package com.zy.asrs.service.impl;
|
|
import com.alibaba.fastjson.JSON;
|
import com.baomidou.mybatisplus.mapper.EntityWrapper;
|
import com.core.common.Cools;
|
import com.zy.asrs.entity.BasCircularShuttle;
|
import com.zy.asrs.entity.BasDevpPosition;
|
import com.zy.asrs.entity.BasRgv;
|
import com.zy.asrs.entity.BasSte;
|
import com.zy.asrs.service.BasCircularShuttleService;
|
import com.zy.asrs.service.BasDevpPositionService;
|
import com.zy.asrs.service.BasDevpService;
|
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
|
import com.zy.asrs.utils.Utils;
|
import com.zy.core.DevpThread;
|
import com.zy.core.News;
|
import com.zy.core.cache.MessageQueue;
|
import com.zy.core.cache.SlaveConnection;
|
import com.zy.core.enums.*;
|
import com.zy.core.model.DevpSlave;
|
import com.zy.core.model.RgvSlave;
|
import com.zy.core.model.SteSlave;
|
import com.zy.core.model.Task;
|
import com.zy.core.model.command.SteCommand;
|
import com.zy.core.model.protocol.RgvProtocol;
|
import com.zy.core.model.protocol.StaProtocol;
|
import com.zy.core.model.protocol.SteProtocol;
|
import com.zy.core.properties.SlaveProperties;
|
import com.zy.core.thread.RgvThread;
|
import com.zy.core.thread.SiemensDevpThread;
|
import com.zy.core.thread.SteThread;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.beans.factory.annotation.Value;
|
import org.springframework.stereotype.Service;
|
import org.springframework.transaction.annotation.Transactional;
|
|
import java.util.Arrays;
|
import java.util.Date;
|
import java.util.List;
|
import java.util.Map;
|
|
/**
|
* 立体仓库WCS系统主流程业务
|
* Created by vincent on 2020/8/6
|
*/
|
@Slf4j
|
@Service("mainService")
|
@Transactional
|
public class MainServiceImpl {
|
|
@Autowired
|
private SlaveProperties slaveProperties;
|
@Autowired
|
private BasDevpService basDevpService;
|
@Autowired
|
private BasRgvServiceImpl basRgvService;
|
@Autowired
|
private BasDevpPositionService basDevpPositionService;
|
@Autowired
|
private BasCircularShuttleService basCircularShuttleService;
|
/**
|
* 站点任务检测 下发小车取放任务
|
*/
|
public synchronized void updateStePosition() {
|
try{
|
boolean sign = false;
|
Integer rgvNo = 0;
|
List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
|
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.SOS1001) ){
|
sign = true;
|
} else {
|
rgvNo = basCircularShuttle.getRgvNo();
|
break;
|
}
|
}
|
if (sign && rgvNo!=0){
|
int[][] ints = new int[basCircularShuttleList.size()][2];
|
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
|
ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
|
}
|
String[] oldList = new String[ints.length];
|
for (int[] rgv : ints){
|
oldList[rgv[0]-1] = Arrays.toString(rgv);
|
}
|
int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
|
String[] newList = new String[rgvList.length];
|
for (int[] rgv : rgvList){
|
newList[rgv[0]-1] = Arrays.toString(rgv);
|
}
|
|
log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
|
for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
|
int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
|
basCircularShuttle.setRgvId(rgv[1]);
|
basCircularShuttleService.updateById(basCircularShuttle);
|
}
|
}
|
|
} catch (Exception e) {
|
log.error("自动更新小车排序信息失败，异常："+e);
|
}
|
}
|
/**
|
* 站点任务检测 下发小车取放任务
|
*/
|
public synchronized void DevpTaskNoRun() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta sta : devp.getInSta()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
}
|
}
|
}
|
|
public synchronized void loopSteCharge() {
|
for (RgvSlave rgv : slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
BasRgv basRgv = basRgvService.selectById(rgv.getId());
|
if (Cools.isEmpty(rgvProtocol, basRgv)) { continue; }
|
try {
|
// 在线 空闲 无作业标记 不在充电
|
if (rgvProtocol.getMode() == 0
|
|| !rgvProtocol.statusType.equals(RgvStatusType.IDLE)
|
|| basRgv.getPakMk().equals("Y")
|
// || steProtocol.getChargeStatus() == 1
|
) {
|
continue;
|
}
|
} catch (Exception e) {
|
News.error("fail", e);
|
}
|
}
|
}
|
}
|
