package com.zy.asrs.service.impl;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.Utils;
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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.utils.LiftUtils;
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import com.zy.common.utils.ShuttleOperaUtils;
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import com.zy.core.News;
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import com.zy.core.action.LiftAction;
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import com.zy.core.action.ShuttleAction;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.dispatcher.ShuttleDispatchUtils;
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import com.zy.core.enums.LiftCommandModeType;
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import com.zy.core.enums.ShuttleTaskModeType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.enums.WrkStsType;
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import com.zy.core.model.command.LiftAssignCommand;
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import com.zy.core.model.command.LiftCommand;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.command.ShuttleCommand;
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import com.zy.core.model.protocol.LiftProtocol;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.thread.LiftThread;
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import com.zy.core.thread.ShuttleThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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@Component
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public class TransportLiftOutServiceImpl {
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private ShuttleOperaUtils shuttleOperaUtils;
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@Autowired
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private ShuttleAction shuttleAction;
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@Autowired
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private CommonService commonService;
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@Autowired
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private LiftAction liftAction;
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@Autowired
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private ShuttleDispatchUtils shuttleDispatchUtils;
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public void shuttleMoveExecuteTransportLiftPut(WrkMast wrkMast) {
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boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//呼叫小车至取货点
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if (!stepMoveSta) {
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return;
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}
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boolean stepTransportLiftOutStepMoveSta = this.shuttleMoveExecuteTransportLiftOutStepMoveSta(wrkMast);//小车移动到站点
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if (!stepTransportLiftOutStepMoveSta) {
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return;
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}
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boolean stepLiftToShuttleLev = this.shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(wrkMast);//提升机到小车层
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if (!stepLiftToShuttleLev) {
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return;
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}
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boolean stepIntoLift = this.shuttleMoveExecuteTransportLiftOutStepIntoLift(wrkMast);//小车迁入提升机
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if (!stepIntoLift) {
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return;
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}
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boolean stepOutLift = this.shuttleMoveExecuteTransportLiftOutStepOutLift(wrkMast);//小车迁出提升机
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if (!stepOutLift) {
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return;
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}
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}
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/**
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* 小车迁移-呼叫小车至取货点
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* 如需主方法执行continue，请返回false
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* 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
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*/
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private boolean shuttleMoveExecuteTransportLiftStepCallShuttle(WrkMast wrkMast) {
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Date now = new Date();
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//小车移动至站点 301.生成小车移库任务 ==> 呼叫小车至取货点
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if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
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if (shuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return false;
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}
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//小车处于空闲状态
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if (!shuttleThread.isIdle()) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
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//小车在取货点
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wrkMast.setWrkSts(WrkStsType.CALL_SHUTTLE_TO_TAKE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 呼叫小车至取货点
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wrkMast.setModiTime(now);
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wrkMast.setSystemMsg("");//清空消息
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wrkMastService.updateById(wrkMast);
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return false;
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}
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boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo(), null, true);
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if (!dispatchShuttle) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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wrkMast.setWrkSts(WrkStsType.CALL_SHUTTLE_TO_TAKE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 呼叫小车至取货点
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wrkMast.setModiTime(now);
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wrkMast.setSystemMsg("");//清空消息
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wrkMastService.updateById(wrkMast);
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return false;
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}
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return true;
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}
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/**
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* 小车迁移-小车移动到站点
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* 如需主方法执行continue，请返回false
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* 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
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*/
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private boolean shuttleMoveExecuteTransportLiftOutStepMoveSta(WrkMast wrkMast) {
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//--------------------------------------小车移动至站点-----------------------------------------//
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Date now = new Date();
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//小车移动至站点 呼叫小车至取货点 ==> 小车移动至站点中
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if (wrkMast.getWrkSts() == WrkStsType.CALL_SHUTTLE_TO_TAKE.sts) {
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
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if (shuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return false;
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}
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//小车处于空闲状态
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if (!shuttleThread.isIdle()) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达取货点", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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//获取穿梭车最近且空闲的提升机
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LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
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if (liftThread == null) {
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News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
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return false;//没有可用且空闲的提升机
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}
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
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return false;
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}
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//获取提升机待机位
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String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()), true);
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ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
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assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
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assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
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assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
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assignCommand.setAuto(true);//自动模式
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List<ShuttleCommand> commands = new ArrayList<>();
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Integer mapType = NavigationMapType.DFX.id;
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//获取小车到提升机待机位行走命令
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List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
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if (moveCommands == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;//路径解锁失败
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}
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commands.addAll(moveCommands);
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List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
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if (liftCommand == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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commands.addAll(0, liftCommand);
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assignCommand.setCommands(commands);
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wrkMast.setWrkSts(WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中 呼叫小车至取货点 ==> 小车移动至站点中
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wrkMast.setModiTime(now);
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wrkMast.setSystemMsg("");//清空消息
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if (wrkMastService.updateById(wrkMast)) {
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//下发任务
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shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
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return false;
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}
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return false;
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}
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return true;
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}
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/**
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* 小车迁移-提升机到小车层
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* 如需主方法执行continue，请返回false
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* 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
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*/
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private boolean shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(WrkMast wrkMast) {
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//--------------------------------------小车迁入提升机-----------------------------------------//
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Date now = new Date();
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//小车移动到提升机中 小车移动至站点完成 ==> 提升机至小车层
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if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
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if (shuttleThread == null) {
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News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;
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}
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LiftThread liftThread = null;
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LiftProtocol liftProtocol = null;
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if (wrkMast.getLiftNo() == null) {
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//获取穿梭车最近且空闲的提升机
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liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
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if (liftThread == null) {
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News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
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return false;//没有可用且空闲的提升机
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}
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liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
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return false;
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}
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//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)
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WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
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if (liftWrkMast != null) {
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if (liftWrkMast != null && !wrkMast.getMainWrkNo().equals(liftWrkMast.getWrkNo())) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
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return false;//当前提升机存在未完成任务，等待下一次轮询
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}
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}
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wrkMast.setModiTime(now);
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wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
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wrkMast.setSystemMsg("");//清空消息
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wrkMastService.updateById(wrkMast);
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return false;
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} else {
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liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
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if (liftThread == null) {
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News.info("{}号提升机不存在", wrkMast.getLiftNo());
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return false;
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}
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liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
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return false;
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}
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}
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//判断提升机是否有其他任务
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WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
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if (liftWrkMast != null) {
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if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
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News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;//当前提升机存在未完成任务，等待下一次轮询
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}
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}
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if (!liftThread.isIdle()) {
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News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;
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}
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//判断提升机内是否有小车
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if (liftProtocol.getHasCar()) {
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News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
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return false;//提升机内无小车
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}
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//判断提升机内是否有托盘
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if (liftProtocol.getHasTray()) {
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News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
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return false;//提升机内无小车
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}
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//判断提升机楼层
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if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
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//提升机在小车楼层
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wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中 小车移动至站点完成 ==> 提升机至小车层完成
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wrkMast.setModiTime(now);
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wrkMastService.updateById(wrkMast);
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return false;
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}
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//调度提升机
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//获取提升机命令
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List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), Utils.getLev(shuttleProtocol.getCurrentLocNo()), LiftCommandModeType.MOVE);
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LiftCommand liftCommand = liftCommands.get(0);
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int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
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liftCommand.setTaskNo(deviceWrk);//更换随机任务号
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ArrayList<LiftCommand> commands = new ArrayList<>();
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commands.add(liftCommand);
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//提交到线程去工作
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LiftAssignCommand assignCommand = new LiftAssignCommand();
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assignCommand.setCommands(commands);
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assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
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assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
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assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
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wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中 小车移动至站点完成 ==> 提升机至小车层
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wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
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wrkMast.setSystemMsg("");//清空消息
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wrkMast.setModiTime(now);
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if (wrkMastService.updateById(wrkMast)) {
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//下发任务
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liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
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return false;
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}
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return false;
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}
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return true;
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}
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/**
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* 小车迁移-小车迁入提升机
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* 如需主方法执行continue，请返回false
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* 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
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*/
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private boolean shuttleMoveExecuteTransportLiftOutStepIntoLift(WrkMast wrkMast) {
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//--------------------------------------小车迁入提升机-----------------------------------------//
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Date now = new Date();
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//小车移动到提升机中 提升机至小车层完成 ==> 小车迁入提升机中
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if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
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if (shuttleThread == null) {
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News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;
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}
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if (wrkMast.getLiftNo() == null) {
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News.info("{}任务，未绑定提升机，禁止派发", wrkMast.getWrkNo());
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return false;
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}
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
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if (liftThread == null) {
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News.info("{}号提升机不存在", wrkMast.getLiftNo());
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return false;
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}
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LiftProtocol liftProtocol = liftThread.getStatus();
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if (liftProtocol == null) {
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News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
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return false;
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}
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//判断提升机是否有其他任务
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WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
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if (liftWrkMast != null) {
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if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
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News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;//当前提升机存在未完成任务，等待下一次轮询
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}
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}
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if (!liftThread.isIdle()) {
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News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
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return false;
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}
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//小车处于空闲状态
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if (!shuttleThread.isIdle()) {
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News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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//判断提升机内是否有小车
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if (liftProtocol.getHasCar()) {
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News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
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return false;//提升机内无小车
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}
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//判断提升机内是否有托盘
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if (liftProtocol.getHasTray()) {
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News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
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return false;//提升机内无小车
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}
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//判断提升机楼层
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if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
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//提升机不在小车楼层
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News.info("{}任务，{}号提升机，提升机与小车不在同一层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
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return false;//等待提升机到小车楼层
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}
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|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
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assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
|
//获取小车到提升机行走命令
|
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
|
if (liftCommand == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
commands.addAll(liftCommand);
|
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中 提升机至小车层完成 ==> 小车迁入提升机中
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
return false;
|
}
|
return false;
|
}
|
|
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 shuttleMoveExecuteTransportLiftOutStepOutLift(WrkMast wrkMast) {
|
//--------------------------------------小车迁入提升机-----------------------------------------//
|
Date now = new Date();
|
//小车移动到提升机中 小车迁入提升机完成 ==> 小车迁出提升机中
|
if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;
|
}
|
|
if (wrkMast.getLiftNo() == null) {
|
News.info("{}任务，提升机未绑定，禁止派发", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
|
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(), wrkMast.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, wrkMast.getLiftNo());
|
if (liftThread == null) {
|
News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;
|
}
|
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
News.info("{}任务，{}号提升机，提升机对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;
|
}
|
|
if (!liftThread.isIdle()) {
|
News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleThread.isIdle()) {
|
News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//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
|
}
|
|
//判断提升机内是否有托盘
|
if (!liftProtocol.getHasTray()) {
|
News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;//提升机内无小车
|
}
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
|
//获取提升机待机位
|
String liftStandByLocNo = liftThread.getLiftStandByLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo()), false);
|
|
//去待机位
|
String locNo = Utils.getLocNo(Utils.getRow(liftStandByLocNo) + 1, Utils.getBay(liftStandByLocNo) - 1, Utils.getLev(liftStandByLocNo));
|
//防止另一辆车占用待机位
|
try{
|
if (shuttleProtocol.getShuttleNo() == 2) {
|
ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
|
if (locNo.equals(shuttleThread1.getStatus().getCurrentLocNo())) {
|
locNo = Utils.getLocNo(Utils.getRow(liftStandByLocNo) + 2, Utils.getBay(liftStandByLocNo) - 1, Utils.getLev(liftStandByLocNo));
|
}
|
} else {
|
ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
|
if (locNo.equals(shuttleThread2.getStatus().getCurrentLocNo())) {
|
locNo = Utils.getLocNo(Utils.getRow(liftStandByLocNo) + 2, Utils.getBay(liftStandByLocNo) - 1, Utils.getLev(liftStandByLocNo));
|
}
|
}
|
}catch (Exception e){
|
|
}
|
//获取小车到提升机待机行走命令
|
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), locNo, NavigationMapType.DFX.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts);//小车移动到提升机中 提升机至放货层完成 ==> 小车迁出提升机中
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
|
if (wrkMast1 != null) {
|
wrkMast.setLiftNo(1);
|
wrkMastService.updateById(wrkMast1);
|
} else {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，找不到主工作档", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
return false;
|
}
|
return false;
|
}
|
|
return true;
|
}
|
|
}
|
