package com.zy.asrs.service.impl;
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import com.zy.asrs.domain.enums.NotifyMsgType;
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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.NotifyUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.NavigateNode;
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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.NavigateMapUtils;
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import com.zy.common.utils.NavigateUtils;
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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.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 ShuttleMoveServiceImpl {
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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 NavigateUtils navigateUtils;
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@Autowired
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private NavigateMapUtils navigateMapUtils;
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@Autowired
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private NotifyUtils notifyUtils;
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public void shuttleMoveExecuteMove(WrkMast wrkMast) {
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boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
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if (!stepMoveSta) {
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return;
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}
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boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(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 stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中
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if (!stepLiftMove) {
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return;
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}
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boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标
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if (!updateShuttleLocation) {
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return;
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}
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boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
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if (!stepMoveLoc) {
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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-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 shuttleMoveExecuteStepMoveSta(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 301.生成小车移库任务 ==> 302.小车移动至站点中
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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 (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
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//目标库位和小车库位处于同一楼层，不需要通过提升机调度
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wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中
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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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return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
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}
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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.NORMAL.id;
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if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
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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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} else {
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//小车在待机位，直接移动完成
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wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);// 302.小车移动至站点 ==> 303.小车移动至站点完成
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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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assignCommand.setCommands(commands);
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wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
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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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//触发通知
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notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
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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 shuttleMoveExecuteStepIntoLift(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 303.小车移动至站点完成 ==> 304.小车迁入提升机中
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if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.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.selectLiftWrkMast(liftProtocol.getLiftNo());
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if (liftWrkMast != null) {
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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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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.selectLiftWrkMast(wrkMast.getLiftNo());
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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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// TODO
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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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//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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//下发任务
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liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
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return false;//等待提升机到小车楼层
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}
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// //*************尝试锁定目标站路径***************
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// List<NavigateNode> targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
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// if (targetNodes == null) {
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// return false;//未获取到节点
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// }
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// boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
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// if (!checkPathIsAvailable) {
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// News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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// return false;//检测目标站点路径是否未被占用
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// }
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// //尝试锁定目标站路径
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// boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
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// if (!result2) {
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// News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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// return false;//路径锁定失败
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// }
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// //*************尝试锁定目标站路径***************
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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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//获取小车到提升机行走命令
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List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getLiftLocNo(Utils.getLev(shuttleProtocol.getCurrentLocNo())), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
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if (commands == 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;
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}
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assignCommand.setCommands(commands);
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wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//小车移动到提升机中 303.小车移动至站点完成 ==> 304.小车迁入提升机中
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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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shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
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//触发通知
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notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
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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-提升机搬运中
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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 shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
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//--------------------------------------提升机搬运中-----------------------------------------//
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Date now = new Date();
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//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中
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if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) {
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if (wrkMast.getLiftNo() == null) {
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News.info("{}任务，未绑定提升机，数据异常，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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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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if (!liftThread.isIdle()) {
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News.taskInfo(wrkMast.getWrkNo(), "{}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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//判断提升机是否有其他任务
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WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
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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.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(), 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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//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，提升机内无小车，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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//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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//获取提升机命令
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List<LiftCommand> liftCommands = liftThread.getMoveCommand(wrkMast.getWrkNo(), Utils.getLev(wrkMast.getSourceLocNo()), Utils.getLev(wrkMast.getLocNo()), 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_RUN.sts);//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
|
//触发通知
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.LIFT_MOVE_SHUTTLE);
|
}
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-提升机搬运完成更新小车坐标
|
* 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 shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
|
//--------------------------------------提升机搬运中-----------------------------------------//
|
Date now = new Date();
|
|
//提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中
|
if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
|
if (wrkMast.getLiftNo() == null) {
|
News.info("{}任务，未绑定提升机，数据异常，禁止派发", wrkMast.getWrkNo());
|
return false;
|
}
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
|
if (liftThread == null) {
|
return false;
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
|
assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
|
|
//更新小车坐标
|
ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
|
ArrayList<ShuttleCommand> commands = new ArrayList<>();
|
commands.add(command);
|
|
assignCommand.setCommands(commands);
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
return false;
|
}
|
|
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
return false;//小车未到达目标层
|
}
|
|
// //需要将前两个节点作为白名单节点传入
|
// List<NavigateNode> targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
|
// //需要将前两个节点作为白名单节点传入
|
// if (targetNodes == null) {
|
// return false;//未获取到节点
|
// }
|
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
|
assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
|
|
ArrayList<ShuttleCommand> commands = new ArrayList<>();
|
int targetLev = Utils.getLev(wrkMast.getLocNo());
|
//设置计算节点的白名单
|
ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
|
// for (NavigateNode node : targetNodes) {
|
// whiteList.add(new int[]{node.getX(), node.getY()});
|
// }
|
|
//获取小车出提升机行走命令
|
List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(liftThread.getLiftLocNo(targetLev), liftThread.getLiftStandByLocNo(targetLev, false), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
|
if (moveCommands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
commands.addAll(moveCommands);
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
//触发通知
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_OUT_LIFT);
|
}
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-小车移动到目标库位中
|
* 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 shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
|
//--------------------------------------小车移动到目标库位中-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
|
if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) {
|
|
List<NavigateNode> targetNodes = null;
|
if (wrkMast.getLiftNo() != null) {
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
|
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;
|
}
|
|
//小车目标就是提升机位置，直接认定小车移动任务完成
|
if (liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo())).equals(wrkMast.getLocNo())) {
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setModiTime(now);
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
// //需要将前两个节点作为白名单节点传入
|
// targetNodes = liftThread.getLiftStaNodes(Utils.getLev(wrkMast.getLocNo()));
|
}
|
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//小车已经在目标库位，直接认定小车移动任务完成
|
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setModiTime(now);
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
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
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
|
assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
|
|
List<ShuttleCommand> commands = new ArrayList<>();
|
List<ShuttleCommand> liftCommand = null;
|
Integer mapType = NavigationMapType.NORMAL.id;
|
|
List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
|
if (moveCommands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//路径计算失败
|
}
|
|
commands.addAll(moveCommands);
|
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
}
|
}
|
return true;
|
}
|
}
|
