package com.zy.core.action;
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import com.alibaba.fastjson.JSON;
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import com.zy.asrs.entity.BasLiftOpt;
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import com.zy.asrs.service.BasLiftOptService;
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import com.zy.asrs.service.WrkMastService;
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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.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.CommandResponse;
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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.LiftRedisCommand;
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import com.zy.core.model.protocol.LiftProtocol;
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import com.zy.core.thread.LiftThread;
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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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@Component
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public class LiftAction {
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasLiftOptService basLiftOptService;
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public synchronized boolean assignWork(Integer liftNo, LiftAssignCommand assignCommand) {
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
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if (liftThread == null) {
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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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return false;
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}
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LiftRedisCommand redisCommand = new LiftRedisCommand();
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redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号
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redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号
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redisCommand.setCommandStep(0);//命令执行步序
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redisCommand.setAssignCommand(assignCommand);//命令
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//任务数据保存到redis
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if (redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) {
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liftThread.setSyncTaskNo(assignCommand.getTaskNo().intValue());
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return true;
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}
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return false;
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}
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public synchronized boolean executeWork(Integer liftNo, Integer taskNo) {
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Object obj = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + taskNo);
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if (obj == null) {
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return false;
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}
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// WrkMast wrkMast = wrkMastService.selectByWorkNo(taskNo);
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// if (wrkMast == null) {
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// return false;
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// }
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LiftRedisCommand redisCommand = JSON.parseObject(obj.toString(), LiftRedisCommand.class);
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if (redisCommand == null) {
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return false;
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}
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
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if (liftThread == null) {
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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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return false;
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}
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List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands();
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if (commands.isEmpty()) {
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return false;
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}
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LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
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int commandStep = redisCommand.getCommandStep();
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if (commandStep == 0) {
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//取出命令
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LiftCommand command = commands.get(commandStep);
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//判断提升机是否空闲
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if (!liftThread.isDeviceIdle()) {
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return false;
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}
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// 下发命令
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CommandResponse response = write(command, liftNo);
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//保存命令日志
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BasLiftOpt basLiftOpt = new BasLiftOpt();
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basLiftOpt.setWrkNo(taskNo);
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basLiftOpt.setLiftNo(liftNo);
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basLiftOpt.setCommand(JSON.toJSONString(command));
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basLiftOpt.setSystemStatus(JSON.toJSONString(liftProtocol));
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basLiftOpt.setDeviceWrk(String.valueOf(command.getTaskNo()));
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basLiftOpt.setSendTime(new Date());//指令下发时间
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//保存命令流水
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basLiftOptService.insert(basLiftOpt);
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if (!response.getResult()) {
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News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
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return false;
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} else {
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News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command));
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}
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commandStep++;
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//更新redis数据
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redisCommand.setCommandStep(commandStep);
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// 更新redis数据
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redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + taskNo, JSON.toJSONString(redisCommand));
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}else {
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LiftCommand command = commands.get(commandStep - 1);
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if (command.getMode() == LiftCommandModeType.MOVE.id) {
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//提升机升降
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Integer target = command.getTargetLev();
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if (liftProtocol.getLev() == target) {
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command.setComplete(true);
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}
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} else if (command.getMode() == LiftCommandModeType.PALLET_IN.id) {
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//判断提升机托盘是否存在
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if (!liftProtocol.getHasTray()) {
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return false;
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}
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command.setComplete(true);
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} else if (command.getMode() == LiftCommandModeType.PALLET_OUT.id) {
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//判断提升机托盘是否存在
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if (liftProtocol.getHasTray()) {
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return false;
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}
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command.setComplete(true);
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} else if (command.getMode() == LiftCommandModeType.RESET.id) {
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//复位
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command.setComplete(true);
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}
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// 更新redis数据
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redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + taskNo, JSON.toJSONString(redisCommand));
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if (!command.getComplete()) {
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return false;
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}
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//判断是否为最后一条命令且命令执行完成，抛出等待确认状态
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LiftCommand endCommand = commands.get(commands.size() - 1);
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if (endCommand.getComplete()) {
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News.info("提升机任务执行下发完成等待执行结束，提升机号={}，任务数据={}", liftProtocol.getLiftNo(), JSON.toJSON(commands));
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//对主线程抛出等待确认状态waiting
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liftThread.setProtocolStatus(LiftProtocolStatusType.WAITING);
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redisUtil.del(RedisKeyType.LIFT_WORK_FLAG.key + taskNo);
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return false;//禁止再下发命令
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}
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}
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return true;
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}
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private synchronized CommandResponse write(LiftCommand command, Integer liftNo) {
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CommandResponse response = new CommandResponse(false);
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if (null == command) {
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News.error("提升机写入命令为空");
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response.setMessage("提升机写入命令为空");
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return response;
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}
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LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
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if (liftThread == null) {
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return response;
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}
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if (command.getMode().intValue() == LiftCommandModeType.MOVE.id) {
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response = liftThread.move(command);
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} else if (command.getMode().intValue() == LiftCommandModeType.PALLET_IN.id) {
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response = liftThread.palletInOut(command);
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} else if (command.getMode().intValue() == LiftCommandModeType.PALLET_OUT.id) {
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response = liftThread.palletInOut(command);
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}
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return response;
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}
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}
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