package com.zy.core.utils;
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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.NotifyMsgType;
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import com.zy.asrs.domain.param.CreateLocMoveTaskParam;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasCrnpService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.NotifyUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.StationObjModel;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.thread.CrnThread;
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import com.zy.core.thread.StationThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.Date;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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@Component
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public class CrnOperateProcessUtils {
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private WmsOperateUtils wmsOperateUtils;
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@Autowired
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private CommonService commonService;
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@Autowired
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private NotifyUtils notifyUtils;
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public synchronized void crnIoExecute() {
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Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
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if (systemConfigMapObj != null) {
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HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
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if (systemConfigMap.get("crnRunMethod").equals("solver")) {
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plannerExecute();
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}else {
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crnIoExecuteNormal();
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}
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}
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}
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//入出库 ===>> 堆垛机入出库作业下发
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public synchronized void crnIoExecuteNormal() {
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List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
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for (BasCrnp basCrnp : basCrnps) {
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
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if(crnThread == null){
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continue;
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}
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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continue;
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}
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("crn_no", basCrnp.getCrnNo())
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.in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts)
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);
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if(!wrkMasts.isEmpty()){
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continue;
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}
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// 只有当堆垛机空闲 并且 无任务时才继续执行
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if (crnProtocol.getMode() == CrnModeType.AUTO.id
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&& crnProtocol.getTaskNo() == 0
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&& crnProtocol.getStatus() == CrnStatusType.IDLE.id
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&& crnProtocol.getLoaded() == 0
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&& crnProtocol.getForkPos() == 0
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&& crnProtocol.getAlarm() == 0
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) {
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// 如果最近一次是入库模式
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if (crnProtocol.getLastIo().equals("I")) {
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if (basCrnp.getInEnable().equals("Y")) {
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this.crnExecuteIn(basCrnp, crnThread); // 入库
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crnProtocol.setLastIo("O");
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} else if (basCrnp.getOutEnable().equals("Y")) {
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this.crnExecuteOut(basCrnp, crnThread); // 出库
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crnProtocol.setLastIo("I");
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}
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}
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// 如果最近一次是出库模式
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else if (crnProtocol.getLastIo().equals("O")) {
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if (basCrnp.getOutEnable().equals("Y")) {
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this.crnExecuteOut(basCrnp, crnThread); // 出库
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crnProtocol.setLastIo("I");
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} else if (basCrnp.getInEnable().equals("Y")) {
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this.crnExecuteIn(basCrnp, crnThread); // 入库
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crnProtocol.setLastIo("O");
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}
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}
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//库位移转
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this.crnExecuteLocTransfer(basCrnp, crnThread);
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}
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}
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}
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private synchronized void crnExecuteIn(BasCrnp basCrnp, CrnThread crnThread) {
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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return;
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}
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if(!basCrnp.getInEnable().equals("Y")){
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News.info("堆垛机:{} 可入信号不满足", basCrnp.getCrnNo());
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return;
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}
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List<StationObjModel> inStationList = basCrnp.getInStationList$();
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if(inStationList.isEmpty()){
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News.info("堆垛机:{} 入库站点未设置", basCrnp.getCrnNo());
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return;
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}
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Integer crnNo = basCrnp.getCrnNo();
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for (StationObjModel stationObjModel : inStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (!stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() <= 0) {
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continue;
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}
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if (!stationProtocol.isInEnable()) {
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News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
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continue;
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}
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// 获取任务
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WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
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if (null == wrkMast) {
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News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务信息不存在", stationProtocol.getTaskNo());
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continue;
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}
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if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 信息不存在", wrkMast.getLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("S")) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 状态异常", wrkMast.getLocNo());
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continue;
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}
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//检测浅库位状态
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boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
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if (!checkStatus) {
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News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
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continue;
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}
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String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
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wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
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wrkMast.setCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
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notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_RUN, null);
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News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
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}
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}
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}
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private synchronized void crnExecuteOut(BasCrnp basCrnp, CrnThread crnThread) {
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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return;
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}
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if(!basCrnp.getOutEnable().equals("Y")){
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News.info("堆垛机:{} 可出信号不满足", basCrnp.getCrnNo());
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return;
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}
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List<StationObjModel> outStationList = basCrnp.getOutStationList$();
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if(outStationList.isEmpty()){
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News.info("堆垛机:{} 出库站点未设置", basCrnp.getCrnNo());
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return;
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}
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Integer crnNo = basCrnp.getCrnNo();
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("crn_no", crnNo)
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.eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts)
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);
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for (WrkMast wrkMast : wrkMasts) {
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for (StationObjModel stationObjModel : outStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() != 0) {
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continue;
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}
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if (!stationProtocol.isOutEnable()) {
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News.info("放货站点:{} 没有可出信号", stationObjModel.getStationId());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("R")) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常", wrkMast.getSourceLocNo());
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continue;
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}
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//检测浅库位状态
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boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
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if (!checkStatus) {
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News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
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continue;
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}
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String targetLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), targetLocNo, wrkMast.getWrkNo(), crnNo);
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
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wrkMast.setCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
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notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_RUN, null);
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News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
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return;
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}
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}
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}
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}
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private synchronized boolean crnExecuteInPlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
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CrnProtocol crnProtocol = crnThread.getStatus();
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if (crnProtocol == null) {
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return false;
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}
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if (!basCrnp.getInEnable().equals("Y")) {
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News.info("堆垛机:{} 可入信号不满足", basCrnp.getCrnNo());
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return false;
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}
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List<StationObjModel> inStationList = basCrnp.getInStationList$();
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if (inStationList.isEmpty()) {
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News.info("堆垛机:{} 入库站点未设置", basCrnp.getCrnNo());
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return false;
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}
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Integer crnNo = basCrnp.getCrnNo();
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for (StationObjModel stationObjModel : inStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (!stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() <= 0) {
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continue;
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}
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if (!stationProtocol.isInEnable()) {
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News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
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continue;
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}
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if (!wrkMast.getWrkNo().equals(stationProtocol.getTaskNo())) {
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continue;
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}
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if (wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts) {
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 信息不存在", wrkMast.getLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("S")) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 状态异常", wrkMast.getLocNo());
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continue;
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}
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//检测浅库位状态
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boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
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if (!checkStatus) {
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News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
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continue;
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}
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String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
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wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
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wrkMast.setCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
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notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_RUN, null);
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News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
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return true;
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}
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}
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return false;
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}
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private synchronized boolean crnExecuteOutPlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
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CrnProtocol crnProtocol = crnThread.getStatus();
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if (crnProtocol == null) {
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return false;
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}
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if (!basCrnp.getOutEnable().equals("Y")) {
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News.info("堆垛机:{} 可出信号不满足", basCrnp.getCrnNo());
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return false;
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}
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List<StationObjModel> outStationList = basCrnp.getOutStationList$();
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if (outStationList.isEmpty()) {
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News.info("堆垛机:{} 出库站点未设置", basCrnp.getCrnNo());
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return false;
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}
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Integer crnNo = basCrnp.getCrnNo();
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for (StationObjModel stationObjModel : outStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() != 0) {
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continue;
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}
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if (!stationProtocol.isOutEnable()) {
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News.info("放货站点:{} 没有可出信号", stationObjModel.getStationId());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("R")) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常", wrkMast.getSourceLocNo());
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continue;
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}
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//检测浅库位状态
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boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
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if (!checkStatus) {
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News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
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continue;
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}
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String targetLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), targetLocNo, wrkMast.getWrkNo(), crnNo);
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
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wrkMast.setCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
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notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_RUN, null);
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News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
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return true;
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}
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}
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return false;
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}
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private synchronized void crnExecuteLocTransfer(BasCrnp basCrnp, CrnThread crnThread) {
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CrnProtocol crnProtocol = crnThread.getStatus();
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if(crnProtocol == null){
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return;
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}
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Integer crnNo = basCrnp.getCrnNo();
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("crn_no", crnNo)
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.eq("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts)
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);
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for (WrkMast wrkMast : wrkMasts) {
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// 获取源库位信息
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LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
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if (sourceLocMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
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continue;
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}
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if(!sourceLocMast.getLocSts().equals("R")){
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常，不属于出库预约状态", wrkMast.getSourceLocNo());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "库位:{} 信息不存在", wrkMast.getLocNo());
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continue;
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}
|
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if (!locMast.getLocSts().equals("S")) {
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News.taskInfo(wrkMast.getWrkNo(), "库位:{} 状态异常，不属于入库预约状态", wrkMast.getLocNo());
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continue;
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}
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CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
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wrkMast.setWrkSts(WrkStsType.LOC_MOVE_RUN.sts);
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wrkMast.setCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
|
notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_RUN, null);
|
News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
|
return;
|
}
|
}
|
}
|
|
//堆垛机任务执行完成
|
public synchronized void crnIoExecuteFinish() {
|
List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
|
for (BasCrnp basCrnp : basCrnps) {
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
|
if(crnThread == null){
|
continue;
|
}
|
|
CrnProtocol crnProtocol = crnThread.getStatus();
|
if(crnProtocol == null){
|
continue;
|
}
|
|
if (crnProtocol.getMode() == CrnModeType.AUTO.id
|
&& crnProtocol.getTaskNo() > 0
|
&& crnProtocol.getStatus() == CrnStatusType.WAITING.id
|
) {
|
Object lock = redisUtil.get(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo());
|
if(lock != null){
|
continue;
|
}
|
|
// 获取待确认工作档
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
|
continue;
|
}
|
|
Long updateWrkSts = null;
|
if(wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts){
|
updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
|
notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_COMPLETE, null);
|
}else if(wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts){
|
updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
|
notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_COMPLETE, null);
|
}else if(wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts){
|
updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
|
notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_COMPLETE, null);
|
}else{
|
News.error("堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
|
continue;
|
}
|
|
wrkMast.setWrkSts(updateWrkSts);
|
wrkMast.setSystemMsg("");
|
wrkMast.setIoTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
CrnCommand resetCommand = crnThread.getResetCommand(crnProtocol.getCrnNo());
|
MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, resetCommand));
|
News.info("堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
|
}
|
|
redisUtil.set(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo(), "lock",10);
|
}
|
}
|
}
|
|
public synchronized void plannerExecute() {
|
int nowSec = (int) (System.currentTimeMillis() / 1000);
|
List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
|
for (BasCrnp basCrnp : basCrnps) {
|
String key = RedisKeyType.PLANNER_SCHEDULE.key + "CRN-" + basCrnp.getCrnNo();
|
List<Object> items = redisUtil.lGet(key, 0, -1);
|
if (items == null || items.isEmpty()) {
|
continue;
|
}
|
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
|
if (crnThread == null) {
|
continue;
|
}
|
CrnProtocol crnProtocol = crnThread.getStatus();
|
if (crnProtocol == null) {
|
continue;
|
}
|
List<WrkMast> running = wrkMastService.selectList(new EntityWrapper<WrkMast>()
|
.eq("crn_no", basCrnp.getCrnNo())
|
.in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts)
|
);
|
if (!running.isEmpty()) {
|
continue;
|
}
|
if (!(crnProtocol.getMode() == CrnModeType.AUTO.id
|
&& crnProtocol.getTaskNo() == 0
|
&& crnProtocol.getStatus() == CrnStatusType.IDLE.id
|
&& crnProtocol.getLoaded() == 0
|
&& crnProtocol.getForkPos() == 0
|
&& crnProtocol.getAlarm() == 0)) {
|
continue;
|
}
|
|
for (Object v : items) {
|
String s = String.valueOf(v);
|
JSONObject obj = null;
|
try { obj = JSON.parseObject(s); } catch (Exception ignore) {}
|
if (obj == null) {
|
continue;
|
}
|
Integer startEpochSec = obj.getInteger("startEpochSec");
|
Integer endEpochSec = obj.getInteger("endEpochSec");
|
Integer taskId = obj.getInteger("taskId");
|
String taskType = obj.getString("taskType");
|
if (startEpochSec == null || taskId == null || taskType == null) {
|
continue;
|
}
|
int earlySlackSec = 5;
|
int lateSlackSec = 10;
|
Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
|
if (systemConfigMapObj != null) {
|
try {
|
HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
|
String es = systemConfigMap.getOrDefault("plannerEarlySlackSec", "60");
|
String ls = systemConfigMap.getOrDefault("plannerLateSlackSec", "10");
|
earlySlackSec = Integer.parseInt(es);
|
lateSlackSec = Integer.parseInt(ls);
|
} catch (Exception ignore) {}
|
}
|
if (nowSec < startEpochSec - earlySlackSec) {
|
continue;
|
}
|
if (endEpochSec != null && nowSec > endEpochSec + lateSlackSec) {
|
redisUtil.lRemove(key, 1, s);
|
continue;
|
}
|
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(taskId);
|
if (wrkMast == null) {
|
redisUtil.lRemove(key, 1, s);
|
continue;
|
}
|
|
if ("IN".equalsIgnoreCase(taskType)) {
|
boolean result = this.crnExecuteInPlanner(basCrnp, crnThread, wrkMast);//入库
|
if (result) {
|
redisUtil.lRemove(key, 1, s);
|
break;
|
}
|
} else if ("OUT".equalsIgnoreCase(taskType)) {
|
boolean result = this.crnExecuteOutPlanner(basCrnp, crnThread, wrkMast);//出库
|
if (result) {
|
redisUtil.lRemove(key, 1, s);
|
break;
|
}
|
} else if ("MOVE".equalsIgnoreCase(taskType)) {
|
boolean result = this.crnExecuteMovePlanner(basCrnp, crnThread, wrkMast);//移库
|
if (result) {
|
redisUtil.lRemove(key, 1, s);
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
private synchronized boolean crnExecuteMovePlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
|
CrnProtocol crnProtocol = crnThread.getStatus();
|
if (crnProtocol == null) {
|
return false;
|
}
|
|
Integer crnNo = basCrnp.getCrnNo();
|
|
if (!wrkMast.getWrkSts().equals(WrkStsType.NEW_LOC_MOVE.sts)) {
|
return false;
|
}
|
|
// 获取源库位信息
|
LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (sourceLocMast == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
|
return false;
|
}
|
|
if(!sourceLocMast.getLocSts().equals("R")){
|
News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常，不属于出库预约状态", wrkMast.getSourceLocNo());
|
return false;
|
}
|
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (locMast == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "库位:{} 信息不存在", wrkMast.getLocNo());
|
return false;
|
}
|
|
if (!locMast.getLocSts().equals("S")) {
|
News.taskInfo(wrkMast.getWrkNo(), "库位:{} 状态异常，不属于入库预约状态", wrkMast.getLocNo());
|
return false;
|
}
|
|
CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
|
|
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_RUN.sts);
|
wrkMast.setCrnNo(crnNo);
|
wrkMast.setSystemMsg("");
|
wrkMast.setIoTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
|
notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_RUN, null);
|
News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
|
return true;
|
}
|
return false;
|
}
|
|
//检测浅库位状态
|
public synchronized boolean checkShallowLocStatus(String locNo, Integer taskNo) {
|
String checkDeepLocOutTaskBlockReport = "Y";
|
Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
|
if (systemConfigMapObj != null) {
|
HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
|
checkDeepLocOutTaskBlockReport = systemConfigMap.get("checkDeepLocOutTaskBlockReport");
|
}
|
|
if (!checkDeepLocOutTaskBlockReport.equals("Y")) {
|
return true;
|
}
|
|
Object lock = redisUtil.get(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo);
|
if (lock != null) {
|
return false;
|
}
|
redisUtil.set(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo, "lock", 5);
|
|
Integer shallowRow = Utils.getShallowRowByDeepRow(Utils.getRow(locNo));
|
if (shallowRow == null) {
|
return true;
|
}
|
|
String shallowLocNo = Utils.getLocNo(shallowRow, Utils.getBay(locNo), Utils.getLev(locNo));
|
LocMast shallowLocMast = locMastService.queryByLoc(shallowLocNo);
|
if (shallowLocMast == null) {
|
News.taskInfo(taskNo, "浅库位:{} 数据不存在", shallowLocNo);
|
return false;
|
}
|
|
if (shallowLocMast.getLocSts().equals("O")) {
|
return true;
|
}
|
|
if (shallowLocMast.getLocSts().equals("F")) {
|
//浅库位状态有货,申请更换库位
|
String response = wmsOperateUtils.applyChangeLocNo(shallowLocNo);
|
if (response == null) {
|
News.taskError(taskNo, "WCS申请在库库位更换库位失败，WMS接口未响应！！！response：{}", response);
|
return false;
|
}
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
String moveLocNo = dto.getLocNo();
|
|
CreateLocMoveTaskParam moveTaskParam = new CreateLocMoveTaskParam();
|
moveTaskParam.setTaskNo(dto.getTaskNo());
|
moveTaskParam.setSourceLocNo(shallowLocNo);
|
moveTaskParam.setLocNo(moveLocNo);
|
try {
|
boolean result = commonService.createLocMoveTask(moveTaskParam);
|
} catch (CoolException e) {
|
News.taskInfo(taskNo, e.getMessage());
|
}
|
} else {
|
News.error("请求WMS申请更换库位接口失败！！！response：{}", response);
|
}
|
}
|
return false;
|
}
|
|
}
|
