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.zy.asrs.domain.enums.NotifyMsgType;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.service.*;
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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.MapNode;
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import com.zy.common.model.SearchLocParam;
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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.*;
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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.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.dispatcher.ShuttleDispatchUtils;
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import com.zy.core.enums.*;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.LiftSlave;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.Task;
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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.ForkLiftStaProtocol;
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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.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.DevpThread;
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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 com.zy.core.thread.impl.FyDevpThread;
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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 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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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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public class MainServiceImpl {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasShuttleErrLogService basShuttleErrLogService;
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@Autowired
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private BasLiftErrLogService basLiftErrLogService;
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@Autowired
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private BasShuttleErrService basShuttleErrService;
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@Autowired
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private BasLiftErrService basLiftErrService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private BasMapService basMapService;
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@Autowired
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private ShuttleDispatchUtils shuttleDispatchUtils;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private ConfigService configService;
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@Autowired
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private NavigateMapData navigateMapData;
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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 NotifyUtils notifyUtils;
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@Autowired
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private BasShuttleChargeService basShuttleChargeService;
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@Autowired
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private TransportLiftInServiceImpl transportLiftInService;
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@Autowired
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private TransportLiftOutServiceImpl transportLiftOutService;
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@Autowired
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private ShuttleMoveServiceImpl shuttleMoveService;
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@Autowired
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private NoLiftInServiceImpl noLiftInService;
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@Autowired
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private NoLiftOutServiceImpl noLiftOutService;
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@Autowired
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private LiftAction liftAction;
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@Autowired
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private BasWrkStatusService wrkStatusService;
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@Value("${asrs.wmsUrl}")
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private String wmsUrl;
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public boolean isInEnable(DevpThread devpThread, Integer staNo) {
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if (staNo == null) {
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return false;
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}
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// 获取入库站信息
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switch (staNo) {
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case 1011:
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case 1012:
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return devpThread.getStation().get(1012).isInEnable();
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case 1021:
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case 1022:
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case 1023:
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return devpThread.getStation().get(1022).isInEnable();
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case 1031:
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case 1032:
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return devpThread.getStation().get(1032).isInEnable();
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case 1024:
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case 1025:
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case 1026:
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return devpThread.getStation().get(1025).isInEnable();
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case 1013:
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case 1014:
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case 1015:
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return devpThread.getStation().get(1014).isInEnable();
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}
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return false;
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}
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public boolean isOutEnable(DevpThread devpThread, Integer staNo) {
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if (staNo == null) {
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return false;
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}
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// 获取入库站信息
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switch (staNo) {
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case 1011:
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case 1012:
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return devpThread.getStation().get(1012).isOutEnable();
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case 1021:
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case 1022:
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case 1023:
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return devpThread.getStation().get(1022).isOutEnable();
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case 1024:
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case 1025:
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case 1026:
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return devpThread.getStation().get(1025).isOutEnable();
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case 1013:
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case 1014:
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case 1015:
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return devpThread.getStation().get(1014).isOutEnable();
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case 1031:
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case 1032:
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return devpThread.getStation().get(1032).isOutEnable();
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}
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return false;
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}
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateInboundWrk() {
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try {
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// 遍历入库口
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for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) {
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if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(inSta.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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Short workNo = staProtocol.getWorkNo();
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// // led 异常显示
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// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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// if (ledThread != null) {
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// ledThread.error(errMsg);
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// }
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
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String barcode = staProtocol.getBarcode();
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// 判断重复工作档
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
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if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
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News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
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//判断时提升机侧，还是无提升机测
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staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
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staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1)));
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MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
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wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
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wrkMast.setModiTime(new Date());
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wrkMastService.updateById(wrkMast);
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} else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
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continue;
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}
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try {
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1((short) 1);
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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//StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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// String wmsLocNo = dto.getLocNo();
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// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
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// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
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// int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
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// String wcsLocNo = Utils.getLocNo(row, bay, lev);
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//
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// CreateInTaskParam createInTaskParam = new CreateInTaskParam();
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// createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
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// createInTaskParam.setDestLoc(wcsLocNo);
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// createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
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// createInTaskParam.setDestSite(dto.getStaNo().toString());
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// createInTaskParam.setPriority(11);
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// createInTaskParam.setBarcode(barcode);
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//
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// R result = openUtils.createInTask(createInTaskParam);
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// News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
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// try{
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// String msg = "";
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// HashMap<String, String> hashMap = new HashMap<>();
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// hashMap.put("msg", msg);
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// hashMap.put("sta", inSta.getStaNo().toString());
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// new HttpHandler.Builder()
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// .setUri(wmsUrl)
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// .setPath("/rpc/led/getError")
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// .setJson(JSON.toJSONString(hashMap))
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// .build()
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// .doPost();
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// }catch (Exception e){
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//
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// }
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} else {
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String msg = jsonObject.getString("msg");
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HashMap<String, String> hashMap = new HashMap<>();
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hashMap.put("msg", msg);
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hashMap.put("sta", inSta.getStaNo().toString());
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new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/led/getError")
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.setJson(JSON.toJSONString(hashMap))
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.build()
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.doPost();
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News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
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}
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} catch (Exception e) {
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log.error("调用wms报错1，{}", e.getMessage());
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}
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}
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} else if (inSta.getStaNo() == 1012 || inSta.getStaNo() == 1022) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(inSta.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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Short workNo = staProtocol.getWorkNo();
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if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
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String barcode = staProtocol.getBarcode();
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// 判断重复工作档
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
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if (wrkMast == null) {
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try {
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1((short) 1);
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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} else {
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String msg = jsonObject.getString("msg");
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HashMap<String, String> hashMap = new HashMap<>();
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hashMap.put("msg", msg);
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hashMap.put("sta", inSta.getStaNo().toString());
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new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/led/getError")
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.setJson(JSON.toJSONString(hashMap))
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.build()
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.doPost();
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News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
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}
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} catch (Exception e) {
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log.error("调用wms报错2，{}", e.getMessage());
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}
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}
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}
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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public synchronized void noLiftIn() {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025));
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for (WrkMast wrkMast : wrkMasts) {
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if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1);
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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 ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) || (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) {
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//判断提升机是否有其他任务
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WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
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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(), 1);
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continue;
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}
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}
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wrkMast.setLiftNo(1);
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}
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Short finishWorkNo = staProtocol.getFinishWorkNo();
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if (finishWorkNo == null) {
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continue;
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}
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String locNo = "1200301";
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if (wrkMast.getStaNo() == 1026) {
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locNo = "1200305";
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}
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boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
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if (!dispatchShuttle) {
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News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
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continue;
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} else {
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News.info("{}任务，调度小车失成功", wrkMast.getWrkNo());
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}
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wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
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wrkMast.setLiftNo(null);
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wrkMast.setSystemMsg("");//清空消息
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wrkMast.setModiTime(new Date());
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if (!wrkMastService.updateById(wrkMast)) {
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News.info("{}任务，更新工作档失败", wrkMast.getWrkNo());
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}
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}
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}
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}
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public void outFirst() {
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DevpSlave devpSlave = slaveProperties.getDevp().get(0);
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// 遍历堆垛机出库站
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Date now = new Date();
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
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List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1013, 1024));
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for (WrkMast wrkMast : wrkSts) {
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if (devpThread == null) {
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continue;
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}
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Map<Integer, StaProtocol> station = devpThread.getStation();
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StaProtocol staProtocol = station.get(wrkMast.getStaNo());
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if (staProtocol == null) {
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continue;
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}
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if (!staProtocol.isAutoing()) {
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News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
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continue;
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}
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if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
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News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
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continue;
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}
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String locNo = "1200301";
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if (wrkMast.getStaNo() == 1024) {
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locNo = "1200305";
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}
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boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
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if (!dispatchShuttle) {
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News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
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continue;
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}
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
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wrkMast.setSystemMsg("");//清空消息
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wrkMast.setModiTime(now);
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if (!wrkMastService.updateById(wrkMast)) {
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News.info("{}任务，更新工作档失败", wrkMast.getWrkNo());
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} else {
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WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
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News.info("{}任务，移动任务生成成功——1", wrkMast1.getWrkNo());
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}
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}
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}
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/**
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* 出库到出库口
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*/
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public synchronized void stnToOutStn() {
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ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
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ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
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ShuttleProtocol status1 = shuttleThread1.getStatus();
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ShuttleProtocol status2 = shuttleThread2.getStatus();
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List<String> loc = new ArrayList<>();
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if (status1 != null) {
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loc.add(status1.getCurrentLocNo());
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}
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if (status2 != null) {
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loc.add(status2.getCurrentLocNo());
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}
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DevpSlave devpSlave = slaveProperties.getDevp().get(0);
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// 遍历堆垛机出库站
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
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for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
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if (outSta.getStaNo() == 1013 || outSta.getStaNo() == 1024) {
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List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo()));
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for (WrkMast wrkMast : wrkSts) {
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StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
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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()) {
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// 查询工作档
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if (wrkMast == null) {
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continue;
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}
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String sourceLocNo = "1200305";
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String locNo = "1300105";
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if (wrkMast.getStaNo() == 1013) {
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sourceLocNo = "1200301";
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locNo = "1300101";
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if (loc.contains(locNo)) {
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locNo = "1100101";
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}
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} else {
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if (loc.contains(locNo)) {
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locNo = "1100105";
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}
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}
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boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), sourceLocNo, locNo, wrkMast.getShuttleNo(), null, false);
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if (!dispatchShuttle) {
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News.taskInfo(wrkMast.getWrkNo(), "{}小车，挪车调度至取货点失败", wrkMast.getShuttleNo());
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continue;
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}
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staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
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staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
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MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
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News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts);
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wrkMast.setModiTime(new Date());
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wrkMast.setShuttleNo(null);
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wrkMastService.updateById(wrkMast);
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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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* 初始化实时地图
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*/
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public synchronized void initRealtimeBasMap() {
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//初始化配置
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// WrkStsType[] values = WrkStsType.values();
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// for (int i = 0; i < values.length; i++) {
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// BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts);
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// if (basWrkStatus == null) {
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// basWrkStatus = new BasWrkStatus();
|
// basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc);
|
// basWrkStatus.setWrkSts(values[i].sts);
|
// basWrkStatus.setModiTime(new Date());
|
// basWrkStatus.setAppeTime(new Date());
|
// basWrkStatus.setAppeUser(9527L);
|
// basWrkStatus.setModiUser(9527L);
|
// wrkStatusService.insert(basWrkStatus);
|
// }
|
// }
|
try {
|
List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
|
for (BasMap basMap : basMaps) {
|
Integer lev = basMap.getLev();
|
Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
|
if (data == null) {//redis地图数据为空
|
//载入地图
|
List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库)
|
|
//存入数据库
|
basMap.setData(JSON.toJSONString(lists));
|
basMap.setCreateTime(new Date());
|
basMap.setUpdateTime(new Date());
|
if (!basMapService.updateById(basMap)) {
|
log.info("地图数据存储失败");
|
}
|
|
//将数据库地图数据存入redis
|
redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap));
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 入库 ===>> 四向穿梭车入库作业下发
|
*/
|
public synchronized void shuttleInExecute() {
|
try {
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
|
if (!step1) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 入库-小车搬入库中
|
* 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
|
*/
|
public boolean shuttleInExecuteStep1(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
|
//获取目标站
|
ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (liftSta == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, liftSta.getLocNo(), null);//调度小车到货物所在输送站点进行取货
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
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;
|
}
|
if (!shuttleThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//判断小车是否存在移动任务
|
WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
|
if (hasMoveWorking != null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}号小车，存在移动任务，禁止派发任务", wrkMast.getShuttleNo());
|
return false;//存在移动任务，禁止执行入库任务
|
}
|
|
//判断小车是否到达输送站点库位
|
if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
|
//小车不在输送站点位置
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
|
News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
|
//获取小车到输送站点行走命令
|
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
|
if (liftCommand == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
|
if (liftCommand2 == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
commands.add(0, liftCommand.get(0));
|
commands.add(liftCommand2.get(0));
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中
|
wrkMast.setModiTime(new Date());
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
//触发通知
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 出库 ===>> 四向穿梭车出库作业下发
|
*/
|
// public synchronized void shuttleOutExecute() {
|
// try {
|
// List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
|
// for (WrkMast wrkMast : wrkMasts) {
|
// boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
|
// if (!step1) {
|
// continue;
|
// }
|
// }
|
// } catch (Exception e) {
|
// e.printStackTrace();
|
// }
|
// }
|
|
/**
|
* 出库-小车搬出库中
|
* 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
|
*/
|
// public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
|
// //101.生成出库任务 => 102.小车搬运中
|
// if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
|
// Integer liftNo = wrkMast.getLiftNo();
|
// if (liftNo == null) {
|
// //通过输送线站号获取提升机号
|
// liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
|
// if (liftNo == null) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
|
// return false;
|
// }
|
//
|
// //判断提升机是否有其他任务
|
// WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
|
// if (liftWrkMast != null) {
|
// if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
// 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(), liftNo);
|
// return false;
|
// }
|
// }
|
//
|
// wrkMast.setLiftNo(liftNo);
|
// wrkMast.setModiTime(new Date());
|
// wrkMastService.updateById(wrkMast);
|
// return false;
|
// }
|
//
|
// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
|
// if (forkLiftThread == null) {
|
// return false;
|
// }
|
// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
// if (forkLiftProtocol == null) {
|
// return false;
|
// }
|
//
|
// //判断提升机是否处于出库模式
|
// if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
|
// return false;
|
// }
|
//
|
// //获取源站
|
// ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
|
// if (liftSta == null) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
|
// return false;
|
// }
|
//
|
// if (liftSta.getHasCar()) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
|
// return false;
|
// }
|
//
|
// if (liftSta.getHasTray()) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
|
// return false;
|
// }
|
//
|
// if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
// //强制预留一台小车给入库任务
|
// int lev = Utils.getLev(wrkMast.getSourceLocNo());
|
// //获取当前楼层有几台可用小车
|
// int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
|
// if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
|
// int shuttleWrkInObligateCount = 1;//预留小车数量
|
// Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
|
// if (config != null) {
|
// shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
|
// }
|
// //可用出库小车数量(给入库任务预留一台车)
|
// int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
|
// //查询楼层已分配车辆的出库任务数量
|
// List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
|
// if (wrkMasts.size() >= useShuttleCount) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
|
// return false;
|
// }
|
// }
|
// boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
// 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;
|
// }
|
// if (!shuttleThread.isIdle()) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
// return false;
|
// }
|
//
|
// //判断小车是否到达货物库位
|
// if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
// //小车不在输送站点位置
|
// shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
// return false;
|
// }
|
//
|
// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
// assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
|
// assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
// assignCommand.setAuto(true);//自动模式
|
//
|
// //获取小车到输送站点行走命令
|
// List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
|
// if (commands == null) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
// return false;
|
// }
|
//
|
// List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
|
// if (liftCommand == null) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
// return false;
|
// }
|
//
|
// List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
|
// if (liftCommand2 == null) {
|
// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
// return false;
|
// }
|
//
|
// commands.add(0, liftCommand.get(0));
|
// commands.add(liftCommand2.get(0));
|
// assignCommand.setCommands(commands);
|
//
|
// wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
|
// wrkMast.setSourceStaNo(liftSta.getStaNo());
|
// wrkMast.setModiTime(new Date());
|
// wrkMast.setSystemMsg("");//清空消息
|
// if (wrkMastService.updateById(wrkMast)) {
|
// //下发任务
|
// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
// //触发通知
|
// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
|
// return false;
|
// }
|
// return false;
|
// }
|
// return true;
|
// }
|
public synchronized void liftInExecute() {
|
try {
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022, 1031));
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
|
if (!step0) {
|
return;
|
}
|
|
boolean step1 = this.liftInExecuteStep1(wrkMast);//提升机搬运
|
if (!step1) {
|
return;
|
}
|
|
boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务
|
if (!step2) {
|
return;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
private boolean liftInExecuteStep0(WrkMast wrkMast) {
|
Date now = new Date();
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
|
FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
if (devpThread == null) {
|
return false;
|
}
|
|
Map<Integer, StaProtocol> station = devpThread.getStation();
|
StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo());
|
if (staProtocol == null) {
|
return false;
|
}
|
|
if (!staProtocol.isAutoing()) {
|
News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
|
if (!staProtocol.isLoading()) {
|
News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
if (wrkMast.getSourceStaNo() != 1031) {
|
if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
|
News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
|
return false;
|
}
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
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(), 1);
|
return false;
|
}
|
}
|
|
short staNo = 1012;
|
if (wrkMast.getSourceStaNo() == 1022) {
|
staNo = 1023;
|
} else if (wrkMast.getSourceStaNo() == 1031) {
|
staNo = 1032;
|
}
|
|
staProtocol = staProtocol.clone();
|
staProtocol.setStaNo(staNo);
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
|
|
wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
|
return true;
|
}
|
|
private boolean liftInExecuteStep1(WrkMast wrkMast) {
|
Date now = new Date();
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
if (liftThread == null) {
|
return false;
|
}
|
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
return false;
|
}
|
|
if (!liftThread.isIdle()) {
|
return false;
|
}
|
|
//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)
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
|
if (liftWrkMast != null) {
|
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());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
|
//判断提升机内是否有小车
|
if (liftProtocol.getHasCar()) {
|
News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
|
//判断提升机内是否有托盘
|
if (liftProtocol.getHasTray()) {
|
News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
|
FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
if (devpThread == null) {
|
return false;
|
}
|
|
Map<Integer, StaProtocol> station = devpThread.getStation();
|
|
Integer sourceStaNo = wrkMast.getSourceStaNo();
|
if (wrkMast.getSourceStaNo() == 1022) {
|
sourceStaNo = 1023;
|
} else if (wrkMast.getSourceStaNo() == 1031) {
|
sourceStaNo = 1032;
|
}
|
|
StaProtocol staProtocol = station.get(sourceStaNo);
|
if (staProtocol == null) {
|
return false;
|
}
|
|
if (!staProtocol.isAutoing()) {
|
News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
|
if (!staProtocol.isLoading()) {
|
News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
if (sourceStaNo == 1023) {
|
if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
|
News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
} else if (sourceStaNo == 1012) {
|
if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
|
News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
} else if (sourceStaNo == 1032) {
|
if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) {
|
News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
}
|
|
String locNo = "0200305";
|
if (wrkMast.getSourceStaNo() == 1012) {
|
locNo = "0200301";
|
} else if (wrkMast.getSourceStaNo() == 1032) {
|
locNo = "0200308";
|
}
|
boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
|
if (!dispatchShuttle) {
|
News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
|
return false;
|
}
|
|
int lev = 101;
|
if (wrkMast.getSourceStaNo() == 1021) {
|
lev = 100 + Utils.getLev(wrkMast.getLocNo());
|
} else if (wrkMast.getSourceStaNo() == 1031) {
|
lev = 100 + Utils.getLev(wrkMast.getLocNo());
|
}
|
//获取提升机命令
|
List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), sourceStaNo, lev);
|
LiftCommand liftCommand = liftCommands.get(0);
|
|
int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
|
liftCommand.setTaskNo(deviceWrk);//更换随机任务号
|
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
commands.add(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue());
|
|
wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);
|
wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
|
return false;
|
}
|
return false;
|
}
|
|
return true;
|
}
|
|
private boolean liftInExecuteStep2(WrkMast wrkMast) {
|
Date now = new Date();
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
if (liftThread == null) {
|
return false;
|
}
|
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
return false;
|
}
|
|
if (!liftThread.isIdle()) {
|
return false;
|
}
|
|
//判断提升机内是否有小车
|
if (liftProtocol.getHasCar()) {
|
News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
|
//判断提升机内是否有托盘
|
if (!liftProtocol.getHasTray()) {
|
News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
// String locNo = "0200305";
|
// if (wrkMast.getStaNo() == 1011) {
|
// locNo = "0200301";
|
// }
|
// boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
|
// if (!dispatchShuttle) {
|
// News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
|
// return false;
|
// }
|
|
wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
|
// TODO 测试中发现不能解禁，因为提升机里存在托盘，就不能解禁，不然另一辆小车可能会近提升机
|
//wrkMast.setLiftNo(null);
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
|
return true;
|
}
|
|
public synchronized void liftOutExecute() {
|
try {
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021, 1031));
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
|
if (!step1) {
|
return;
|
}
|
|
boolean step2 = this.liftOutExecuteStep2(wrkMast);//提升机搬运
|
if (!step2) {
|
return;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
private boolean liftOutExecuteStep1(WrkMast wrkMast) {
|
Date now = new Date();
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
|
FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
if (devpThread == null) {
|
return false;
|
}
|
|
Map<Integer, StaProtocol> station = devpThread.getStation();
|
StaProtocol staProtocol = station.get(wrkMast.getStaNo());
|
if (staProtocol == null) {
|
return false;
|
}
|
|
if (!staProtocol.isAutoing()) {
|
News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
if (wrkMast.getStaNo() == 1031) {
|
// if (staProtocol.getOutInModel() != 1) {
|
// News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
// return false;
|
// }
|
} else {
|
if (!isOutEnable(devpThread, wrkMast.getStaNo())) {
|
News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
}
|
|
String locNo = "0200305";
|
if (wrkMast.getStaNo() == 1011) {
|
locNo = "0200301";
|
} else if (wrkMast.getStaNo() == 1031) {
|
locNo = "0200308";
|
}
|
boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_LIFT");
|
if (!dispatchShuttle) {
|
News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
|
return false;
|
} else {
|
News.info("{}任务，无提升机处调度小车成功", wrkMast.getWrkNo());
|
}
|
|
wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
private boolean liftOutExecuteStep2(WrkMast wrkMast) {
|
Date now = new Date();
|
if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
if (liftThread == null) {
|
return false;
|
}
|
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
return false;
|
}
|
|
if (!liftThread.isIdle()) {
|
return false;
|
}
|
|
//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)
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
|
if (liftWrkMast != null) {
|
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());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
|
//判断提升机内是否有小车
|
if (liftProtocol.getHasCar()) {
|
News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
|
//判断提升机内是否有托盘
|
if (!liftProtocol.getHasTray()) {
|
News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
|
return false;
|
}
|
|
FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
if (devpThread == null) {
|
return false;
|
}
|
|
Map<Integer, StaProtocol> station = devpThread.getStation();
|
StaProtocol staProtocol = station.get(wrkMast.getStaNo());
|
if (staProtocol == null) {
|
return false;
|
}
|
|
if (!staProtocol.isAutoing()) {
|
News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
|
return false;
|
}
|
|
Integer sourceLev = liftThread.getLevToStaNo(Utils.getLev(wrkMast.getSourceLocNo()));
|
|
//获取提升机命令
|
List<LiftCommand> liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo());
|
LiftCommand liftCommand = liftCommands.get(0);
|
if (wrkMast.getStaNo() == 1031) {
|
liftCommand.setTaskNo(wrkMast.getWrkNo());
|
} else {
|
int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
|
liftCommand.setTaskNo(deviceWrk);//更换随机任务号
|
}
|
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
commands.add(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(LiftCommandModeType.PALLET_OUT.id.shortValue());
|
|
wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);
|
wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
|
return false;
|
}
|
return false;
|
}
|
|
return true;
|
}
|
|
/**
|
* 四向穿梭车任务完成
|
*/
|
public synchronized void shuttleFinished() {
|
try {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//四向穿梭车状态为等待确认、小车处于空闲状态
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
|
&& shuttleProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
|
//5.小车搬运中 ==> 9.入库完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
|
//102.小车搬运中 ==> 103.小车搬运完成
|
wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
|
//302.小车移动至站点 ==> 303.小车移动至站点完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
|
//304.小车迁入提升机中 ==> 305.小车迁入提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
|
//308.小车迁出提升机中 ==> 309.小车迁出提升机完成
|
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
continue;//小车未到达目标层
|
}
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
|
//310.小车移动中 ==> 311.小车移动完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) {
|
//小车移动至站点 ==> 小车移动至站点完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) {
|
//小车迁入提升机中 ==> 小车迁入提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) {
|
//小车迁出提升机中 ==> 小车迁出提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) {
|
//小车放货中 ==> 小车放货完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) {
|
//小车移动至站点 ==> 小车移动至站点完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) {
|
//小车迁入提升机中 ==> 小车迁入提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) {
|
//小车迁出提升机中 ==> 小车放货完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
|
//204.小车充电中 ==> 205.小车充电完成
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
}
|
// else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
|
// wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
|
// shuttleThread.setSyncTaskNo(0);
|
// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
// }
|
else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts);
|
wrkMast.setLiftNo(null);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts);
|
wrkMast.setLiftNo(null);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else {
|
continue;
|
}
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//设置四向穿梭车为空闲状态
|
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
} else {
|
Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
|
if (object != null) {
|
ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
|
if (!assignCommand.getAuto()) {
|
//手动模式
|
//工作号清零
|
shuttleThread.setTaskNo(0);
|
//设置四向穿梭车为空闲状态
|
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
}
|
}
|
}
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行移库任务
|
*/
|
public synchronized void shuttleLocMoveExecute() {
|
try {
|
//查询移库任务
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//移库任务-小车取货中
|
if (!stepTake) {
|
continue;
|
}
|
|
boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//移库任务-小车取货中
|
if (!stepPut) {
|
continue;
|
}
|
|
boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//移库任务-任务完成
|
if (!stepComplete) {
|
continue;
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 移库任务-小车取货中
|
* 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 shuttleLocMoveExecuteTake(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 501.生成移库任务 ==> 502.小车取货中
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
|
if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货
|
News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
|
if (result) {
|
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
}
|
|
return false;
|
}
|
}
|
return true;
|
}
|
|
/**
|
* 移库任务-小车放货中
|
* 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 shuttleLocMoveExecutePut(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 502.小车取货中 ==> 503.小车放货中
|
if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts) {
|
//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;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
|
return false;
|
}
|
|
boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//调度小车放货
|
News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
|
if (result) {
|
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 移库任务-任务完成
|
* 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 shuttleLocMoveComplete(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 503.小车放货中 ==> 509.移库完成
|
if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts) {
|
//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;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达放货位置", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (shuttleProtocol.getHasLift()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车处于顶升状态", wrkMast.getWrkNo());
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//小车搬运中 503.小车放货中 ==> 509.移库完成
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 提升机任务完成
|
*/
|
public synchronized void liftFinished() {
|
try {
|
for (LiftSlave slave : slaveProperties.getLift()) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//提升机为等待确认且空闲
|
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
|
//3.提升机搬运中 ==> 4.提升机搬运完成
|
wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
|
//104.提升机搬运中 ==> 109.出库完成
|
if (wrkMast.getStaNo() == 1031) {
|
wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_2.sts);
|
} else {
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
|
}
|
wrkMast.setLiftNo(null);//释放提升机
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
|
//306.提升机搬运中 ==> 307.提升机搬运完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) {
|
//提升机至放货层 ==> 提升机至放货层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
|
}
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
liftThread.setSyncTaskNo(0);
|
liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
|
} else {
|
News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 输送线任务完成
|
*/
|
public synchronized void devpFinished() {
|
try {
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
Map<Integer, StaProtocol> station = devpThread.getStation();
|
WrkMast wrkMast = null;
|
for (StaProtocol staProtocol : station.values()) {
|
if ((staProtocol.getSiteId() == 1013 || staProtocol.getSiteId() == 1024) && staProtocol.isLoading()) {
|
wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
|
if (wrkMast != null) {
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
|
} else {
|
News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
|
}
|
}
|
} else if (staProtocol.getSiteId() == 1031 && staProtocol.isLoading()) {
|
wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN_2.sts));
|
if (wrkMast != null) {
|
staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
|
staProtocol.setStaNo(Short.parseShort(String.valueOf(1135)));
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
|
News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
|
} else {
|
News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recShuttleErr();
|
this.recLiftErr();
|
} catch (Exception e) {
|
News.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* 四向穿梭车异常信息记录
|
*/
|
private void recShuttleErr() {
|
Date now = new Date();
|
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
|
// 获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//有任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
|
// 有异常
|
if (latest == null) {
|
if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
|
String errName = basShuttleErr == null ? "未知异常" : basShuttleErr.getErrName();
|
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
shuttleSlave.getId(), // 四向穿梭车
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
errorCode, // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(shuttleProtocol) // 系统状态数据
|
);
|
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basShuttleErrLogService.updateById(latest)) {
|
News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 提升机异常信息记录
|
*/
|
private void recLiftErr() {
|
Date now = new Date();
|
for (LiftSlave slave : slaveProperties.getLift()) {
|
// 获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
if (liftProtocol.getTaskNo() != 0) {
|
//有任务
|
BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
|
// 有异常
|
if (latest == null) {
|
if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
|
String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName();
|
|
BasLiftErrLog basLiftErrLog = new BasLiftErrLog(null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
slave.getId(), // 提升机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
null, // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(liftProtocol) // 系统状态数据
|
);
|
if (!basLiftErrLogService.insert(basLiftErrLog)) {
|
News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (liftProtocol.getErrorCode() == null || liftProtocol.getErrorCode().equals("0")) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basLiftErrLogService.updateById(latest)) {
|
News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
try {
|
|
List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
|
if (charges.isEmpty()) {
|
return;//无充电桩
|
}
|
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleThread.isRequireCharge()) {
|
continue;
|
}
|
|
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
|
if (wrkMast != null) {//已有充电任务
|
continue;
|
}
|
|
//小车所在楼层
|
int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
|
BasShuttleCharge shuttleCharge = null;
|
|
//搜索小车所在楼层有没有充电桩
|
for (BasShuttleCharge charge : charges) {
|
if (lev != Utils.getLev(charge.getLocNo())) {
|
continue;//小车和充电桩不在同一层
|
}
|
|
if (charge.getStatus() == 0) {
|
continue;//充电桩被禁用
|
}
|
|
//小车和充电桩在同一层
|
if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
|
shuttleCharge = charge;
|
break;
|
}
|
}
|
|
if (shuttleCharge == null) {
|
//同楼层没有找到充电桩，找可用充电桩
|
//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
|
for (BasShuttleCharge charge : charges) {
|
if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
|
//判断当前充电桩是否有小车，如有小车，不分配该充电桩
|
ArrayList<String> locs = new ArrayList<>();
|
locs.add(charge.getLocNo());
|
Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
|
if (checkHasShuttle != null) {
|
//当前充电桩有穿梭车，不分配该充电桩
|
continue;
|
}
|
|
if (charge.getStatus() == 0) {
|
continue;//充电桩被禁用
|
}
|
|
shuttleCharge = charge;
|
break;
|
}
|
}
|
}
|
|
if (shuttleCharge == null) {
|
continue;
|
}
|
|
String chargeLocNo = shuttleCharge.getLocNo();
|
wrkMast = new WrkMast();
|
wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
|
wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
|
wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
|
wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
|
wrkMast.setIoPri((double) 999);
|
wrkMast.setLocNo(chargeLocNo);
|
wrkMast.setShuttleNo(shuttle.getId());
|
wrkMast.setMemo("charge");
|
wrkMast.setAppeTime(new Date());
|
if (!wrkMastService.insert(wrkMast)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
|
continue;
|
}
|
|
News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行四向穿梭车充电任务
|
*/
|
public synchronized void executeShuttleCharge() {
|
try {
|
//查询小车充电任务
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩
|
if (!result1) {
|
continue;
|
}
|
|
boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩
|
if (!result2) {
|
continue;
|
}
|
|
boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电
|
if (!result3) {
|
continue;
|
}
|
|
boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电
|
if (!result4) {
|
continue;
|
}
|
|
boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩
|
if (!result5) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 小车前往充电桩
|
*/
|
private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
//小车在充电桩位置
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
//调度小车去充电桩
|
boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
|
if (!dispatched) {
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 小车到达充电桩
|
*/
|
private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//判断是否存在未完成的移动任务
|
WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
|
if (moveWrk != null) {
|
return false;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
return false;
|
}
|
|
//小车在充电桩位置
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
|
return false;
|
}
|
return true;
|
}
|
|
//小车开始充电
|
private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车已经在充电桩位置，下发充电命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
|
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
|
assignCommand.setCommands(commands);//运行命令
|
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
|
wrkMast.setModiTime(new Date());
|
if (!wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知
|
return false;
|
}
|
return true;
|
}
|
|
//小车停止充电
|
private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (!shuttleThread.isChargingCompleted()) {
|
return false;
|
}
|
|
//小车已经在充电桩位置，下发停止充电命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
|
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
|
assignCommand.setCommands(commands);//运行命令
|
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
return false;
|
}
|
return true;
|
}
|
|
//小车离开充电桩
|
private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
|
if (basShuttleCharge == null) {
|
return false;
|
}
|
|
//调度小车去待机位
|
boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
|
if (!dispatched) {
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 执行小车移库任务
|
*/
|
public synchronized void shuttleMoveExecute() {
|
try {
|
//查询小车移库任务
|
List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
|
for (WrkMast wrkMast : wrkMasts) {
|
if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
|
this.shuttleMoveExecuteTransportLift(wrkMast);
|
} else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {
|
this.shuttleMoveExecuteTransportNoLift(wrkMast);
|
} else {
|
shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
|
WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
|
LiftThread liftThread;
|
if (wrkMast1 != null && wrkMast1.getLiftNo() != null) {
|
liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
} else {
|
liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
|
if (liftThread == null) {
|
return;
|
}
|
}
|
//liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast1.getLiftNo());
|
String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
|
if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
|
//取货位置是提升机
|
transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast);
|
} else {
|
//放货位置是提升机
|
transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast);
|
}
|
}
|
|
private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
|
WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
|
if (mainWrk != null && mainWrk.getIoType() == 1) {
|
//入库
|
noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getLocNo()));
|
} else if (mainWrk != null && mainWrk.getIoType() == 101) {
|
//出库
|
noLiftOutService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getSourceLocNo()));
|
}
|
}
|
|
|
/**
|
* 入出库模式切换函数
|
*/
|
public synchronized void ioConvert() {
|
try {
|
// 根据输送线plc遍历
|
FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
WrkMast pakout = wrkMastService.selectWorkingPakout(1031);
|
if (pakout != null) {
|
if (devpThread.ioModeOf2_5 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
WrkMast pakin = wrkMastService.selectWorkingPakin(1032);
|
if (pakin == null && !devpThread.getStation().get(1031).isLoading()
|
&& !devpThread.getStation().get(1032).isLoading()) {
|
// 出库模式
|
devpThread.ioModeOf2_5 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE;
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
}
|
