getBarcode();
|
if (Cools.isEmpty(barcode)) {
|
continue;
|
}
|
if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
|
continue;
|
}
|
WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);
|
if (wrkMast == null) {//找不到工作档
|
continue;
|
}
|
|
if ((wrkMast.getIoType() != 107)
|
|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
|
continue;
|
}
|
|
// // 保存工作主档历史档
|
// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
|
// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败");
|
// continue;
|
// }
|
|
//盘点找新库位
|
try {
|
LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位
|
SearchLocParam param = new SearchLocParam();
|
param.setWrkNo(wrkMast.getWrkNo());
|
param.setBarcode(wrkMast.getBarcode());
|
param.setIoType(107);//盘点
|
param.setSourceStaNo(pickSta.getStaNo());
|
param.setLiftNo(pickSta.getLiftNo());
|
param.setLocType1(locMast.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v2")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
// //获取回库提升机目标站
|
// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo()));
|
// if (liftStaProtocol == null) {
|
// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败");
|
// continue;
|
// }
|
//
|
// // 更新工作档数据状态
|
// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57
|
// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
|
// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站
|
// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
|
// wrkMast.setLocNo(dto.getLocNo()); // 目标库位
|
// wrkMast.setShuttleNo(null); // 穿梭车清空
|
// wrkMast.setLiftNo(null);// 提升机清空
|
// wrkMast.setModiTime(new Date());
|
// if (wrkMastMapper.updateById(wrkMast) == 0) {
|
// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
// continue;
|
// }
|
|
// staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站
|
// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
} else if (code == 500) {
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
// /**
|
// * 拣料、并板、盘点再入库
|
// */
|
// @Transactional
|
// public synchronized void stnToCrnStnPick(){
|
// for (DevpSlave devp : slaveProperties.getDevp()) {
|
// // 遍历拣料入库口
|
// for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
|
//
|
// // 获取拣料入库站信息
|
// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
// StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
|
// if (staProtocol == null) {
|
// continue;
|
// } else {
|
// staProtocol = staProtocol.clone();
|
// }
|
// if (staProtocol.isAutoing()
|
// && staProtocol.isLoading()
|
//// && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
|
//// && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
|
// && staProtocol.isPakMk()){
|
//
|
// // 获取条码扫描仪信息
|
// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
|
// if (barcodeThread == null) {
|
// continue;
|
// }
|
// String barcode = barcodeThread.getBarcode();
|
//
|
// WrkMast wrkMast = null;
|
// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
|
// if (wrkMast == null) {
|
// continue;
|
// }
|
//// if (staProtocol.getWorkNo() == 9996) {
|
//// String barcode = barcodeThread.getBarcode();
|
//// if(!Cools.isEmpty(barcode)) {
|
//// News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
|
//// if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
|
//// staProtocol.setWorkNo((short) 32002);
|
//// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
//// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
////
|
//// // led 异常显示
|
//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
//// if (ledThread != null) {
|
//// String errorMsg = "扫码失败，请重试";
|
//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
//// }
|
//// continue;
|
//// }
|
//// } else {
|
//// staProtocol.setWorkNo((short) 32002);
|
//// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
//// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
//// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
////
|
//// // led 异常显示
|
//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
//// if (ledThread != null) {
|
//// String errorMsg = "扫码失败，请重试";
|
//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
//// }
|
//// continue;
|
//// }
|
//// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
|
//// if (null == wrkMast) {
|
//// News.error("{}条码错误，暂无拣料任务！", barcode);
|
//// }
|
//// }
|
//
|
// if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
|
// || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
|
// continue;
|
// }
|
//
|
// // 保存工作主档历史档
|
// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
|
// throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
|
// }
|
//
|
// String sourceLocNo = wrkMast.getSourceLocNo().trim();
|
// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
|
// if (liftStaProtocol == null) {
|
// continue;
|
// }
|
//
|
// // 更新工作档数据状态
|
// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
|
// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
|
// wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
|
//// wrkMast.setStaNo(dto.getStaNo()); // 目标站
|
//// wrkMast.setCrnNo(dto.getCrnNo());
|
// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
|
// wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
|
// wrkMast.setShuttleNo(null); // 穿梭车清空
|
// wrkMast.setLiftNo(null);// 提升机清空
|
// wrkMast.setModiTime(new Date());
|
// if (wrkMastMapper.updateById(wrkMast) == 0) {
|
// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
// }
|
// if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
|
// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
// }
|
//
|
// // 修改库位状态 Q.拣料/盘点/并板再入库
|
// LocMast locMast = locMastService.selectById(sourceLocNo);
|
// locMast.setLocSts("Q");
|
// locMast.setModiTime(new Date());
|
// if (!locMastService.updateById(locMast)) {
|
// throw new CoolException("修改库位状态失败");
|
// }
|
// barcodeThread.setBarcode("");//清理条码
|
//
|
//// try {
|
//// // 访问 WMS 获取入库库位
|
//// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
//// SearchLocParam param = new SearchLocParam();
|
//// param.setWrkNo(wrkMast.getWrkNo());
|
//// param.setIoType(wrkMast.getIoType());
|
//// param.setSourceStaNo(pickSta.getStaNo());
|
////// param.setLocType1(locTypeDto.getLocType1());
|
//// String response = new HttpHandler.Builder()
|
//// .setUri(wmsUrl)
|
//// .setPath("/rpc/pakin/loc/v1")
|
//// .setJson(JSON.toJSONString(param))
|
//// .build()
|
//// .doPost();
|
//// JSONObject jsonObject = JSON.parseObject(response);
|
//// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
//// Integer code = jsonObject.getInteger("code");
|
//// if (code.equals(200)) {
|
//// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
////
|
////// // 获取目标站
|
////// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
|
////// .eq("type_no", wrkMast.getIoType() - 50)
|
////// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
|
////// .eq("crn_no", dto.getCrnNo()); // 堆垛机号
|
////// StaDesc staDesc = staDescService.selectOne(wrapper);
|
////// if (Cools.isEmpty(staDesc)) {
|
////// News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
|
////// continue;
|
////// }
|
////// // 堆垛机站点(目标站)
|
////// Integer staNo = staDesc.getCrnStn();
|
////
|
//// // 保存工作明细档历史档
|
////// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
|
////// throw new CoolException("保存工作明细档历史档失败");
|
////// }
|
//// // 保存工作主档历史档
|
//// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
|
//// throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
|
//// }
|
////
|
//// String sourceLocNo = wrkMast.getSourceLocNo().trim();
|
//// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站
|
//// if (liftStaProtocol == null) {
|
//// continue;
|
//// }
|
////
|
//// // 更新工作档数据状态
|
//// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
|
//// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
|
//// wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
|
////// wrkMast.setStaNo(dto.getStaNo()); // 目标站
|
////// wrkMast.setCrnNo(dto.getCrnNo());
|
//// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
|
//// wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
|
//// wrkMast.setShuttleNo(null); // 穿梭车清空
|
//// wrkMast.setLiftNo(null);// 提升机清空
|
//// wrkMast.setModiTime(new Date());
|
//// if (wrkMastMapper.updateById(wrkMast) == 0) {
|
//// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
//// }
|
//// if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
|
//// throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
//// }
|
////
|
//// // 修改库位状态 Q.拣料/盘点/并板再入库
|
//// LocMast locMast = locMastService.selectById(sourceLocNo);
|
//// locMast.setLocSts("Q");
|
//// locMast.setModiTime(new Date());
|
//// if (!locMastService.updateById(locMast)) {
|
//// throw new CoolException("修改库位状态失败");
|
//// }
|
////
|
////// // 更新站点信息 且 下发plc命令
|
////// staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
////// staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
////// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
////// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
////// if (!result) {
|
////// News.error("发布命令至输送线队列失败！！！ [plc编号{}]", devp.getId());
|
////// }
|
////
|
//// barcodeThread.setBarcode("");//清理条码
|
////
|
//// } else if (code == 500){
|
//// if (ledThread != null) {
|
//// String errorMsg = jsonObject.getString("msg");
|
//// if (!Cools.isEmpty(errorMsg)) {
|
//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
//// }
|
//// }
|
//// News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
//// } else {
|
////// staProtocol.setWorkNo((short) 32002);
|
////// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
////// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
////// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
////
|
//// // led 异常显示
|
//// if (ledThread != null) {
|
//// String errorMsg = jsonObject.getString("msg");
|
////// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
|
//// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
//// }
|
//// }
|
////
|
//// } catch (Exception e) {
|
//// e.printStackTrace();
|
//// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
//// }
|
//
|
// }
|
// }
|
//
|
// }
|
// }
|
|
/**
|
* 初始化实时地图
|
*/
|
public synchronized void initRealtimeBasMap() {
|
try {
|
for (int i = 1; i <= 10; i++) {//总共四层楼
|
Object data = redisUtil.get(RedisKeyType.MAP.key + i);
|
if (data == null) {//redis地图数据为空，从数据库中获取
|
BasMap basMap = basMapService.selectLatestMap(i);
|
if (basMap == null) {
|
//数据库中也不存在地图数据，从地图文件中获取
|
//载入地图
|
List<List<MapNode>> lists = navigateMapData.getJsonData(i, -1, null, null);//获取完整地图(包括入库出库)
|
|
//存入数据库
|
basMap = new BasMap();
|
basMap.setData(JSON.toJSONString(lists));
|
basMap.setCreateTime(new Date());
|
basMap.setUpdateTime(new Date());
|
basMap.setLev(i);
|
|
if (!basMapService.insert(basMap)) {
|
log.info("地图数据存储失败");
|
}
|
}
|
|
//将数据库地图数据存入redis
|
redisUtil.set(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap));
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 从redis中重启任务
|
*/
|
public synchronized void restartTaskFromRedis() {
|
HashMap<Object, Object> map = redisUtil.getRedis();
|
for (Object key : map.keySet()) {
|
if (key.toString().contains(RedisKeyType.LIFT.key)) {//提升机任务
|
LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
|
if (redisCommand == null) {
|
continue;
|
}
|
|
Short liftNo = redisCommand.getLiftNo();
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
if (!liftProtocol.isIdle()) {
|
continue;
|
}
|
|
//提升机处于空闲状态，进行任务的恢复
|
liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
|
|
}else if(key.toString().contains(RedisKeyType.SHUTTLE.key)){//四向穿梭车任务
|
ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
|
if (redisCommand == null) {
|
continue;
|
}
|
|
Short shuttleNo = redisCommand.getShuttleNo();
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
|
if (shuttleThread == null) {
|
continue;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
//四向穿梭车处于空闲状态，进行任务的恢复
|
shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//将四向穿梭车线程分配任务号
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
|
}
|
}
|
|
}
|
|
/**
|
* 入库 ===>> 四向穿梭车入库作业下发
|
*/
|
public synchronized void shuttleInExecute() {
|
try {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
|
for (WrkMast wrkMast : wrkMasts) {
|
//获取源站
|
BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
|
if (sourceBasDevp == null) {
|
continue;//站点不存在
|
}
|
|
//获取目标站
|
LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
|
if (liftStaProtocol == null) {
|
continue;//站点不存在
|
}
|
|
// 判断是否满足入库条件，自动、空闲、有物
|
if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
|
News.info("{}任务，输送站点状态不满足入库。输送站点:{}", wrkMast.getWrkNo(), JSON.toJSONString(liftStaProtocol));
|
continue;
|
}
|
|
boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//小车搬入库中
|
if (!step1) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
// /**
|
// * 入库 ===>> 四向穿梭车入库作业下发
|
// */
|
// public synchronized void shuttleInExecute() {
|
// // 根据输送线plc遍历
|
// for (DevpSlave devp : slaveProperties.getDevp()) {
|
// // 遍历入库站
|
// for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
|
// // 获取入库站信息
|
// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
// StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
|
// if (staProtocol == null) {
|
// continue;
|
// } else {
|
// staProtocol = staProtocol.clone();
|
// }
|
// Short workNo = staProtocol.getWorkNo();
|
// BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
|
// if (basDevp == null) {
|
// continue;//站点信息不存在
|
// }
|
//
|
// // 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
|
// if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable())) {
|
// continue;
|
// }
|
//
|
// WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
|
// if (wrkMast == null) {
|
// continue;
|
// }
|
//
|
// boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//小车搬入库中
|
// if (!step1) {
|
// continue;
|
// }
|
//
|
// }
|
// }
|
//
|
// }
|
|
/**
|
* 入库-小车搬入库中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
|
if (wrkMast.getWrkSts() == 4) {
|
if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货
|
News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
News.info("{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
//判断小车令牌是否未被占领
|
if (shuttleProtocol.getToken() != 0) {
|
News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//小车已被独占，禁止再派发任务
|
}
|
|
//判断小车是否存在移动任务
|
WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
|
if (hasMoveWorking != null) {
|
News.info("{}任务，{}小车，存在移动任务，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//存在移动任务，禁止执行入库任务
|
}
|
|
//判断小车是否到达输送站点库位
|
if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
|
//小车不在输送站点位置
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
|
News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//小车已抵达输送站点位置，进行搬运货物
|
NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
|
if (result == null) {//路径计算失败
|
News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
assignCommand.setCommands(result.getCommands());//运行命令
|
assignCommand.setNodes(result.getNodes());//路径节点
|
|
wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
|
wrkMast.setModiTime(new Date());
|
shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 出库 ===>> 四向穿梭车出库作业下发
|
*/
|
public synchronized void shuttleOutExecute() {
|
try {
|
for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
|
boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
|
if (!step1) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 出库-小车搬出库中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
|
//21.生成出库任务 => 22.小车搬运中
|
if (wrkMast.getWrkSts() == 21) {
|
EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
|
wrapper.eq("type_no", wrkMast.getIoType());//路径类型
|
wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
|
StaDesc staDesc = staDescService.selectOne(wrapper);
|
if (staDesc == null) {
|
News.info("{}任务，出库路径不存在", wrkMast.getWrkNo());
|
return false;//出库路径不存在
|
}
|
|
//获取出库站点
|
BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
|
if (basDevp == null) {
|
return false;//出库站点不存在
|
}
|
|
// if (!basDevp.getAutoing().equals("Y")) {
|
// News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo());
|
// return false;//不是自动状态
|
// }
|
//
|
// if (!basDevp.getOutEnable().equals("Y")) {
|
// News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo());
|
// return false;//出库站点不可出
|
// }
|
|
Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库
|
List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
|
if (!liftWrkMasts.isEmpty()) {
|
News.info("{}任务，{}号提升机，存在入库任务，系统禁止出库", wrkMast.getWrkNo(), liftNo);
|
return false;//存在入库任务，禁止出库
|
}
|
|
//同库位组校验
|
List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
|
List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
|
if (!outerLocMasts.isEmpty()) {
|
News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
|
return false;//浅库位存在未执行任务
|
}
|
|
//获取源站
|
LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
|
if (liftStaProtocol == null) {
|
return false;//找不到站点
|
}
|
|
if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
|
News.info("{}任务，{}内部输送站，不满足自动、空闲、无托盘状态", wrkMast.getWrkNo(), liftStaProtocol.getStaNo());
|
return false;//站点必须自动、空闲、没有托盘
|
}
|
|
if (wrkMast.getStaNo() == 300) {
|
//出300站，检测300站任务数量
|
List<WrkMast> wrkMasts = wrkMastMapper.select300Wrk();
|
if (wrkMasts.size() >= 20) {
|
News.info("{}任务，输送线任务过载{}", wrkMast.getWrkNo(), wrkMasts.size());
|
return false;
|
}
|
}
|
|
if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
//强制预留一台小车给入库任务
|
int lev = Utils.getLev(wrkMast.getSourceLocNo());
|
//获取当前楼层有几台可用小车
|
int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
|
if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
|
int shuttleWrkInObligateCount = 1;//预留小车数量
|
Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
|
if (config != null) {
|
shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
|
}
|
//可用出库小车数量(给入库任务预留一台车)
|
int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
|
//查询楼层已分配车辆的出库任务数量
|
List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
|
if (wrkMasts.size() >= useShuttleCount) {
|
News.info("{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
|
return false;
|
}
|
}
|
boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
|
News.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
//判断小车令牌是否未被占领
|
if (shuttleProtocol.getToken() != 0) {
|
News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//小车已被独占，禁止再派发任务
|
}
|
|
//判断小车是否到达货物库位
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
//小车不在输送站点位置
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
|
News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//小车已抵达货物位置，进行搬运货物
|
NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点
|
if (result == null) {//出库路径计算失败
|
News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
assignCommand.setCommands(result.getCommands());//运行命令
|
assignCommand.setNodes(result.getNodes());//路径节点
|
|
wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
|
wrkMast.setModiTime(new Date());
|
shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 四向穿梭车任务完成
|
*/
|
public synchronized void shuttleFinished() {
|
try {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车信息
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//四向穿梭车状态为等待确认、小车处于空闲状态
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
|
&& shuttleProtocol.getTaskNo() != 0
|
&& shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
|
) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
|
if (wrkMast != null) {
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 5://5.小车搬运中 ==> 9.入库完成
|
wrkMast.setWrkSts(9L);
|
shuttleProtocol.setTaskNo(0);
|
if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
//释放小车令牌
|
shuttleProtocol.setToken(0);
|
}
|
break;
|
case 22://22.小车搬运中 ==> 23.小车搬运完成
|
wrkMast.setWrkSts(23L);
|
shuttleProtocol.setTaskNo(0);
|
if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
//释放小车令牌
|
shuttleProtocol.setToken(0);
|
}
|
break;
|
case 102://102.小车移动至站点 ==> 103.小车移动至站点完成
|
wrkMast.setWrkSts(103L);
|
break;
|
case 104://104.小车迁入提升机中 ==> 105.小车迁入提升机完成
|
wrkMast.setWrkSts(105L);
|
shuttleProtocol.setTaskNo(0);//清理工作号
|
break;
|
case 108://108.小车迁出提升机中 ==> 109.小车迁出提升机完成
|
wrkMast.setWrkSts(109L);
|
break;
|
case 110://110.小车移动中 ==> 111.小车移动完成
|
wrkMast.setWrkSts(111L);
|
shuttleProtocol.setTaskNo(0);
|
if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
//释放小车令牌
|
shuttleProtocol.setToken(0);
|
}
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
if (wrkMast.getWrkSts() == 111) {
|
// 保存工作主档历史档
|
if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
|
log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
|
}
|
// 删除工作主档
|
if (!wrkMastService.deleteById(wrkMast)) {
|
log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
|
}
|
}
|
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
} else {
|
ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
|
if (!assignCommand.getAuto()) {
|
//手动模式
|
//工作号清零
|
shuttleProtocol.setTaskNo(0);
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
//清零令牌
|
shuttleProtocol.setToken(0);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
}
|
}
|
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 提升机任务
|
*/
|
public synchronized void liftIoExecute() {
|
try {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
if (!liftProtocol.isIdle()) {
|
News.info("{}号提升机，忙碌中", liftSlave.getId());
|
continue;
|
}
|
|
//判断提升机令牌是否被占用
|
if (liftProtocol.getToken() != 0) {
|
News.info("{}号提升机，令牌已被独占", liftSlave.getId());
|
continue;
|
}
|
|
//搜索是否有待处理的任务
|
List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
|
if (wrkMasts.isEmpty()) {
|
continue;
|
}
|
|
for (WrkMast wrkMast : wrkMasts) {
|
//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
|
WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
|
if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
|
News.info("{}号提升机，被其他任务{}占用且和当前任务{}不相同，禁止派发", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo());
|
continue;
|
}
|
|
boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
|
if (!stepIn) {
|
continue;
|
}
|
|
boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
|
if (!stepOut) {
|
continue;
|
}
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 提升机入库
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean liftIoExecuteStepIn(WrkMast wrkMast) {
|
//--------------------------------------提升机入库-----------------------------------------//
|
Date now = new Date();
|
|
//2.设备上走 ==> 3.提升机搬运中
|
if (wrkMast.getWrkSts() == 2) {
|
//获取源站
|
BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
|
if (sourceBasDevp == null) {
|
return false;//找不到站点
|
}
|
|
if (!sourceBasDevp.getInEnable().equals("Y")) {
|
News.info("{}任务，{}源站，没有可入信号", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
|
return false;//站点不可入
|
}
|
|
Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo());
|
if (barcodeId == null) {
|
News.info("{}任务，{}源站，找不到可用条码器ID", wrkMast.getWrkNo(), sourceBasDevp.getDevNo());
|
return false;//站点不可入
|
}
|
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId);
|
if (barcodeThread == null) {
|
News.info("{}任务，{}源站，条码器{}线程为空", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId);
|
return false;//站点不可入
|
}
|
String barcode = barcodeThread.getBarcode();
|
if(!Cools.isEmpty(barcode)) {
|
if(!("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode))) {
|
//存在条码值，判断是否和当前工作档一致
|
if (!barcode.equals(wrkMast.getBarcode())) {
|
News.info("{}任务,{}站点，条码器{}值{}与工作档条码值{}不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode());
|
return false;//站点不可入
|
}
|
}
|
}else {
|
return false;
|
}
|
|
//判断提升机整个三楼是否都处于入库模式
|
Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
|
Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
|
Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
|
if (outInModel1 == null || outInModel2 == null || outInModel3 == null) {
|
News.info("{}任务，没有出入库模式", wrkMast.getWrkNo());
|
return false;//不存在出入库模式
|
}
|
|
if (outInModel1 == 2 || outInModel2 == 2 && outInModel3 == 2) {
|
News.info("{}任务，有站点处于出库模式，禁止入库", wrkMast.getWrkNo());
|
return false;//只要有一个处于出库模式，禁止入库
|
}
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
if (!liftProtocol.isIdle()) {
|
News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
//判断提升机令牌是否未被占领
|
if (liftProtocol.getToken() != 0) {
|
News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机已被独占，禁止再派发任务
|
}
|
|
//判断提升机内是否有小车
|
if (liftProtocol.getHasCar()) {
|
News.info("{}任务，{}号提升机，提升机内部有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//有小车，禁止派发
|
}
|
|
//判断提升机内是否有托盘
|
if (liftProtocol.getHasTray()) {
|
News.info("{}任务，{}号提升机，提升机内部有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//有托盘，禁止派发
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
|
if (liftWrkMast != null) {
|
News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
|
//获取源站对应的牛眼提升机站点编号(起点编号)
|
Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
|
//获取提升机站点
|
LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
|
if (targetStaProtocol == null) {
|
return false;//站点不存在
|
}
|
|
if (targetStaProtocol.getHasTray()) {
|
News.info("{}任务，{}号提升机，{}站点，提升机站点有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo());
|
return false;//提升机站点有托盘，禁止派发
|
}
|
|
Integer targetSta = targetStaProtocol.getStaNo();
|
|
//获取提升机命令
|
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
|
if (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
|
//拣料再回库，重新分配设备工作号
|
int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
|
BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
|
if (basLiftOpt != null) {
|
News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
liftCommand.setTaskNo((short) deviceWrk);
|
}
|
ArrayList<NyLiftCommand> commands = new ArrayList<>();
|
commands.add(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
|
|
wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中
|
wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
|
wrkMast.setModiTime(now);
|
liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 提升机出库
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean liftIoExecuteStepOut(WrkMast wrkMast) {
|
//--------------------------------------提升机出库-----------------------------------------//
|
Date now = new Date();
|
|
//23.小车搬运完成 ==> 24.提升机搬运中
|
if (wrkMast.getWrkSts() == 23) {
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
|
//获取出库站点(目标站)
|
BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
|
if (basDevp == null) {
|
News.info("{}任务，出库站点不存在，禁止派发", wrkMast.getWrkNo());
|
return false;//出库站点不存在
|
}
|
|
//获取源站对应的牛眼提升机站点编号(起点编号)
|
LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
|
if (liftStaProtocol == null) {
|
News.info("{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
|
return false;//找不到站点
|
}
|
Integer startSta = liftStaProtocol.getStaNo();
|
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
|
//小车还在输送站点
|
//调度小车避让
|
boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
|
if (!result) {
|
News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
}
|
|
if (!basDevp.getAutoing().equals("Y")) {
|
News.info("{}任务，{}站点，没有自动信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
|
return false;//出库站点不可出
|
}
|
|
if (basDevp.getLoading().equals("Y")) {
|
News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
|
return false;//出库站点不可出
|
}
|
|
if (!basDevp.getOutEnable().equals("Y")) {
|
News.info("{}任务，{}站点，没有可出信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo());
|
return false;//出库站点不可出
|
}
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
|
if (!liftProtocol.isIdle()) {
|
News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
//判断提升机令牌是否未被占领
|
if (liftProtocol.getToken() != 0) {
|
News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机已被独占，禁止再派发任务
|
}
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
|
if (liftWrkMast != null) {
|
News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
|
//获目标站源站对应的输送站点
|
BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
|
if (targetBasDevp == null) {
|
News.info("{}任务，{}站点，站点不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getStaNo());
|
return false;//站点不存在
|
}
|
//获取牛眼提升机站点编号(目标编号)
|
Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());
|
|
//获取提升机命令
|
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
|
|
ArrayList<NyLiftCommand> commands = new ArrayList<>();
|
commands.add(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
|
|
wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
|
wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
|
wrkMast.setModiTime(now);
|
liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 提升机任务完成
|
*/
|
public synchronized void liftFinished() {
|
try {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//提升机为等待确认且空闲
|
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
|
&& liftProtocol.getTaskNo() != 0
|
&& !liftProtocol.getBusy()
|
) {
|
int taskNo = liftProtocol.getTaskNo().intValue();
|
if (taskNo >= 20000 && taskNo <= 30000) {
|
//提升机设备工作号，需要查询对应任务号
|
BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftSlave.getId());
|
if (basLiftOpt != null) {
|
taskNo = basLiftOpt.getWrkNo();
|
}
|
}
|
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(taskNo);
|
if (wrkMast != null) {
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 3://3.提升机搬运中 ==> 4.提升机搬运完成
|
wrkMast.setWrkSts(4L);
|
wrkMast.setLiftNo(null);//释放提升机
|
if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
//释放提升机令牌
|
liftProtocol.setToken(0);
|
}
|
break;
|
case 24://24.提升机搬运中 ==> 25.提升机搬运完成
|
wrkMast.setWrkSts(25L);
|
if (wrkMast.getIoType() == 11) {//库位移转
|
wrkMast.setWrkSts(4L);//4.提升机搬运完成
|
} else {
|
if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
|
//不需要用到机械臂，直接转29.出库完成
|
wrkMast.setWrkSts(29L);
|
wrkMast.setShuttleNo(null);//释放小车
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setModiTime(new Date());
|
}
|
}
|
|
if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
//释放提升机令牌
|
liftProtocol.setToken(0);
|
}
|
|
break;
|
case 106://106.提升机搬运中 ==> 107.提升机搬运完成
|
wrkMast.setWrkSts(107L);
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
|
} else {
|
News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
|
}
|
} else {
|
LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
|
if (assignCommand != null) {
|
if (!assignCommand.getAuto()) {
|
//手动操作
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
News.info("提升机已确认手动操作。提升机号={}", liftProtocol.getLiftNo());
|
}
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
public synchronized void locToLocExecute() {
|
try {
|
//获取出入库工作档
|
// List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
|
// if (wrkMasts.size() > 0) {
|
// //有出入库任务，必须等待任务执行完毕再执行库位移转
|
// return;
|
// }
|
|
//查询库位移转工作档
|
List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
|
for (WrkMast wrkMast : wrkMasts1) {
|
if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
|
boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转
|
if (!step1) {
|
continue;
|
}
|
} else {
|
//跨楼层库位移转
|
boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度车辆取货并运送到出库口
|
if (!step2) {
|
continue;
|
}
|
|
boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物
|
if (!step3) {
|
continue;
|
}
|
|
boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位
|
if (!step4) {
|
continue;
|
}
|
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 同楼层库位移转
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean locToLocExecuteStep1(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
|
if (wrkMast.getShuttleNo() == null) {
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
return false;
|
}
|
|
//判断小车是否到达源库位
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
//小车不在源库位位置
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
|
return false;
|
}
|
|
//小车已抵达源库位，进行搬运货物
|
NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo());
|
if (result == null) {//路径计算失败
|
return false;
|
}
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
assignCommand.setCommands(result.getCommands());//运行命令
|
assignCommand.setNodes(result.getNodes());//路径节点
|
|
wrkMast.setWrkSts(5L);//21.生成出库任务 => 5.小车搬运中
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 跨楼层库位移转-调度车辆取货并运送到出库口
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean locToLocExecuteStep2(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == 21) {//21.生成出库任务
|
if (wrkMast.getShuttleNo() == null) {
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
return false;
|
}
|
|
//判断小车是否到达源库位
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
//小车不在源库位位置
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货
|
return false;
|
}
|
|
//获取穿梭车最近且空闲的提升机输送站点
|
LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
|
if (liftSta == null) {
|
return false;//没有可用且空闲的输送站点
|
}
|
//源站
|
Integer sourceStaNo = liftSta.getStaNo();
|
//提升机号*100+目标楼层=目标站点
|
Integer staNo = liftSta.getLiftNo() * 100 + Utils.getLev(wrkMast.getLocNo());//目标站
|
|
//小车已抵达源库位，将货物搬运到输送站点
|
NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo());
|
if (result == null) {//路径计算失败
|
return false;
|
}
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
assignCommand.setCommands(result.getCommands());//运行命令
|
assignCommand.setNodes(result.getNodes());//路径节点
|
|
wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
|
wrkMast.setSourceStaNo(sourceStaNo);//源站
|
wrkMast.setStaNo(staNo);//目标站
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 跨楼层库位移转-提升机搬运货物
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean locToLocExecuteStep3(WrkMast wrkMast) {
|
Date now = new Date();
|
if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成
|
//源站
|
Integer sourceStaNo = wrkMast.getSourceStaNo();
|
//目标站
|
Integer staNo = wrkMast.getStaNo();
|
if (sourceStaNo == null || staNo == null) {
|
return false;//源站或目标站为空
|
}
|
|
int liftNo = staNo / 100;//获取提升机号
|
|
//获取提升机线程
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
|
//获取源站对应的输送站点
|
LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
|
if (liftStaProtocol == null) {
|
return false;//找不到站点
|
}
|
|
if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
|
return false;//站点必须自动、空闲、有托盘
|
}
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
|
//小车还在输送站点
|
//调度小车避让
|
boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
|
if (!result) {
|
return false;
|
}
|
}
|
|
if (!liftProtocol.isIdle()) {
|
return false;
|
}
|
|
//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
|
WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
|
if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
|
return false;
|
}
|
|
//获取提升机命令
|
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceStaNo, staNo, wrkMast.getWrkNo());
|
|
ArrayList<NyLiftCommand> commands = new ArrayList<>();
|
commands.add(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
|
|
wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
|
wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
|
wrkMast.setShuttleNo(null);//清空小车号，等货物搬运完成后，到目标楼层重新搜索小车
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 跨楼层库位移转-调度车辆取货并运送到目标库位
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean locToLocExecuteStep4(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == 4) {//4.提升机搬运完成
|
//获取目标站对应的输送站点
|
LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(wrkMast.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
|
if (liftStaProtocol == null) {
|
return false;//找不到站点
|
}
|
|
if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
|
return false;//站点必须自动、空闲、有托盘
|
}
|
|
if (wrkMast.getShuttleNo() == null) {
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到目标输送站点进行取货
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
return false;
|
}
|
|
//判断小车是否到达目标输送站点
|
if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
|
//小车不在目标输送站点
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到目标输送站点进行取货
|
return false;
|
}
|
|
//小车已抵达目标输送站点，将货物搬运到目标库位
|
NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getLocNo());
|
if (result == null) {//路径计算失败
|
return false;
|
}
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
assignCommand.setCommands(result.getCommands());//运行命令
|
assignCommand.setNodes(result.getNodes());//路径节点
|
|
wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recShuttleErr();
|
this.recLiftErr();
|
} catch (Exception e) {
|
News.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* 四向穿梭车异常信息记录
|
*/
|
private void recShuttleErr() {
|
Date now = new Date();
|
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
|
// 获取四向穿梭车信息
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
|
if (shuttleThread == null) {
|
continue;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//有任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
|
// 有异常
|
if (latest == null) {
|
if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) {
|
WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
|
String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
|
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
shuttleSlave.getId(), // 四向穿梭车
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
shuttleProtocol.getErrCode(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(shuttleProtocol) // 系统状态数据
|
);
|
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (shuttleProtocol.getErrState() == null || shuttleProtocol.getErrState() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basShuttleErrLogService.updateById(latest)) {
|
News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}else {
|
// //无任务
|
// BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
|
// // 有异常
|
// if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
|
// // 记录新异常
|
// if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
|
// BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
|
// String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
|
// BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
|
// null, // 编号
|
// null, // 工作号
|
// now, // 发生时间
|
// null, // 结束时间
|
// null, // 工作状态
|
// null, // 入出库类型
|
// shuttleSlave.getId(), // 四向穿梭车
|
// null, // plc
|
// null, // 目标库位
|
// null, // 目标站
|
// null, // 源站
|
// null, // 源库位
|
// null, // 条码
|
// (int)shuttleProtocol.getStatusErrorCode(), // 异常码
|
// errName, // 异常
|
// 1, // 异常情况
|
// now, // 添加时间
|
// null, // 添加人员
|
// now, // 修改时间
|
// null, // 修改人员
|
// "无任务异常" // 备注
|
// );
|
// if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
// News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
|
// }
|
// }
|
// // 无异常
|
// } else {
|
// // 异常修复
|
// if (latest != null && latest.getStatus() == 1) {
|
// latest.setEndTime(now);
|
// latest.setUpdateTime(now);
|
// latest.setStatus(2);
|
// if (!basShuttleErrLogService.updateById(latest)) {
|
// News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
|
// }
|
// }
|
// }
|
}
|
}
|
}
|
|
/**
|
* 提升机异常信息记录
|
*/
|
private void recLiftErr() {
|
Date now = new Date();
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
// 获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
if (liftProtocol.getTaskNo() != 0) {
|
//有任务
|
BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) {
|
WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
String errName = "";
|
if (liftProtocol.getFrontOverrun()) {
|
errName = "前超限";
|
} else if (liftProtocol.getBackOverrun()) {
|
errName = "后超限";
|
} else if (liftProtocol.getLeftOverrun()) {
|
errName = "左超限";
|
} else if (liftProtocol.getRightOverrun()) {
|
errName = "右超限";
|
} else if (liftProtocol.getOverHeight()) {
|
errName = "超高";
|
} else if (liftProtocol.getOverWeight()) {
|
errName = "超重";
|
}
|
|
BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
liftSlave.getId(), // 提升机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
null, // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(liftProtocol) // 系统状态数据
|
);
|
if (!basLiftErrLogService.insert(basLiftErrLog)) {
|
News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (liftProtocol.getDeviceError() == null || !liftProtocol.getDeviceError()) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basLiftErrLogService.updateById(latest)) {
|
News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public void storeEmptyPlt(){
|
try {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 站点条件判断
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& staProtocol.isEmptyMk()
|
&& (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
|
&& staProtocol.isPakMk()) {
|
|
// 获取条码扫描仪信息
|
String barcode = null;
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
|
if (barcodeThread != null) {
|
String barcode0 = barcodeThread.getBarcode();
|
if (!Cools.isEmpty(barcode0)) {
|
// News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
|
if (!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
|
barcode = barcode0;
|
}
|
}
|
}
|
|
if (!Cools.isEmpty(barcode)) {
|
WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//条码存在工作档
|
if (wrkMast != null) {
|
continue;
|
}
|
}
|
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
if (!Cools.isEmpty(barcode)) {
|
param.setBarcode(barcode);
|
}
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
// param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v2")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
barcodeThread.setBarcode("");
|
// // 更新站点信息 且 下发plc命令
|
// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
// staProtocol.setStaNo(dto.getStaNo().shortValue());
|
// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
// if (!result) {
|
// throw new CoolException("更新plc站点信息失败");
|
// }
|
} else {
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* AGV补货 => 生成入库通知档
|
*/
|
public synchronized void robotGenerateAgvTask() {
|
try {
|
//检测300站是否自动、有物、工作号
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(300);
|
if (staProtocol == null) {
|
continue;
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
|
//查询是否有工作档
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
|
continue;
|
}
|
|
if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料
|
Short targetSta = null;//目标站
|
//判断机械臂拣料站是否空闲
|
StaProtocol staProtocol303 = devpThread.getStation().get(303);
|
StaProtocol staProtocol317 = devpThread.getStation().get(317);
|
|
List<WrkMast> wrkMasts303 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 25).eq("sta_no", 303));
|
List<WrkMast> wrkMasts317 = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 25).eq("sta_no", 317));
|
if (staProtocol303.isAutoing() && !staProtocol303.isLoading() && wrkMasts303.isEmpty()) {
|
//自动、无物
|
targetSta = (short) 303;
|
} else if (staProtocol317.isAutoing() && !staProtocol317.isLoading() && wrkMasts317.isEmpty()) {
|
//自动、无物
|
targetSta = (short) 317;
|
} else {
|
continue;//没有空闲站点
|
}
|
|
if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
|
//向AGV发起组托请求
|
try {
|
HashMap<String, Object> param = new HashMap<>();
|
param.put("wrkNo", wrkMast.getWrkNo());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/replenishment")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {//AGV组托成功
|
//覆盖工作档目标站
|
wrkMast.setStaNo(targetSta.intValue());
|
wrkMast.setShuttleNo(null);//释放小车
|
wrkMast.setLiftNo(null);//释放提升机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//向300站写入目标站
|
staProtocol = staProtocol.clone();
|
staProtocol.setStaNo(targetSta);//移动到目标站
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
try {
|
Thread.sleep(500);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
// e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
// //覆盖工作档目标站
|
// wrkMast.setStaNo(targetSta.intValue());
|
// wrkMast.setShuttleNo(null);//释放小车
|
// wrkMast.setLiftNo(null);//释放提升机
|
// if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// //向300站写入目标站
|
// staProtocol = staProtocol.clone();
|
// staProtocol.setStaNo(targetSta);//移动到目标站
|
// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
// try {
|
// Thread.sleep(500);
|
// } catch (Exception e) {
|
// e.printStackTrace();
|
// }
|
// continue;
|
// }
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
// e.printStackTrace();
|
}
|
}
|
|
/**
|
* AGV补货 => 机械臂拣料
|
*/
|
public synchronized void agvRestockByRobot() {
|
try {
|
//检测300站是否自动、有物、工作号
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol303 = devpThread.getStation().get(303);
|
StaProtocol staProtocol317 = devpThread.getStation().get(317);
|
if (staProtocol303 == null || staProtocol317 == null) {
|
continue;
|
}
|
|
if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
|
//调度机械臂
|
//查询是否有工作档
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
|
if (wrkMast == null) {
|
continue;
|
}
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
if (wrkDetls.isEmpty()) {
|
continue;
|
}
|
|
if (wrkMast.getInvWh() == null) {
|
boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303");
|
if (result) {
|
wrkMast.setInvWh("Y");//标记已经下发机械臂任务
|
wrkMastMapper.updateById(wrkMast);
|
}
|
}
|
}
|
|
if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
|
//调度机械臂
|
//查询是否有工作档
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
|
if (wrkMast == null) {
|
continue;
|
}
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
if (wrkDetls.isEmpty()) {
|
continue;
|
}
|
if (wrkMast.getInvWh() == null) {
|
boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317");
|
if (result) {
|
wrkMast.setInvWh("Y");//标记已经下发机械臂任务
|
wrkMastMapper.updateById(wrkMast);
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* AGV补货(通知AGV取货)
|
*/
|
public synchronized void agvRestockInto() {
|
try {
|
//检测309和312站是否自动、有物
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol309 = devpThread.getStation().get(309);
|
StaProtocol staProtocol312 = devpThread.getStation().get(312);
|
if (staProtocol309 == null || staProtocol312 == null) {
|
continue;
|
}
|
|
if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) {
|
// 获取条码扫描仪信息
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308站条码器
|
if (barcodeThread == null) {
|
continue;
|
}
|
String barcode = barcodeThread.getBarcode();
|
if (!Cools.isEmpty(barcode)) {
|
//通知AGV取货
|
boolean result = agvRestockCall("301-1", barcode);
|
log.info("机械臂通知AGV取货，条码号：" + barcode);
|
if (result) {
|
barcodeThread.setBarcode("");
|
}
|
}
|
}
|
|
if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) {
|
// 获取条码扫描仪信息
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311站条码器
|
if (barcodeThread == null) {
|
continue;
|
}
|
String barcode = barcodeThread.getBarcode();
|
if (!Cools.isEmpty(barcode)) {
|
//通知AGV取货
|
boolean result = agvRestockCall("302-1", barcode);
|
log.info("机械臂通知AGV取货，条码号：" + barcode);
|
if (result) {
|
barcodeThread.setBarcode("");
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
//通知AGV取货
|
private boolean agvRestockCall(String staNo, String barcode) {
|
try {
|
HashMap<String, Object> param = new HashMap<>();
|
param.put("devNo", staNo);
|
param.put("containerCode", barcode);
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/start")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
News.info("悬挂线，WMS返回结果：" + jsonObject);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {//呼叫AGV
|
return true;
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
return false;
|
}
|
|
//通知WMS当前拣料站点信息
|
private boolean agvCureentCall(String staNo, String barcode) {
|
try {
|
HashMap<String, Object> param = new HashMap<>();
|
param.put("devNo", staNo);
|
param.put("containerCode", barcode);
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/current/containerCode")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
News.info("悬挂线，WMS返回结果：" + jsonObject);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {//呼叫AGV
|
return true;
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
return false;
|
}
|
|
/**
|
* AGV补货(悬挂线通知AGV取货)
|
*/
|
public synchronized void agvRestockIntoByHangingWire() {
|
try {
|
//检测350和351扫码器
|
int[] barcodeStaNo = {11, 12,14,16,18,20};//11 => 350站扫码器,12 => 351站扫码器
|
for (int staNo : barcodeStaNo) {
|
// 获取条码扫描仪信息
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
|
if (barcodeThread == null) {
|
continue;
|
}
|
String barcode = barcodeThread.getBarcode();
|
if (!Cools.isEmpty(barcode)) {
|
if (barcode.contains("NoRead")) {
|
continue;
|
}
|
|
String agvStaNo = null;
|
if (staNo == 11) {
|
agvStaNo = "303-1";
|
} else if(staNo == 12){
|
agvStaNo = "304-1";
|
} else if(staNo == 14){
|
agvStaNo = "311-1";
|
} else if(staNo == 16){
|
agvStaNo = "313-1";
|
} else if(staNo == 18){
|
agvStaNo = "315-1";
|
} else if(staNo == 20){
|
agvStaNo = "317-1";
|
}
|
//通知AGV取货
|
boolean result = agvRestockCall(agvStaNo, barcode);
|
if (result) {
|
barcodeThread.setBarcode("");
|
}
|
log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* AGV拣料站点信息
|
*/
|
public synchronized void agvCurrentContainerCodeInfoWire() {
|
try {
|
//检测350和351扫码器
|
int[] barcodeStaNo = {13, 15,17,19};//11 => 350站扫码器,12 => 351站扫码器
|
for (int staNo : barcodeStaNo) {
|
// 获取条码扫描仪信息
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo);
|
if (barcodeThread == null) {
|
continue;
|
}
|
String barcode = barcodeThread.getBarcode();
|
if (!Cools.isEmpty(barcode)) {
|
if (barcode.contains("NoRead")) {
|
continue;
|
}
|
|
String agvStaNo = null;
|
if (staNo == 13) {
|
agvStaNo = "CS-310";
|
} else if(staNo == 15){
|
agvStaNo = "CS-311";
|
} else if(staNo == 17){
|
agvStaNo = "CS-312";
|
} else if(staNo == 19){
|
agvStaNo = "CS-313";
|
}
|
//通知WMS当前容器码
|
boolean result = agvCureentCall(agvStaNo, barcode);
|
if (result) {
|
barcodeThread.setBarcode("");
|
}
|
log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode);
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
// 300站拣料
|
public void pick300() {
|
try {
|
//检测300站是否自动、有物、工作号
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(300);
|
if (staProtocol == null) {
|
continue;
|
}else {
|
staProtocol = staProtocol.clone();
|
}
|
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
|
//查询是否有工作档
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
if (wrkMast.getWrkSts() != 29) {//29.出库完成
|
continue;
|
}
|
|
if (wrkMast.getMk() == null) {
|
Integer sourceStaNo = wrkMast.getSourceStaNo();//源站
|
Integer staNo = wrkMast.getStaNo();//目标站
|
//覆盖工作档目标站
|
wrkMast.setStaNo(sourceStaNo);
|
wrkMast.setSourceStaNo(staNo);
|
wrkMast.setMk("N");
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//向300站写入目标站
|
staProtocol = staProtocol.clone();
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//移动到目标站
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
try {
|
Thread.sleep(500);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public void ledExecute() {
|
try {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> wrkMasts = new ArrayList<>();
|
List<WrkMastLog> wrkMastLogs = new ArrayList<>();
|
for (Integer staNo : led.getStaArr()) {
|
// 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
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
Integer wrkNo = staProtocol.getWorkNo().intValue();
|
Integer ioType = null;
|
String sourceLocNo = null;
|
String locNo = null;
|
Integer wrkStaNo = null;
|
String barcode = null;
|
if (wrkMast == null) {
|
//查询历史档
|
WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue());
|
if (wrkMastLog == null) {
|
continue;
|
}
|
ioType = wrkMastLog.getIoType();
|
sourceLocNo = wrkMastLog.getSourceLocNo();
|
locNo = wrkMastLog.getLocNo();
|
wrkStaNo = wrkMastLog.getStaNo();
|
barcode = wrkMastLog.getBarcode();
|
wrkMastLogs.add(wrkMastLog);
|
}else {
|
if (wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) {
|
continue;
|
}
|
ioType = wrkMast.getIoType();
|
sourceLocNo = wrkMast.getSourceLocNo();
|
locNo = wrkMast.getLocNo();
|
wrkStaNo = wrkMast.getStaNo();
|
barcode = wrkMast.getBarcode();
|
wrkMasts.add(wrkMast);
|
}
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(wrkNo);
|
ledCommand.setIoType(ioType);
|
// 出库模式
|
switch (ioType) {
|
case 101:
|
ledCommand.setTitle("全板出库");
|
break;
|
case 103:
|
ledCommand.setTitle("拣料出库");
|
break;
|
case 104:
|
ledCommand.setTitle("并板出库");
|
break;
|
case 107:
|
ledCommand.setTitle("盘点出库");
|
break;
|
case 110:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkNo, ioType);
|
break;
|
}
|
ledCommand.setSourceLocNo(sourceLocNo);
|
ledCommand.setLocNo(locNo);
|
ledCommand.setStaNo(wrkStaNo);
|
ledCommand.setBarcode(barcode);
|
if (ioType != 110 && ioType != 10) {
|
List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
|
if (!wrkDetls.isEmpty()) {
|
wrkDetls.forEach(wrkDetl -> {
|
double remainNum = wrkDetl.getStock() - wrkDetl.getAnfme();//剩余数量
|
if (remainNum < 0) {
|
remainNum = 0;
|
}
|
String matnr = wrkDetl.getMatnr();
|
Mat mat = matService.selectByMatnr(wrkDetl.getMatnr());
|
if (mat != null) {
|
if (!mat.getMatnr().equals(mat.getMatnr2())) {
|
matnr += " - " + mat.getMatnr2();
|
}
|
}
|
ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetl.getMaktx(), wrkDetl.getAnfme(), remainNum, wrkDetl.getSpecs(), wrkDetl.getSuppCode(), wrkDetl.getOrderNo()));
|
});
|
}else {
|
List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
|
for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
|
double remainNum = wrkDetlLog.getStock() - wrkDetlLog.getAnfme();//剩余数量
|
if (remainNum < 0) {
|
remainNum = 0;
|
}
|
String matnr = wrkDetlLog.getMatnr();
|
Mat mat = matService.selectByMatnr(wrkDetlLog.getMatnr());
|
if (mat != null) {
|
if (!mat.getMatnr().equals(mat.getMatnr2())) {
|
matnr += " - " + mat.getMatnr2();
|
}
|
}
|
ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), remainNum, wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
|
}
|
}
|
|
// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
|
// if (ioType == 101) {
|
// List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
|
// wrkDetls.forEach(wrkDetl -> {
|
// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
|
// });
|
//// locDetls.forEach(locDetl -> {
|
//// Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
|
//// Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
|
//// Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
|
//// Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
|
//// Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
|
//// List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
|
//// if (Cools.isEmpty(detl)) {
|
//// String suppCode = "";
|
//// if (locDetl.getSuppCode() != null) {
|
//// suppCode = locDetl.getSuppCode();
|
//// }
|
//// ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
|
//// } else {
|
//// //出库数量累计
|
//// Double conut = 0.0;
|
//// for (WrkDetl wrkDetl : detl) {
|
//// conut = conut + wrkDetl.getAnfme();
|
//// }
|
////
|
//// for (WrkDetl wrkDetl : detl) {
|
//// String suppCode = "";
|
//// if (wrkDetl.getSuppCode() != null) {
|
//// suppCode = wrkDetl.getSuppCode();
|
//// }
|
//// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
|
//// }
|
//// }
|
////
|
//// });
|
// } else {
|
// locDetls.forEach(locDetl -> {
|
// Wrapper<WrkDetl> wrapper = new EntityWrapper<WrkDetl>().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo);
|
// Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch());
|
// Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode());
|
// Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime());
|
// Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码
|
// List<WrkDetl> detl = wrkDetlService.selectList(wrapper);
|
// if (Cools.isEmpty(detl)) {
|
// String suppCode = "";
|
// if (locDetl.getSuppCode() != null) {
|
// suppCode = locDetl.getSuppCode();
|
// }
|
// ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode));
|
// } else {
|
// //出库数量累计
|
// Double conut = 0.0;
|
// for (WrkDetl wrkDetl : detl) {
|
// conut = conut + wrkDetl.getAnfme();
|
// }
|
//
|
// for (WrkDetl wrkDetl : detl) {
|
// String suppCode = "";
|
// if (wrkDetl.getSuppCode() != null) {
|
// suppCode = wrkDetl.getSuppCode();
|
// }
|
// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (wrkDetl.getStock() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo()));
|
// }
|
// }
|
//
|
// });
|
// }
|
//
|
//
|
// if (ioType == 107) {
|
// locDetls = new ArrayList<>();
|
// ledCommand.setMatDtos(new ArrayList<>());
|
// }
|
//
|
// if (locDetls.isEmpty() && ioType != 101) {
|
// List<WrkDetl> wrkDetls = wrkDetlService.selectList(new EntityWrapper<WrkDetl>().eq("wrk_no", wrkNo));
|
// wrkDetls.forEach(wrkDetl -> {
|
// if (wrkDetl.getAnfme() > 0D) {
|
// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode()));
|
// }
|
// });
|
//
|
// if (wrkDetls.isEmpty()) {//从历史档查询
|
// List<WrkDetlLog> wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode);
|
// for (WrkDetlLog wrkDetlLog : wrkDetlLogs) {
|
// if (wrkDetlLog.getAnfme() > 0D) {
|
// ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode()));
|
// }
|
// }
|
// }
|
// }
|
}
|
|
commands.add(ledCommand);
|
}
|
Set<Integer> workNos = null;
|
if (!wrkMasts.isEmpty()) {
|
workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
|
}else {
|
workNos = wrkMastLogs.stream().map(WrkMastLog::getWrkNo).collect(Collectors.toSet());
|
}
|
// 获取LED线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// 相同工作号集合则过滤
|
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
|
continue;
|
}
|
// 命令下发 -------------------------------------------------------------------------------
|
if (!commands.isEmpty()) {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
} else {
|
ledThread.setLedMk(false);
|
}
|
}
|
|
try {
|
// 修改主档led标记
|
for (WrkMast wrkMast : wrkMasts) {
|
wrkMast.setOveMk("Y");
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("更新工作档失败");
|
}
|
}
|
|
// 更新线程当前工作号集合
|
ledThread.setWorkNos(workNos);
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
public void ledReset() {
|
try {
|
// for (LedSlave led : slaveProperties.getLed()) {
|
//
|
// // 获取输送线plc线程
|
// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// // 命令集合
|
// boolean reset = true;
|
// for (Integer staNo : led.getStaArr()) {
|
// // 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, led.getId());
|
// // led显示默认内容
|
// if (reset && !ledThread.isLedMk()) {
|
// ledThread.setLedMk(true);
|
// if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
|
// News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
// } else {
|
// News.error("{}号LED命令下发成功！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
// ledThread.setLedMk(false);
|
// }
|
// }
|
// }
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) {
|
continue;
|
}
|
if (staProtocol.isLoading()) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
try {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleProtocol.isRequireCharge()) {
|
continue;
|
}
|
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
|
if (wrkCharge != null) {//已有充电任务
|
continue;
|
}
|
|
//小车所在楼层
|
int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
|
ShuttleChargeType shuttleCharge = null;
|
|
//搜索小车所在楼层有没有充电桩
|
for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
|
if (lev != Utils.getLev(chargeType.locNo)) {
|
continue;//小车和充电桩不在同一层
|
}
|
|
//小车和充电桩在同一层
|
if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
|
shuttleCharge = chargeType;
|
break;
|
}
|
}
|
|
if (shuttleCharge == null) {
|
//同楼层没有找到充电桩，找可用充电桩
|
//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
|
for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
|
if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
|
//判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
|
int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
|
boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
|
if (checkLevHasShuttle) {
|
//当前充电桩楼层有穿梭车，不分配该充电桩
|
continue;
|
}
|
|
shuttleCharge = chargeType;
|
break;
|
}
|
}
|
}
|
|
if (shuttleCharge == null) {
|
continue;
|
}
|
|
String chargeLocNo = shuttleCharge.locNo;
|
wrkCharge = new WrkCharge();
|
wrkCharge.setShuttleNo(shuttle.getId());
|
wrkCharge.setCharge(shuttleCharge.id);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
|
wrkCharge.setWrkSts(51L); // 51.准备充电
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setLocNo(chargeLocNo);
|
wrkCharge.setMemo("charge");
|
wrkCharge.setAppeTime(new Date());
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
|
continue;
|
}
|
|
News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行四向穿梭车充电任务
|
*/
|
public synchronized void executeShuttleCharge() {
|
try {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
|
if (wrkCharge == null) {
|
continue;
|
}
|
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
|
if (shuttleThread == null) {
|
continue;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (wrkCharge.getWrkSts() == 51) {
|
if (!shuttleProtocol.isIdleNoCharge()) {
|
continue;
|
}
|
|
if (shuttleProtocol.getSuspendState() == 1) {
|
continue;//管制中
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
|
//小车不在充电桩位置
|
shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
|
continue;
|
}
|
|
//小车已经在充电桩位置，下发充电命令
|
NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true);
|
ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
|
commands.add(chargeCommand);
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
assignCommand.setCommands(commands);//运行命令
|
|
wrkCharge.setWrkSts(52L);//51.生成充电任务 => 52.小车去充电中
|
wrkCharge.setModiTime(new Date());
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
} else if (wrkCharge.getWrkSts() == 52) {
|
//检测小车是否满电
|
|
//获取满电阈值
|
int maxPower = 95;
|
EntityWrapper<Config> wrapper = new EntityWrapper<>();
|
wrapper.eq("code", "chargeMaxValue");
|
Config config = configService.selectOne(wrapper);
|
if (config != null) {
|
maxPower = Integer.parseInt(config.getValue());
|
}
|
|
if (shuttleProtocol.getPowerPercent() < maxPower) {
|
continue;
|
}
|
|
//***************判断是否满充校准***************
|
EntityWrapper<Config> wrapper1 = new EntityWrapper<>();
|
wrapper.eq("code", "shuttleMaxPowerVerify");
|
Config config1 = configService.selectOne(wrapper1);
|
if (config1 != null) {
|
if (config1.getValue().equals("true")) {
|
if (shuttleProtocol.getVoltage() < 5630) {
|
continue;//电压不够继续充电
|
}
|
}
|
}
|
//***************判断是否满充校准***************
|
|
//小车满电，结束充电任务
|
NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
|
ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
|
commands.add(chargeCommand);
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
assignCommand.setCommands(commands);//运行命令
|
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
try {
|
Thread.sleep(3000);
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
|
wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成
|
wrkCharge.setModiTime(new Date());
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
|
shuttleProtocol.setTaskNo(0);
|
shuttleProtocol.setPakMk(false);
|
}
|
} else if (wrkCharge.getWrkSts() == 53) {
|
if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态
|
boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
|
if (!result) {
|
continue;
|
}
|
|
wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成
|
wrkCharge.setModiTime(new Date());
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
|
}
|
}
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行小车移库任务
|
*/
|
public synchronized void shuttleMoveExecute() {
|
try {
|
//查询小车移库任务
|
List<WrkMast> wrkMasts = wrkMastMapper.selectShuttleMoveWrk();
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
|
if (!stepMoveSta) {
|
continue;
|
}
|
|
boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(wrkMast);//小车迁入提升机
|
if (!stepIntoLift) {
|
continue;
|
}
|
|
boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中
|
if (!stepLiftMove) {
|
continue;
|
}
|
|
boolean stepOutLift = this.shuttleMoveExecuteStepOutLift(wrkMast);//小车迁出提升机
|
if (!stepOutLift) {
|
continue;
|
}
|
|
boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
|
if (!stepMoveLoc) {
|
continue;
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 小车迁移-小车移动到站点
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 101.生成小车移库任务 ==> 102.小车移动至站点中
|
if (wrkMast.getWrkSts() == 101) {
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//判断小车令牌是否未被占领
|
if (shuttleProtocol.getToken() != 0) {
|
News.info("{}任务，{}小车，令牌已被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//小车已被独占，禁止再派发任务
|
}
|
|
if (Utils.getLev(wrkMast.getLocNo()) == shuttleProtocol.getPoint().getZ()) {
|
//目标库位和小车库位处于同一楼层，不需要通过提升机调度
|
wrkMast.setWrkSts(109L);// 109.小车迁出提升机完成 ==> 110.小车移动中
|
wrkMast.setModiTime(now);
|
shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
return true;//直接进入109.小车迁出提升机完成 ==> 110.小车移动中
|
}
|
return false;
|
}
|
|
//获取源输送站
|
LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
|
if (liftSta == null) {
|
return false;//找不到站点
|
}
|
|
//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
|
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftSta.getLiftNo());
|
if (liftWrkMast != null) {
|
News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
|
//*************尝试锁定目标站路径***************
|
List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
|
if (targetNodes == null) {
|
return false;//未获取到节点
|
}
|
boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null);
|
if (!checkPathIsAvailable) {
|
News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//检测目标站点路径是否未被占用
|
}
|
//尝试锁定目标站路径
|
boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, true);//所使用的路径进行锁定禁用
|
if (!result2) {
|
News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//路径锁定失败
|
}
|
//*************尝试锁定目标站路径***************
|
|
//获取小车到输送站点行走命令
|
NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
|
if (result == null) {
|
//路径获取失败，需要解锁上面锁定的路径
|
//尝试解锁目标站路径
|
boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, false);//所使用的路径进行解锁
|
if (!result3) {
|
News.info("{}任务，{}小车，路径解锁失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//路径解锁失败
|
}
|
News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//路径解锁失败
|
}
|
List<NyShuttleHttpCommand> commands = result.getCommands();
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setCommands(commands);
|
assignCommand.setNodes(result.getNodes());
|
|
wrkMast.setWrkSts(102L);//小车移动到提升机中 101.生成小车移库任务 ==> 102.小车移动至站点
|
wrkMast.setModiTime(now);
|
wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
|
shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-小车迁入提升机
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
|
//--------------------------------------小车迁入提升机-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中
|
if (wrkMast.getWrkSts() == 103) {
|
//获取源站
|
LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
|
if (sourceLiftSta == null) {
|
return false;//找不到站点
|
}
|
|
//获取目标输送站
|
LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (liftSta == null) {
|
return false;//找不到站点
|
}
|
|
//获取提升机数据
|
BasLift basLift = basLiftService.selectById(liftSta.getLiftNo());
|
if (basLift == null) {
|
return false;//没有提升机数据
|
}
|
|
if (basLift.getPoint() == null) {
|
News.info("{}任务，{}号提升机，没有提升机点位坐标，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo());
|
return false;//没有设置提升机点位坐标
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
}
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSta.getLiftNo());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
|
if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo());
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//小车令牌是否被任务独占
|
if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//判断提升机楼层
|
if (liftProtocol.getLev().intValue() != shuttleProtocol.getPoint().getZ()) {
|
//提升机不在小车楼层
|
//调度提升机
|
|
if (liftProtocol.getToken() != 0) {
|
News.info("{}任务，{}号提升机，提升机令牌被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机令牌被占用
|
}
|
|
//获取提升机命令，调度提升机到源站位置
|
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());
|
|
int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
|
BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId());
|
if (basLiftOpt != null) {
|
News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
liftCommand.setTaskNo((short) deviceWrk);//更换随机任务号
|
|
ArrayList<NyLiftCommand> commands = new ArrayList<>();
|
commands.add(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
|
assignCommand.setAuto(false);
|
|
wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
|
wrkMast.setModiTime(now);
|
liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
return false;//等待提升机到小车楼层
|
}
|
|
if (liftProtocol.getToken() == 0) {//提升机令牌未被占用
|
//独占提升机
|
liftProtocol.setToken(wrkMast.getShuttleNo());
|
return false;//等待下一次执行
|
}
|
|
//判断提升机令牌是否为当前小车
|
if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
|
News.info("{}任务，{}号提升机，提升机令牌被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机已被独占，禁止再派发任务
|
}
|
|
//判断小车是否为当前任务独占
|
if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//站点节点
|
NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo());
|
|
//提升机节点
|
NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
|
liftNode.setZ(staNode.getZ());
|
|
//获取小车进提升机行走命令
|
NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), staNode, liftNode, true);
|
List<NyShuttleHttpCommand> commands = new ArrayList<>();
|
commands.add(moveCommand);
|
List<NavigateNode> nodes = new ArrayList<>();//行走节点路径
|
nodes.add(staNode);
|
nodes.add(liftNode);
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setCommands(commands);
|
assignCommand.setNodes(nodes);
|
|
wrkMast.setWrkSts(104L);//小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中
|
wrkMast.setModiTime(now);
|
wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
|
liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
return false;
|
}
|
return false;
|
}
|
|
return true;
|
}
|
|
/**
|
* 小车迁移-提升机搬运中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
|
//--------------------------------------提升机搬运中-----------------------------------------//
|
Date now = new Date();
|
|
//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中
|
if (wrkMast.getWrkSts() == 105) {
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
}
|
|
//判断提升机令牌是否为当前小车
|
if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
|
News.info("{}任务，{}号提升机，提升机令牌和当前小车不一致，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机令牌和当前小车不一致，禁止派发
|
}
|
|
//判断提升机内是否有小车
|
if (!liftProtocol.getHasCar()) {
|
News.info("{}任务，{}号提升机，提升机内无小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机内无小车
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleProtocol.isIdleNoCharge()) {
|
News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
|
//判断小车是否为当前任务独占
|
if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车当前任务未被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//获取源站
|
LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
|
//获取目标站
|
LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (sourceLiftSta == null || liftSta == null) {
|
News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
|
return false;//缺少站点信息
|
}
|
|
//获取提升机命令
|
NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), liftSta.getStaNo(), wrkMast.getWrkNo());
|
|
ArrayList<NyLiftCommand> commands = new ArrayList<>();
|
commands.add(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
|
|
wrkMast.setWrkSts(106L);//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中
|
wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-小车迁出提升机
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleMoveExecuteStepOutLift(WrkMast wrkMast) {
|
//--------------------------------------小车迁出提升机-----------------------------------------//
|
Date now = new Date();
|
//小车移动到提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
|
if (wrkMast.getWrkSts() == 107) {
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
}
|
|
//判断提升机令牌是否为当前小车
|
if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
|
News.info("{}任务，{}号提升机，提升机令牌和当前小车不一致，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机令牌和当前小车不一致，禁止派发
|
}
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleProtocol.isIdleNoCharge()) {
|
News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//判断小车是否为当前任务独占
|
if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//获取目标站
|
LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (liftSta == null) {
|
return false;//找不到站点
|
}
|
|
//获取提升机数据
|
BasLift basLift = basLiftService.selectById(liftProtocol.getLiftNo().intValue());
|
if (basLift == null) {
|
return false;//没有提升机数据
|
}
|
if (basLift.getPoint() == null) {
|
News.info("{}任务，{}号提升机，缺少提升机点位坐标，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//没有设置提升机点位坐标
|
}
|
|
NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
|
liftNode.setZ(liftSta.getLev());
|
|
List<NyShuttleHttpCommand> commands = new ArrayList<>();
|
//获取小车更新楼层命令
|
NyShuttleHttpCommand updateZCommand = NyHttpUtils.getUpdateZCommand(shuttleThread.getSlave().getId(), liftProtocol.getLev().intValue(), wrkMast.getWrkNo());
|
commands.add(updateZCommand);
|
|
//获取小车出提升机行走命令
|
NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(liftSta.getLocNo()), false);
|
commands.add(moveCommand);//添加小车迁出提升机命令
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setCommands(commands);
|
assignCommand.setNodes(null);
|
|
wrkMast.setWrkSts(108L);//小车迁出提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-小车移动到目标库位中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
|
//--------------------------------------小车移动到目标库位中-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
|
if (wrkMast.getWrkSts() == 109) {
|
|
//获取四向穿梭车线程
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//判断小车令牌是否为当前任务
|
if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
// //跨楼层移动任务
|
// if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
// //获取目标站
|
// LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
// if (liftSta == null) {
|
// return false;//找不到站点
|
// }
|
//
|
// //*************尝试解锁目标站路径***************
|
// List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
|
// if (targetNodes == null) {
|
// return false;//未获取到节点
|
// }
|
// //尝试解锁目标站路径
|
// boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁
|
// if (!result) {
|
// return false;//路径解锁失败
|
// }
|
// //*************尝试解锁目标站路径***************
|
// }
|
|
//小车已经在目标库位，直接认定小车移动任务完成
|
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
|
//释放小车令牌
|
shuttleProtocol.setToken(0);
|
}
|
wrkMast.setWrkSts(111L);//111.小车移动完成
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setModiTime(now);
|
wrkMastMapper.updateById(wrkMast);
|
|
shuttleProtocol.setShuttleNo((short) 0);//释放小车
|
shuttleProtocol.setToken(0);//释放小车
|
|
if (wrkMast.getWrkSts() == 111) {
|
// 保存工作主档历史档
|
if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) {
|
log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
|
}
|
// 删除工作主档
|
if (!wrkMastService.deleteById(wrkMast)) {
|
log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
|
}
|
}
|
return false;
|
}
|
|
NyShuttleOperaResult result = null;
|
//跨楼层移动任务
|
if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
//需要将前两个节点作为白名单节点传入
|
//获取目标站
|
LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (liftSta == null) {
|
return false;//找不到站点
|
}
|
|
List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
|
if (targetNodes == null) {
|
return false;//未获取到节点
|
}
|
|
//设置计算节点的白名单
|
ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
|
for (NavigateNode node : targetNodes) {
|
whiteList.add(new int[]{node.getX(), node.getY()});
|
}
|
result = NyShuttleOperaUtils.getStartToTargetCommandsByWhites(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList);
|
}else {
|
//获取小车到目标库位命令
|
result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
|
}
|
|
if (result == null) {
|
return false;//路径计算失败
|
}
|
List<NyShuttleHttpCommand> commands = result.getCommands();
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setCommands(commands);
|
assignCommand.setNodes(result.getNodes());
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
|
assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
|
|
if (wrkMast.getLiftNo() != null) {
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return false;
|
}
|
if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo().intValue())) {
|
liftProtocol.setToken(0);//释放提升机令牌
|
}
|
}
|
|
wrkMast.setWrkSts(110L);//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setModiTime(now);
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
return true;
|
}
|
|
//扫描设备PakMk标记是否超时
|
public synchronized void scanDevicePakMk() {
|
try {
|
//扫描小车
|
for (ShuttleSlave slave : slaveProperties.getShuttle()) {
|
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
|
NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000 * 60 * 5)) && shuttleProtocol.getPakMk()) {
|
//设备超过5分钟还没复位标记
|
shuttleProtocol.setPakMk(false);//复位标记
|
}
|
}
|
|
//扫描提升机
|
for (LiftSlave slave : slaveProperties.getLift()) {
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000 * 60 * 5)) && liftProtocol.getPakMk()) {
|
//设备超过5分钟还没复位标记
|
liftProtocol.setPakMk(false);//复位标记
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
|
}
|
|
}
|
