package com.zy.core.utils;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.asrs.service.LocMastService;
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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.utils.RedisUtil;
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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.StationObjModel;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.StationCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.thread.CrnThread;
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import com.zy.core.thread.StationThread;
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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.Date;
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import java.util.List;
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import java.util.Map;
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@Component
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public class CrnOperateProcessUtils {
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private RedisUtil redisUtil;
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//入出库 ===>> 堆垛机入出库作业下发
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public synchronized void crnIoExecute() {
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List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
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for (BasCrnp basCrnp : basCrnps) {
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
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if(crnThread == null){
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continue;
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}
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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continue;
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}
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("crn_no", basCrnp.getCrnNo())
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.in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts)
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);
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if(!wrkMasts.isEmpty()){
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continue;
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}
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// 只有当堆垛机空闲 并且 无任务时才继续执行
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if (crnProtocol.getMode() == CrnModeType.AUTO.id
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&& crnProtocol.getTaskNo() == 0
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&& crnProtocol.getStatus() == CrnStatusType.IDLE.id
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&& crnProtocol.getLoaded() == 0
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&& crnProtocol.getForkPos() == 0
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&& crnProtocol.getAlarm() == 0
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) {
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// 如果最近一次是入库模式
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if (crnProtocol.getLastIo().equals("I")) {
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if (basCrnp.getInEnable().equals("Y")) {
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this.crnExecuteIn(basCrnp, crnThread); // 入库
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crnProtocol.setLastIo("O");
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} else if (basCrnp.getOutEnable().equals("Y")) {
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this.crnExecuteOut(basCrnp, crnThread); // 出库
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crnProtocol.setLastIo("I");
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}
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}
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// 如果最近一次是出库模式
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else if (crnProtocol.getLastIo().equals("O")) {
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if (basCrnp.getOutEnable().equals("Y")) {
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this.crnExecuteOut(basCrnp, crnThread); // 出库
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crnProtocol.setLastIo("I");
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} else if (basCrnp.getInEnable().equals("Y")) {
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this.crnExecuteIn(basCrnp, crnThread); // 入库
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crnProtocol.setLastIo("O");
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}
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}
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}
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}
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}
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private synchronized void crnExecuteIn(BasCrnp basCrnp, CrnThread crnThread) {
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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return;
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}
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if(!basCrnp.getInEnable().equals("Y")){
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News.info("堆垛机:{} 可入信号不满足", basCrnp.getCrnNo());
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return;
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}
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List<StationObjModel> inStationList = basCrnp.getInStationList$();
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if(inStationList.isEmpty()){
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News.info("堆垛机:{} 入库站点未设置", basCrnp.getCrnNo());
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return;
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}
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Integer crnNo = basCrnp.getCrnNo();
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for (StationObjModel stationObjModel : inStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (!stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() <= 0) {
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continue;
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}
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if (!stationProtocol.isInEnable()) {
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News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
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continue;
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}
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// 获取任务
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WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
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if (null == wrkMast) {
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News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务信息不存在", stationProtocol.getTaskNo());
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continue;
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}
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if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
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News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务状态异常", stationProtocol.getTaskNo());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 信息不存在", wrkMast.getLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("S")) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 状态异常", wrkMast.getLocNo());
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continue;
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}
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String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
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wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
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wrkMast.setCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
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News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
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}
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}
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}
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private synchronized void crnExecuteOut(BasCrnp basCrnp, CrnThread crnThread) {
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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return;
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}
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if(!basCrnp.getOutEnable().equals("Y")){
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News.info("堆垛机:{} 可出信号不满足", basCrnp.getCrnNo());
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return;
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}
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List<StationObjModel> outStationList = basCrnp.getOutStationList$();
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if(outStationList.isEmpty()){
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News.info("堆垛机:{} 出库站点未设置", basCrnp.getCrnNo());
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return;
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}
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Integer crnNo = basCrnp.getCrnNo();
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("crn_no", crnNo)
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.eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts)
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);
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for (WrkMast wrkMast : wrkMasts) {
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for (StationObjModel stationObjModel : outStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() != 0) {
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continue;
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}
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if (!stationProtocol.isOutEnable()) {
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News.info("放货站点:{} 没有可出信号", stationObjModel.getStationId());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("R")) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常", wrkMast.getSourceLocNo());
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continue;
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}
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String targetLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), targetLocNo, wrkMast.getWrkNo(), crnNo);
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
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wrkMast.setCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
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News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
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return;
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}
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}
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}
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}
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//堆垛机任务执行完成
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public synchronized void crnIoExecuteFinish() {
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List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
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for (BasCrnp basCrnp : basCrnps) {
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
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if(crnThread == null){
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continue;
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}
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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continue;
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}
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if (crnProtocol.getMode() == CrnModeType.AUTO.id
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&& crnProtocol.getTaskNo() > 0
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&& crnProtocol.getStatus() == CrnStatusType.WAITING.id
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) {
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Object lock = redisUtil.get(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo());
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if(lock != null){
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continue;
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}
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// 获取待确认工作档
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WrkMast wrkMast = wrkMastService.selectByWorkNo(crnProtocol.getTaskNo());
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if (wrkMast == null) {
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News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
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continue;
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}
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Long updateWrkSts = null;
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if(wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts){
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updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
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}else if(wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts){
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updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
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}else{
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News.error("堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
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continue;
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}
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wrkMast.setWrkSts(updateWrkSts);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo());
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MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, resetCommand));
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News.info("堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
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}
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redisUtil.set(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo(), "lock",10);
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}
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}
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}
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}
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