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.core.exception.CoolException;
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import com.zy.asrs.domain.enums.TaskStatusType;
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import com.zy.asrs.domain.enums.WorkNoType;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.entity.param.GenerateAgvTaskParam;
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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.service.CommonService;
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import com.zy.common.utils.HttpHandler;
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import com.zy.core.DevpThread;
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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.CrnSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.SiemensDevpThread;
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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 java.io.IOException;
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import java.util.*;
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/**
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* 立体仓库WCS系统主流程业务
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private TaskWrkMapper taskWrkMapper;
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@Autowired
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private TaskWrkService taskWrkService;
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@Autowired
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private ConfigService configService;
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@Autowired
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private StaDescMapper staDescMapper;
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@Autowired
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private CommandInfoService commandInfoService;
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@Autowired
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private ApiLogService apiLogService;
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@Autowired
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private OpenService openService;
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@Autowired
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private CommonService commonService;
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@Value("${wcs.urlWcs}")
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private String wcsUrl;
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@Value("${wcs.inboundTaskApplyPathWcs}")
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private String wcsInboundTaskApplyPath;
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public synchronized void demo() {
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boolean demoEnable = false;
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Config demoEnableConfig = configService.selectByCode("demoEnable");
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if(demoEnableConfig != null) {
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demoEnable = Boolean.parseBoolean(demoEnableConfig.getValue());
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}
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if (!demoEnable) {
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return;
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}
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//演示模式-AGV出库
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demoAgvOut();
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//演示模式-AGV入库
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demoAgvIn();
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//演示模式-四向库出库
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demoShuttleOut();
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//演示模式-四向库入库
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demoShuttleIn();
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}
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//演示模式-AGV出库
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private synchronized void demoAgvOut() {
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LocMast locMast = locMastService.selectByLocNo("1100601");
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if(locMast == null) {
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return;
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}
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if (!locMast.getLocSts().equals("O")) {
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return;
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}
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List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
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.eq("mk", "agv")
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.eq("loc_sts", "F")
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.notIn("loc_no", "0900601")
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);
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if (locMasts.isEmpty()) {
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return;
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}
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LocMast originLocMast = locMasts.get(0);
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//生成AGV出库任务
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GenerateAgvTaskParam param = new GenerateAgvTaskParam();
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param.setOriginPoint(originLocMast.getLocNo());
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param.setTargetPoint(locMast.getLocNo());
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openService.generateAgvTask(param);
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}
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//演示模式-AGV入库
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private synchronized void demoAgvIn() {
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LocMast locMast = locMastService.selectByLocNo("0900601");
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if(locMast == null) {
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return;
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}
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if (!locMast.getLocSts().equals("F")) {
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return;
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}
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List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
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.eq("mk", "agv")
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.eq("loc_sts", "O")
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.notIn("loc_no", "1100601")
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);
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if (locMasts.isEmpty()) {
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return;
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}
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LocMast targetLocMast = locMasts.get(0);
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//生成AGV出库任务
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GenerateAgvTaskParam param = new GenerateAgvTaskParam();
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param.setOriginPoint(locMast.getLocNo());
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param.setTargetPoint(targetLocMast.getLocNo());
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openService.generateAgvTask(param);
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}
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//演示模式-四向库出库
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private synchronized void demoShuttleOut() {
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LocMast locMast = locMastService.selectByLocNo("0900601");
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if(locMast == null) {
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return;
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}
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if (!locMast.getLocSts().equals("O")) {
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return;
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}
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ArrayList<Integer> disableLevList = new ArrayList<>();
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//query in task
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List<TaskWrk> taskWrks = taskWrkService.selectList(new EntityWrapper<TaskWrk>()
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.eq("io_type", 1));
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for (TaskWrk taskWrk : taskWrks) {
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int lev = Utils.getLev(taskWrk.getTargetPoint());
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if(!disableLevList.contains(lev)) {
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disableLevList.add(lev);
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}
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}
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List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
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.notIn("lev1", disableLevList)
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.eq("loc_sts", "F")
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);
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if(locMasts.isEmpty()) {
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return;
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}
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LocMast locMast1 = locMasts.get(0);
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Date now = new Date();
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TaskWrk taskWrk = new TaskWrk();
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int workNo1 = commonService.getWorkNo(WorkNoType.PAKOUT.type);//获取入库工作号
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taskWrk.setTaskNo(String.valueOf(workNo1));//任务号
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taskWrk.setWrkNo(workNo1);
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taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
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taskWrk.setWrkSts(11);
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taskWrk.setCreateTime(now);
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taskWrk.setIoType(2);//出库
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taskWrk.setIoPri(100);//优先级
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taskWrk.setStartPoint(locMast1.getLocNo());
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taskWrk.setTargetPoint("101");//终点
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boolean result = taskWrkService.insert(taskWrk);
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locMast1.setLocSts("R");
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locMast1.setModiTime(now);
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locMastService.updateById(locMast1);
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locMast.setLocSts("S");
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locMast.setModiTime(now);
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locMastService.updateById(locMast);
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}
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//演示模式-四向库入库
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private synchronized void demoShuttleIn() {
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LocMast locMast = locMastService.selectByLocNo("1100601");
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if(locMast == null) {
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return;
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}
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if (!locMast.getLocSts().equals("F")) {
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return;
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}
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ArrayList<Integer> disableLevList = new ArrayList<>();
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//query out task
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List<TaskWrk> taskWrks = taskWrkService.selectList(new EntityWrapper<TaskWrk>()
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.eq("io_type", 2));
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for (TaskWrk taskWrk : taskWrks) {
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int lev = Utils.getLev(taskWrk.getTargetPoint());
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if(!disableLevList.contains(lev)) {
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disableLevList.add(lev);
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}
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}
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List<LocMast> locMasts = locMastService.selectList(new EntityWrapper<LocMast>()
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.notIn("lev1", disableLevList)
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.eq("loc_sts", "O")
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);
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if(locMasts.isEmpty()) {
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return;
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}
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LocMast locMast1 = locMasts.get(0);
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Date now = new Date();
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TaskWrk taskWrk = new TaskWrk();
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int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
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taskWrk.setTaskNo(String.valueOf(workNo1));//任务号
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taskWrk.setWrkNo(workNo1);
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taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
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taskWrk.setWrkSts(1);
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taskWrk.setCreateTime(now);
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taskWrk.setIoType(1);//入库
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taskWrk.setIoPri(100);//优先级
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taskWrk.setOriginTargetPoint("1");
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taskWrk.setOriginTargetPoint(String.valueOf(Utils.getLev(locMast1.getLocNo())));
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taskWrk.setTargetPoint(locMast1.getLocNo());//终点
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boolean result = taskWrkService.insert(taskWrk);
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locMast1.setLocSts("S");
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locMast1.setModiTime(now);
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locMastService.updateById(locMast1);
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locMast.setLocSts("R");
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locMast.setModiTime(now);
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locMastService.updateById(locMast);
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}
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/**
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* 堆垛机站出库到出库站
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*/
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public synchronized void crnStnToOutStn() {
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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// 遍历堆垛机出库站
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for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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try {
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// 获取堆垛机出库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.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() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
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// 查询工作档
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TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
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if (taskWrk == null) {
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continue;
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}
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log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
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// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
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staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
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staProtocol.setStaNo(staDesc.getStnNo().shortValue());
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boolean offer = false;
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try {
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offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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} catch (Exception e) {
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log.error("下发输送线任务失败：异常:" + e);
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log.error("下发输送线任务失败：异常:offer:" + offer);
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}
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// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
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if (offer) {
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log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
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taskWrk.setStatus(5);
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taskWrk.setWrkSts(14);
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taskWrkService.updateById(taskWrk);
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} else {
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log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
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// log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
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}
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}
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} catch (Exception e) {
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log.error("出库到出库站异常:异常信息：" + e);
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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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* 入出库 ===>> 调用RCS进行入出库
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*/
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public synchronized void crnIoExecute() throws IOException {
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for (CrnSlave crn : slaveProperties.getCrn()) {
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this.crnStnToLoc(crn); // 入库
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this.locToCrnStn(crn); // 出库
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// 库位移转
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// this.locToLoc(crn, crnProtocol);
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}
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}
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/**
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* 入库 ===>> 堆垛机站到库位
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*/
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public synchronized void crnStnToLoc(CrnSlave slave) throws IOException {
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for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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boolean flag = false;
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// 获取堆垛机入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.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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// 查询站点详细信息
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BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
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if (staDetl == null) {
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log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
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continue;
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}
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if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
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&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
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flag = true;
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}
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if (!flag) {
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continue;
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}
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// 获取工作状态为2（设备上走）的入库工作档
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TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
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if (null == taskWrk) {
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continue;
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}
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String mbz=taskWrk.getTargetPoint().substring(5);
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HashMap<String, Object> hashMap = new HashMap<>();
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hashMap.put("taskNo",taskWrk.getTaskNo());//wms任务号
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hashMap.put("sourceStaNo",staDetl.getDevNo());//源站点
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hashMap.put("staNo",Integer.parseInt(mbz)+"");//目标站
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hashMap.put("locNo",taskWrk.getTargetPoint());//目标库位
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String response = "";
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Boolean bool = false;
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try {
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//开始上报,出库任务开始时，WCS回调WMS
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response = new HttpHandler.Builder()
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.setUri(wcsUrl)
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.setPath(wcsInboundTaskApplyPath)
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.setJson(JSON.toJSONString(hashMap))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if(jsonObject.get("code").equals(200)){
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bool = true;
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taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
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taskWrk.setAssignTime(new Date());//派发时间
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taskWrk.setWrkSts(3);//工作状态 3.成功下发入库任务给RCS
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taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
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taskWrk.setModiTime(new Date());
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taskWrk.setModiUser(9988L);
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}
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} catch (Exception e) {
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}finally {
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apiLogService.save("wcs派发入库任务给RCS"
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, wcsUrl + wcsInboundTaskApplyPath
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, null
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, "127.0.0.1"
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, JSON.toJSONString(hashMap)
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, response
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, bool
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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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* 出库 ===>> 库位到堆垛机站
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* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
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*/
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public synchronized void locToCrnStn(CrnSlave slave) {
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List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
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if (taskWrksInitial.size() == 0) {
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return;
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}
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for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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// 获取工作状态为11（生成出库ID）的出库工作档
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List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), staDesc.getStnNo().toString());
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for (TaskWrk taskWrk : taskWrks) {
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if (taskWrk == null) {
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continue;
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}
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// 工作档状态判断
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if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) {
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log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
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continue;
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}
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LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
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//判断其库位是否为深库位，如果为深库位找其浅库位是都有货
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//预留
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// 获取堆垛机出库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
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if (staProtocol == null) {
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break;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 查询站点详细信息
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BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
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if (staDetl == null) {
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log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
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break;
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}
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// 判断堆垛机出库站状态
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if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
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&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
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// 命令下发区 --------------------------------------------------------------------------
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// 已经存在吊车执行任务时，则过滤
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if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
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break;
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}
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try {
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// 修改工作档状态 11.生成出库ID => 12.吊车出库中
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Date now = new Date();
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taskWrk.setWrkSts(12);
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taskWrk.setModiTime(now);
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if (taskWrkMapper.updateById(taskWrk) == 0) {
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log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
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}
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} catch (Exception e) {
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log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
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log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，异常：" + e);
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}
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// try {
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// HashMap<String, Object> headParam = new HashMap<>();
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// headParam.put("taskNo", taskWrk.getTaskNo());
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// headParam.put("status", taskWrk.getStatus());
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// headParam.put("ioType", taskWrk.getIoType());
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// headParam.put("barcode", taskWrk.getBarcode());
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// String response;
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// response = new HttpHandler.Builder()
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// // .setHeaders(headParam)
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// .setUri(wmsUrl)
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// .setPath(taskStatusFeedbackPath)
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// .setJson(JSON.toJSONString(headParam))
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// .build()
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// .doPost();
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// JSONObject jsonObject = JSON.parseObject(response);
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// apiLogService.save("wcs派发出库任务上报wms"
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// , wmsUrl + taskStatusFeedbackPath
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// , null
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// , "127.0.0.1"
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// , JSON.toJSONString(headParam)
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// , response
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// , true
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// );
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// } catch (Exception e) {
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// log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
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//// throw new CoolException("wcs派发入库任务上报wms失败");
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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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|
//自动派发任务
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public synchronized void autoDistribute() {
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Config config = configService.selectByCode("autoDistribute");
|
if (config == null) {
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return;
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}
|
|
if (config.getValue().equals("false")) {//判断是否开启自动派发任务
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return;
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}
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for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
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try {
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taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
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} catch (CoolException e) {
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log.info(e.getMessage());
|
}
|
}
|
}
|
|
//agv取放货任务完成
|
public synchronized void autoCompleteAGV() {
|
List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
|
try {
|
Thread.sleep(500);
|
} catch (Exception e) {
|
|
}
|
|
for (BasDevp basDevp : basDevps) {
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (basDevp.getWrkNo() != 0) {
|
if (basDevp.getAgvTargetPick() != 0) {//取货
|
staProtocol.setAgvTypeSign((short) 0);
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
boolean sign = true;
|
if (basDevp.getAgvTargetPlace() != 0) {
|
sign = false;
|
basDevp.setAgvTargetPlace(0);
|
basDevpService.updateById(basDevp);
|
staProtocol.setAgvTypeSign((short) 3);//1
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
} else {
|
if (basDevp.getAgvTargetPlace() != 0) {
|
if (basDevp.getLoading().equals("Y")) {
|
staProtocol.setAgvTypeSign((short) 1);
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
} else {
|
log.error("AGV放货完成但输送线无物，复位信号 ===>> [staNo:{}] [basDevp:{}]", basDevp.getDevNo(), basDevp);
|
basDevp.setAgvTargetPlace(0);
|
basDevpService.updateById(basDevp);
|
staProtocol.setAgvTypeSign((short) 3);//1
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
|
}
|
if (basDevp.getAgvTargetPick() != 0) {
|
basDevp.setAgvTargetPick(0);
|
basDevpService.updateById(basDevp);
|
staProtocol.setAgvTypeSign((short) 2);//0
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
}
|
}
|
}
|
|
public synchronized void autoCompleteTask() {
|
List<TaskWrk> taskWrks = taskWrkMapper.selectWorkingTask();
|
for (TaskWrk taskWrk : taskWrks) {
|
//获取命令集合
|
List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
|
if (taskWrk.getCommandStep() < commandInfos.size()) {
|
continue;//当前步序没有到达最后一条命令
|
}
|
|
//判断末端命令是否执行完成
|
CommandInfo commandInfo = commandInfos.get(commandInfos.size() - 1);
|
if (commandInfo.getCommandStatus() != CommandStatusType.COMPLETE.id) {
|
continue;//指令未完成
|
}
|
|
Date now = new Date();
|
//指令已完成，更新任务
|
if (taskWrk.getIoType() == 1) {
|
//入库任务
|
taskWrk.setWrkSts(4);//3.吊车入库中 => 4.入库完成
|
//taskWrk.setStatus(TaskStatusType.COMPLETE.id);
|
taskWrk.setModiTime(now);
|
taskWrkService.updateById(taskWrk);
|
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
|
locMast.setLocSts("F");//F.在库
|
locMast.setBarcode(taskWrk.getBarcode());//托盘码
|
locMast.setModiTime(now);
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
} else if (taskWrk.getIoType() == 2) {
|
//出库任务
|
taskWrk.setWrkSts(14);//12.吊车出库中 => 14.出库完成
|
// taskWrk.setStatus(TaskStatusType.COMPLETE.id);
|
taskWrk.setModiTime(now);
|
taskWrkService.updateById(taskWrk);
|
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
|
locMast.setLocSts("O");//O.空库位
|
locMast.setBarcode("");//托盘码
|
locMast.setModiTime(now);
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
}
|
}
|
}
|
|
}
|
