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.baomidou.mybatisplus.mapper.Wrapper;
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import com.core.common.Cools;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.*;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.model.enums.WrkChargeType;
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import com.zy.common.service.CommonService;
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import com.zy.common.service.erp.ErpService;
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import com.zy.common.utils.*;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.News;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.*;
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import com.zy.core.model.command.*;
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import com.zy.core.model.protocol.*;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.*;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.*;
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import java.util.stream.Collectors;
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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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@Transactional
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public class MainServiceImpl {
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@Value("${wms.url}")
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private String wmsUrl;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private WrkDetlService wrkDetlService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private LocDetlService locDetlService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasSteErrLogService basSteErrLogService;
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@Autowired
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private BasShuttleService basShuttleService;
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@Autowired
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private BasShuttleErrLogService basShuttleErrLogService;
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@Autowired
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private BasShuttleErrService basShuttleErrService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private BasSteService basSteService;
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@Autowired
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private WrkChargeService wrkChargeService;
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@Autowired
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private BasSteErrService basSteErrService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private WrkChargeMapper wrkChargeMapper;
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@Autowired
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private BasMapService basMapService;
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@Autowired
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private ErpService erpService;
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@Autowired
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private OrderMapper orderMapper;
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@Autowired
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private OrderDetlMapper orderDetlMapper;
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@Autowired
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private RedisUtil redisUtil;
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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 void generateStoreWrkFile() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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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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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg+"前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg+"后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg+"高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg+"左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg+"右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg+"超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg+"扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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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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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
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}
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continue;
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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()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
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) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if(!Cools.isEmpty(barcode)) {
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// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
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// staProtocol.setWorkNo((short) 32002);
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// staProtocol.setStaNo(inSta.getBackSta().shortValue());
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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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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String errorMsg = "扫码失败，请重试";
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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}
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continue;
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}
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} else {
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// staProtocol.setWorkNo((short) 32002);
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// staProtocol.setStaNo(inSta.getBackSta().shortValue());
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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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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String errorMsg = "扫码失败，请重试";
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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}
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continue;
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}
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// 过滤盘点/拣料/并板任务
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WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
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if (null != wrkMast1) {
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast2 != null) {
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News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast2.getWrkNo());
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continue;
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}
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try {
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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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(locTypeDto.getLocType1());
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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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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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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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// plc 处理
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barcodeThread.setBarcode("");
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staProtocol.setWorkNo(dto.getWorkNo().shortValue());
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staProtocol.setStaNo(dto.getStaNo().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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throw new CoolException("更新plc站点信息失败");
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}
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
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if (wrkMast == null) { continue; }
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// 更新工作主档
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wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
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wrkMast.setModiTime(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
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}
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} else if (code == 500){
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if (ledThread != null) {
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String errorMsg = jsonObject.getString("msg");
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if (!Cools.isEmpty(errorMsg)) {
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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}
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}
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News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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} else if (code == 700) {
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staProtocol.setWorkNo((short) 32002);
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staProtocol.setRollback102(1);//102站回退信号
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
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// led 异常显示
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if (ledThread != null) {
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String errorMsg = barcode + "托盘识别异常，请先进行组托！";
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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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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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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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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* wms入库
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* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
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*/
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@Deprecated
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public void generateStoreWrkFile0() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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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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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
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&& staProtocol.isPakMk()) {
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "";
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if (staProtocol.isFrontErr()) {
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errMsg = "前超限";
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back = true;
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}
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if (!back && staProtocol.isBackErr()) {
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errMsg = "后超限";
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back = true;
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}
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if (!back && staProtocol.isHighErr()) {
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errMsg = "高超限";
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back = true;
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}
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if (!back && staProtocol.isLeftErr()) {
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errMsg = "左超限";
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back = true;
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}
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if (!back && staProtocol.isRightErr()) {
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errMsg = "右超限";
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back = true;
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}
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if (!back && staProtocol.isWeightErr()) {
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errMsg = "超重";
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back = true;
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}
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if (!back && staProtocol.isBarcodeErr()) {
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errMsg = "扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
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staProtocol.setWorkNo((short) 32002);
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staProtocol.setStaNo(inSta.getBackSta().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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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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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
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}
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
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if (wrkMast == null) { continue; }
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// 命令下发区 --------------------------------------------------------------------------
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
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staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (result) {
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// 更新工作主档
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wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
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wrkMast.setModiTime(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
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}
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} else {
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News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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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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* 拣料、并板、盘点再入库
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*/
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@Transactional
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public synchronized void stnToCrnStnPick(){
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历拣料入库口
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for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
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// 获取拣料入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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if (staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
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&& staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
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&& staProtocol.isPakMk()){
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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WrkMast wrkMast = null;
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wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
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if (wrkMast == null) {
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continue;
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}
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// if (staProtocol.getWorkNo() == 9996) {
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// String barcode = barcodeThread.getBarcode();
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// if(!Cools.isEmpty(barcode)) {
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// News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
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// if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
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// staProtocol.setWorkNo((short) 32002);
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// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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//
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// // led 异常显示
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// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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// if (ledThread != null) {
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// String errorMsg = "扫码失败，请重试";
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// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
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// }
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// continue;
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// }
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// } else {
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// staProtocol.setWorkNo((short) 32002);
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// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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//
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// // led 异常显示
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// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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// if (ledThread != null) {
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// String errorMsg = "扫码失败，请重试";
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// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
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// }
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// continue;
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// }
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// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
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// if (null == wrkMast) {
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// News.error("{}条码错误，暂无拣料任务！", barcode);
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// }
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// }
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if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
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|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
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continue;
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}
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try {
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// 访问 WMS 获取入库库位
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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SearchLocParam param = new SearchLocParam();
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param.setWrkNo(wrkMast.getWrkNo());
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param.setIoType(wrkMast.getIoType());
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param.setSourceStaNo(pickSta.getStaNo());
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// param.setLocType1(locTypeDto.getLocType1());
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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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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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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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// // 获取目标站
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// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
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// .eq("type_no", wrkMast.getIoType() - 50)
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// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
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// .eq("crn_no", dto.getCrnNo()); // 堆垛机号
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// StaDesc staDesc = staDescService.selectOne(wrapper);
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// if (Cools.isEmpty(staDesc)) {
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// News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
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// continue;
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// }
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// // 堆垛机站点(目标站)
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// Integer staNo = staDesc.getCrnStn();
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// 保存工作明细档历史档
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// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
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// throw new CoolException("保存工作明细档历史档失败");
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// }
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// 保存工作主档历史档
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if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
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throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
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}
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String sourceLocNo = wrkMast.getSourceLocNo().trim();
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// 更新工作档数据状态
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wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
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wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
|
wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
|
wrkMast.setStaNo(dto.getStaNo()); // 目标站
|
wrkMast.setCrnNo(dto.getCrnNo());
|
wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
|
wrkMast.setShuttleNo(null); // 穿梭车清空
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
}
|
if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
|
throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
}
|
|
// 修改库位状态 Q.拣料/盘点/并板再入库
|
LocMast locMast = locMastService.selectById(sourceLocNo);
|
locMast.setLocSts("Q");
|
locMast.setModiTime(new Date());
|
if (!locMastService.updateById(locMast)) {
|
throw new CoolException("修改库位状态失败");
|
}
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
|
}
|
|
} else if (code == 500){
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
} else {
|
staProtocol.setWorkNo((short) 32002);
|
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 初始化实时地图
|
*/
|
public synchronized void initRealtimeBasMap() {
|
for (int i = 1; i <= 4; i++) {//总共四层楼
|
Object data = redisUtil.get("realtimeBasMap_" + i);
|
if (data == null) {//redis地图数据为空，从数据库中获取
|
BasMap basMap = basMapService.selectLatestMap(i);
|
if (basMap == null) {
|
//数据库中也不存在地图数据，从地图文件中获取
|
//载入地图
|
NavigateMapData mapData = new NavigateMapData(i);
|
List<List<MapNode>> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库)
|
|
//存入数据库
|
basMap = new BasMap();
|
basMap.setData(JSON.toJSONString(lists));
|
basMap.setCreateTime(new Date());
|
basMap.setUpdateTime(new Date());
|
basMap.setLev(i);
|
|
if (!basMapService.insert(basMap)) {
|
log.info("地图数据存储失败");
|
}
|
}
|
|
//将数据库地图数据存入redis
|
redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
|
}
|
}
|
}
|
|
/**
|
* 从redis中重启任务
|
*/
|
public synchronized void restartTaskFromRedis() {
|
HashMap<Object, Object> map = redisUtil.getRedis();
|
for (Object key : map.keySet()) {
|
if (key.toString().contains("lift_wrk_no_")) {//提升机任务
|
LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
|
if (redisCommand == null) {
|
continue;
|
}
|
|
Short liftNo = redisCommand.getLiftNo();
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
if (!liftProtocol.isIdle()) {
|
continue;
|
}
|
|
//提升机处于空闲状态，进行任务的恢复
|
liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
|
|
}else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务
|
ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
|
if (redisCommand == null) {
|
continue;
|
}
|
|
Short shuttleNo = redisCommand.getShuttleNo();
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
//四向穿梭车处于空闲状态，进行任务的恢复
|
shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
|
}
|
}
|
|
}
|
|
/**
|
* 入库 ===>> 四向穿梭车入库作业下发
|
*/
|
public synchronized void shuttleIoInExecute() {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历入库站
|
for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
Short workNo = staProtocol.getWorkNo();
|
|
// 判断是否满足入库条件，自动、有物、四向穿梭车可取信号
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) {
|
WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
|
ShuttleThread shuttleThread = null;
|
ShuttleProtocol shuttleProtocol = null;
|
HashMap<String, Object> searchIdleShuttle = null;
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
|
if (wrkMast.getWrkSts() == 4) {
|
if (wrkMast.getShuttleNo() == null) {
|
//寻找最近且空闲的四向穿梭车
|
searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
|
wrkMastMapper.updateById(wrkMast);
|
shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
}else {
|
//直接使用任务保存中的小车
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle(workNo)) {
|
continue;
|
}
|
}
|
}else if(wrkMast.getWrkSts() == 8){//状态8，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号
|
//状态8，等待命令进行入库搬运动作
|
|
//判断提升机是否空闲
|
if (!liftProtocol.isIdleNoTask()) {
|
try {
|
Thread.sleep(1000);//休眠1s
|
} catch (InterruptedException e) {
|
throw new RuntimeException(e);
|
}
|
continue;//提升机忙
|
}
|
//判断提升机任务号和当前工作档任务号是否一致
|
if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
|
continue;
|
}
|
|
//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
|
String locNo = wrkMast.getLocNo();
|
int lev = Utils.getLev(locNo);//目标二维码所在楼层
|
int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层
|
if (liftLev != lev) {
|
continue;//提升机不在目标楼层跳过
|
}
|
|
Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
|
//获取目标站信息
|
StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
|
if (staProtocol1 == null) {
|
continue;//站点信息不存在
|
}
|
if (!staProtocol1.isLiftArrival()) {
|
continue;//站点提升机到位信号false
|
}
|
|
Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
|
shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle(workNo)) {
|
continue;
|
}
|
}
|
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
|
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)
|
|
String locNo = wrkMast.getLocNo();//当前工作档库位号
|
Integer currentLev = wrkMast.getWrkSts() == 4 ? Utils.getLev(currentLocNo) : liftProtocol.getLev();//小车当前层高
|
|
//提升机口站点库位号
|
String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
|
|
if (wrkMast.getWrkSts() == 4) {
|
if (currentLev == Utils.getLev(locNo)) {
|
//小车和目标在同一楼层
|
//直接计算车到提升机取货再到库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
|
if (commands == null) {
|
continue;//找不到路径等待下一次
|
}
|
assignCommand.setCommands(commands);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getLocNo());
|
wrkMast.setWrkSts(9L);//小车入库中
|
}else {
|
//小车和目标不在同一楼层
|
//小车移动到提升机口，计算路径
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
continue;//未找到路径
|
}
|
|
//获取当前小车所在楼层的站点信息
|
BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
|
Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
|
|
//增加移动进提升机命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
|
commands.add(moveCommand);
|
|
//分配目标库位
|
shuttleProtocol.setLocNo(liftSiteLocNo);
|
//目标库位
|
assignCommand.setLocNo(liftSiteLocNo);
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(5L);//小车迁移状态
|
}
|
} else if (wrkMast.getWrkSts() == 8) {
|
//直接计算车到提升机取货再到库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
|
if (commands == null) {
|
continue;//找不到路径等待下一次
|
}
|
|
//此时车在提升机内部，下达一步指令让车移动到提升机口
|
Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
|
BasDevp basDevp = basDevpService.selectById(staNo);
|
|
short startCode = liftProtocol.getBarcode();//提升机内部二维码
|
Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
|
Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
|
//获取命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
|
commands.add(0, moveCommand);//将该指令添加到队头
|
|
assignCommand.setCommands(commands);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getLocNo());
|
wrkMast.setWrkSts(9L);//小车入库中
|
}
|
|
// if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
|
// //同一层直接取货无需经过提升机
|
// //直接计算车到提升机取货再到库位路径指令
|
// List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
|
// if (commands == null) {
|
// continue;//找不到路径等待下一次
|
// }
|
// if (wrkMast.getWrkSts() == 8) {
|
// //此时车在提升机内部，下达一步指令让车移动到提升机口
|
// Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号
|
// BasDevp basDevp = basDevpService.selectById(staNo);
|
//
|
// short startCode = liftProtocol.getBarcode();//提升机内部二维码
|
// Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
|
// Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
|
// //获取命令
|
// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
|
// commands.add(0, moveCommand);//将该指令添加到队头
|
// }
|
// assignCommand.setCommands(commands);
|
// //分配目标库位
|
// shuttleProtocol.setLocNo(wrkMast.getLocNo());
|
// //目标库位
|
// assignCommand.setLocNo(wrkMast.getLocNo());
|
// wrkMast.setWrkSts(9L);//小车入库中
|
// }else {
|
// //不同层，将目标库位分配成提升机库位号
|
//
|
// //小车移动到提升机口，计算路径
|
// List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
|
// if (commands == null) {
|
// continue;//未找到路径
|
// }
|
//
|
// //获取当前小车所在楼层的站点信息
|
// BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
|
// Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
|
//
|
// //增加移动进提升机命令
|
// ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 500);
|
// commands.add(moveCommand);
|
//
|
// //分配目标库位
|
// shuttleProtocol.setLocNo(liftSiteLocNo);
|
// //目标库位
|
// assignCommand.setLocNo(liftSiteLocNo);
|
// assignCommand.setCommands(commands);
|
// wrkMast.setWrkSts(5L);//小车迁移状态
|
// }
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}
|
}
|
|
}
|
}
|
|
}
|
|
//获取起点-终点指令
|
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
|
//获取小车移动速度
|
BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
|
Integer runSpeed = 1000;
|
// if (basShuttle != null) {
|
// Integer runSpeed1 = basShuttle.getRunSpeed();
|
// if (runSpeed1 != null) {
|
// runSpeed = runSpeed1;
|
// }
|
// }
|
|
//计算小车起点到中点所需命令
|
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
|
List<ShuttleCommand> commands = new ArrayList<>();
|
if (calc == null) {
|
return null;
|
}
|
if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
|
return null;
|
}
|
List<NavigateNode> allNode = new ArrayList<>();
|
allNode.addAll(calc);
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
|
//将每一段路径分成command指令
|
for (ArrayList<NavigateNode> nodes : data) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
|
//中间路径
|
NavigateNode middlePath = null;
|
//通过xy坐标小车二维码
|
Short middleCodeNum = null;
|
Integer middleToDistDistance = null;//计算中间点到目标点行走距离
|
if (nodes.size() > 10) {//中段码传倒数第三个
|
//中间路径
|
middlePath = nodes.get(nodes.size() - 3);
|
//通过xy坐标小车二维码
|
middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
|
middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
|
} else if (nodes.size() > 5) {//中段码传倒数第二个
|
//中间路径
|
middlePath = nodes.get(nodes.size() - 2);
|
//通过xy坐标小车二维码
|
middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
|
middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
|
}
|
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
//通过xy坐标小车二维码
|
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
|
//通过xy坐标小车二维码
|
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
|
//获取移动命令
|
ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
|
commands.add(command);
|
}
|
|
assignCommand.setNodes(allNode);//当前任务所占用的节点list
|
//所使用的路径进行锁定禁用
|
NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
|
navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用
|
|
return commands;
|
}
|
|
//获取起点-中点-终点指令
|
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
|
//获取小车移动速度
|
BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
|
Integer runSpeed = 1000;
|
// if (basShuttle != null) {
|
// Integer runSpeed1 = basShuttle.getRunSpeed();
|
// if (runSpeed1 != null) {
|
// runSpeed = runSpeed1;
|
// }
|
// }
|
|
List<NavigateNode> allNode = new ArrayList<>();
|
|
//计算小车起点到中点所需命令
|
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//小车无货，走正常库位通道
|
List<ShuttleCommand> commands = new ArrayList<>();
|
|
if (calc != null) {
|
if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
|
return null;
|
}
|
|
allNode.addAll(calc);
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
|
//将每一段路径分成command指令
|
for (ArrayList<NavigateNode> nodes : data) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
|
//中间路径
|
NavigateNode middlePath = null;
|
//通过xy坐标小车二维码
|
Short middleCodeNum = null;
|
Integer middleToDistDistance = null;//计算中间点到目标点行走距离
|
if (nodes.size() > 10) {//中段码传倒数第三个
|
//中间路径
|
middlePath = nodes.get(nodes.size() - 3);
|
//通过xy坐标小车二维码
|
middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
|
middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
|
} else if (nodes.size() > 5) {//中段码传倒数第二个
|
//中间路径
|
middlePath = nodes.get(nodes.size() - 2);
|
//通过xy坐标小车二维码
|
middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
|
middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
|
}
|
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
//通过xy坐标小车二维码
|
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
|
//通过xy坐标小车二维码
|
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
|
//获取移动命令
|
ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
|
commands.add(command);
|
}
|
}
|
|
//小车指令到达目标位置后，再发出一条顶升指令
|
commands.add(shuttleThread.getPalletCommand((short) 1));
|
|
//计算小车中点到终点所需命令
|
List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//小车有货，走禁用过DFX库位的地图通道
|
if (calc2 == null) {
|
return null;
|
}
|
if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离
|
return null;
|
}
|
allNode.addAll(calc2);
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
|
for (ArrayList<NavigateNode> nodes : data2) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
|
//中间路径
|
NavigateNode middlePath = null;
|
//通过xy坐标小车二维码
|
Short middleCodeNum = null;
|
Integer middleToDistDistance = null;//计算中间点到目标点行走距离
|
if (nodes.size() > 10) {//中段码传倒数第三个
|
//中间路径
|
middlePath = nodes.get(nodes.size() - 3);
|
//通过xy坐标小车二维码
|
middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
|
middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
|
} else if (nodes.size() > 5) {//中段码传倒数第二个
|
//中间路径
|
middlePath = nodes.get(nodes.size() - 2);
|
//通过xy坐标小车二维码
|
middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
|
middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//计算中间点到目标点行走距离
|
}
|
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
//通过xy坐标小车二维码
|
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
|
//通过xy坐标小车二维码
|
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
|
commands.add(moveCommand);
|
}
|
|
//小车指令到达目标位置后，再发出一条托盘下降指令
|
commands.add(shuttleThread.getPalletCommand((short) 2));
|
|
assignCommand.setNodes(allNode);//当前任务所占用的节点list
|
//所使用的路径进行锁定禁用
|
NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
|
navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用
|
|
return commands;
|
}
|
|
/**
|
* 出库 ===>> 四向穿梭车出库作业下发
|
*/
|
public synchronized void shuttleIoOutExecute() {
|
for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
|
//提取一条待出库任务
|
if (wrkMast != null) {
|
String outStaLocNo = null;//出库站点库位号
|
//获取出库站点
|
for (DevpSlave devpSlave : slaveProperties.getDevp()) {
|
for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
|
if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
|
//出库站点和工作档出库站点一致
|
outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
|
}
|
}
|
|
}
|
|
if (wrkMast.getWrkSts() == 21
|
|| wrkMast.getWrkSts() == 25
|
|| wrkMast.getWrkSts() == 31) {
|
ShuttleThread shuttleThread = null;
|
HashMap<String, Object> searchIdleShuttle = null;
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
|
if (wrkMast.getWrkSts() == 21) {
|
if (wrkMast.getShuttleNo() == null) {
|
//寻找最近且空闲的四向穿梭车
|
searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
if (shuttleThread == null) {
|
continue;
|
}
|
wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
|
wrkMastMapper.updateById(wrkMast);
|
}else {
|
//直接使用任务保存中的小车
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
}
|
}else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号
|
|
//判断提升机是否空闲
|
if (!liftProtocol.isIdleNoTask()) {
|
try {
|
Thread.sleep(1000);//休眠1s
|
} catch (InterruptedException e) {
|
throw new RuntimeException(e);
|
}
|
continue;//提升机忙
|
}
|
//判断提升机任务号和当前工作档任务号是否一致
|
if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
|
continue;
|
}
|
|
//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
|
String locNo = wrkMast.getSourceLocNo();
|
int lev = Utils.getLev(locNo);//目标二维码所在楼层
|
Short liftLev = liftProtocol.getLev();//提升机所在楼层
|
if (liftLev == null) {//提升机可能在输送线楼层
|
continue;
|
}
|
if (liftLev.intValue() != lev) {
|
continue;//提升机不在目标楼层跳过
|
}
|
|
Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
//获取目标站信息
|
StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
|
if (staProtocol1 == null) {
|
continue;//站点信息不存在
|
}
|
if (!staProtocol1.isLiftArrival()) {
|
continue;//站点提升机到位信号false
|
}
|
|
//继续完成之前小车未完成的任务
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
} else if (wrkMast.getWrkSts() == 31) {
|
//继续完成之前小车未完成的任务
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
}
|
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (outStaLocNo == null) {
|
continue;
|
}
|
|
if (wrkMast.getWrkSts() == 21) {
|
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
//源库位(小车当前位置)
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
|
//小车当前层高
|
Integer currentLev = Utils.getLev(currentLocNo);
|
//当前楼层提升机输送站点库位号
|
String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
//四向穿梭车号
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
//任务号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//入出库模式
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
|
assignCommand.setSourceLocNo(currentLocNo);
|
|
//判断小车和库位是否在同一层
|
if (currentLev == Utils.getLev(wrkMast.getSourceLocNo())) {
|
//同一层(将小车移动到货物位置)
|
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
|
if (commands == null) {
|
//未找到路径，等待下一次
|
continue;
|
}
|
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(currentLocNo);
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getSourceLocNo());
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(26L);//小车搬运中
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}else {
|
//不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)
|
|
//小车到提升机口指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
if (!currentLocNo.equals(liftSiteLocNo)) {//当前位置也不在提升机口
|
continue;//未找到路径
|
}
|
commands = new ArrayList<>();
|
}
|
shuttleProtocol.setLocNo(liftSiteLocNo);
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(currentLocNo);
|
|
//获取当前小车所在楼层的站点信息
|
BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
|
Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
|
|
//增加移动进提升机命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
|
commands.add(moveCommand);
|
|
//目标库位
|
assignCommand.setLocNo(liftSiteLocNo);
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(22L);//小车迁移状态
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
} else if (wrkMast.getWrkSts() == 25) {
|
if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
continue;
|
}
|
|
wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
|
|
//当前楼层提升机输送站点库位号
|
String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
//四向穿梭车号
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
//任务号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//入出库模式
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
|
assignCommand.setSourceLocNo(liftSiteLocNo);
|
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
|
if (commands == null) {
|
continue;//未找到路径
|
}
|
|
//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
|
short startCode = liftProtocol.getBarcode();//提升机内部二维码
|
Short distCode = commands.get(0).getStartCodeNum();//目标二维码
|
//获取移动命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, commands.get(0).getRunDirection(), null, null, 500);
|
commands.add(0, moveCommand);//将该指令添加到队头
|
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(liftSiteLocNo);
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getSourceLocNo());
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(26L);//小车搬运中
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}
|
}
|
}
|
}
|
|
/**
|
* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
|
*/
|
public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
|
HashMap<String, Object> map = new HashMap<>();
|
String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
|
LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
|
int lev = Utils.getLev(locNo);//当前工作档库位层高
|
ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
|
|
ArrayList<ShuttleThread> sameLev = new ArrayList<>();//相同楼层的穿梭车
|
ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车
|
|
//判断其他空闲穿梭车是否离任务最近
|
String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号
|
if (wrkMast.getIoType() < 101 && wrkMast.getIoType() != 11) {
|
//入库
|
distLocNo = Utils.levToOutInStaLocNo(lev);
|
}else if(wrkMast.getIoType() >= 101){
|
//出库
|
distLocNo = locNo;
|
} else if (wrkMast.getIoType() == 11) {
|
//库位移转
|
distLocNo = wrkMast.getSourceLocNo();
|
}
|
|
//判断当前任务所在楼层是否有其他任务已经分配了小车，如有则直接用该小车(一层楼仅分配一台车)
|
List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//判断当前穿梭车楼层是否已有分配车辆的任务，如果有则分配这辆车
|
if (wrkMasts.size() > 0) {
|
//存在其他任务，分配这辆车
|
WrkMast wrkMast1 = wrkMasts.get(0);
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());
|
|
map.put("sameLay", true);//同层
|
map.put("result", shuttleThread);
|
return map;
|
}
|
|
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.getShuttleProtocol();
|
if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
|
continue;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
|
if (shuttleLocNo == null) {
|
continue;
|
}
|
|
if (shuttleLocNo.equals(distLocNo)) {
|
//车辆当前位置已经是目标库位，无需计算
|
map.put("sameLay", true);//同层
|
map.put("result", shuttleThread);
|
return map;
|
}
|
|
int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高
|
if (lev == shuttleLocNoLey) {
|
//工作档楼层相同的穿梭车
|
sameLev.add(shuttleThread);
|
}else {
|
//工作档不同楼层的穿梭车
|
diffLev.add(shuttleThread);
|
}
|
|
}
|
|
Integer recentAllDistance = 9999999;
|
if (sameLev.size() > 0) {
|
//同一楼层有空闲穿梭车，则只在工作档楼层寻找
|
//寻找离任务最近的穿梭车
|
for (ShuttleThread shuttleThread : sameLev) {
|
//当前穿梭车库位号
|
String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
|
//当前穿梭车线程到目标地点距离
|
List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图
|
if (currentShuttlePath == null) {
|
continue;
|
}
|
Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
|
if (currentAllDistance < recentAllDistance) {
|
//如果当前楼层的车路径更小，则更新最近穿梭车
|
recentShuttle = shuttleThread;
|
}
|
}
|
|
map.put("sameLay", true);//同层
|
map.put("result", recentShuttle);
|
}else {
|
//同一楼层，没有空闲穿梭车，只能从其他楼层调度
|
//寻找离任务最近的穿梭车
|
for (ShuttleThread shuttleThread : diffLev) {
|
|
//当前穿梭车库位号
|
String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
|
int currentLev = Utils.getLev(currentLocNo);
|
List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
|
if (wrkMasts1.size() > 0) {
|
//存在其他任务，跳过这辆车
|
continue;
|
}
|
|
//当前穿梭车线程到当前车子所在楼层的提升机口距离
|
List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图
|
if (currentShuttlePath == null) {
|
continue;
|
}
|
|
Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
|
if (currentAllDistance < recentAllDistance) {
|
//如果当前楼层的车路径更小，则更新最近穿梭车
|
recentShuttle = shuttleThread;
|
}
|
}
|
|
map.put("sameLay", false);//不同层
|
map.put("result", recentShuttle);
|
}
|
return map;
|
}
|
|
/**
|
* 四向穿梭车任务完成
|
*/
|
public synchronized void shuttleFinished() {
|
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.getShuttleProtocol();
|
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
|
&& shuttleProtocol.getBusyStatus() == 0
|
) {
|
//标记复位
|
shuttleProtocol.setPakMk(true);
|
|
ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
|
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
|
ShuttleAssignCommand moveAssignCommand = null;//避让命令
|
if (wrkMast != null) {
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 9://9.小车入库搬运中 ==> 14.入库完成
|
wrkMast.setWrkSts(14L);
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
break;
|
case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
|
wrkMast.setWrkSts(6L);
|
break;
|
case 22://22.迁移小车至提升机口 ==> 23.迁移小车至提升机口完成
|
wrkMast.setWrkSts(23L);
|
break;
|
case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
|
//任务执行完后，小车进入移开提升机口站点位置，以免坠落
|
//搜索一条没有小车的空巷道，并调度小车
|
int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
|
String startLocNo = "180020" + distLev;
|
moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
|
if (moveAssignCommand == null) {//调度小车命令为空
|
continue;
|
}
|
|
wrkMast.setWrkSts(27L);
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
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());
|
|
if (wrkMast.getWrkSts() == 27) {
|
if (moveAssignCommand != null) {
|
try {
|
Thread.sleep(4000);
|
//下发任务
|
shuttleProtocol.setPakMk(true);
|
MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
|
} catch (InterruptedException e) {
|
throw new RuntimeException(e);
|
}
|
}
|
}
|
|
} 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());
|
}
|
}
|
|
if (assignCommand != null) {
|
if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
|
//避让任务
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
}
|
}
|
|
}
|
|
//四向穿梭车状态为充电状态
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识
|
&& shuttleProtocol.getTaskNo() != 0) {
|
//查询是否有充电任务
|
WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
|
if (wrkCharge != null) {
|
switch (wrkCharge.getWrkSts().intValue()) {
|
case 52://四向穿梭车迁移到提升机口
|
wrkCharge.setWrkSts(53L);//迁移完成
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
break;
|
case 56://小车去充电桩中
|
wrkCharge.setWrkSts(57L);//到达充电桩
|
break;
|
default:
|
}
|
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
if (wrkCharge.getWrkSts() == 60) {
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
}
|
if (wrkCharge.getWrkSts() != 57) {
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//标记复位
|
shuttleProtocol.setPakMk(true);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
}
|
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());
|
}
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 提升机任务
|
*/
|
public synchronized void liftIoExecute() {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
|
// if (!liftProtocol.isIdle()) {
|
// continue;
|
// }
|
|
//判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
|
if (!liftProtocol.isIdleNoTask()) {
|
continue;
|
}
|
|
//搜索是否有待处理的任务
|
List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
|
if (wrkMasts.size() == 0) {
|
continue;
|
}
|
|
for (WrkMast wrkMast : wrkMasts) {
|
//搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行
|
WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
|
if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
|
continue;
|
}
|
|
//命令list
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
|
DevpThread devpThread = null;
|
Integer devpId = null;
|
for (DevpSlave devp : slaveProperties.getDevp()){
|
// 获取入库站信息
|
devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
devpId = devp.getId();
|
}
|
|
if (wrkMast.getWrkSts() == 2) {//2.设备上走
|
if (liftProtocol.getTaskNo().intValue() != 0) {
|
//存在未完成任务号
|
continue;
|
}
|
if (liftProtocol.getPlatShuttleCheck()) {
|
//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
|
continue;
|
}
|
|
//获取目标站
|
StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
|
if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
|
continue;
|
}
|
|
//工作档目标库位号
|
String wrkMastLocNo = wrkMast.getLocNo();
|
//工作档目标库位楼层
|
int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
|
|
Integer levTmp = wrkMastLocNoLey;
|
if (wrkMastLocNoLey >= 2) {
|
levTmp += 1;
|
}
|
Integer distStaNo = Utils.levToOutInStaNo(levTmp);
|
|
if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
|
//提升机不在输送线楼层，获取到输送线层的提升机命令
|
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
|
commands.add(command1);//将命令添加进list
|
}
|
|
//输送线将货物运进来(无货正转)
|
LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3);
|
command2.setOperaStaNo((short) 102);//操作102站
|
command2.setRotationDire(1);//给输送线下发链条转动信号，正转
|
command2.setDevpId(devpId);
|
command2.setStaNo(distStaNo.shortValue());//设置目标站
|
commands.add(command2);//将命令添加进list
|
|
//提升机前往目标楼层(工作档目标楼层)
|
LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp);
|
commands.add(command3);//将命令添加进list
|
|
//提升机到达指定楼层，输送线将货物移出去(正转)
|
//输送线将货物移出去
|
LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
|
command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点
|
command4.setRotationDire(1);//给输送线下发链条转动信号，正转
|
command4.setDevpId(devpId);
|
command4.setStaNo(distStaNo.shortValue());//设置目标站
|
commands.add(command4);//将命令添加进list
|
|
//给提升机分配任务
|
liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
|
wrkMast.setWrkSts(3L);//3.提升机搬运中
|
} else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
|
if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
|
//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
|
continue;
|
}
|
liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号
|
|
//判断小车是否在提升机内，且处于空闲状态
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
continue;//小车状态忙
|
}
|
if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
|
continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
|
}
|
if (!liftProtocol.getPlatShuttleCheck()) {
|
//提升机未检测到小车，禁止执行
|
continue;
|
}
|
|
//工作档目标库位号
|
String wrkMastLocNo = wrkMast.getLocNo();
|
//工作档目标库位楼层
|
int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
|
if (wrkMastLocNoLey >= 2) {
|
wrkMastLocNoLey++;
|
}
|
|
//提升机前往目标楼层(工作档目标楼层)
|
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
|
commands.add(command1);//将命令添加进list
|
|
//给提升机分配任务
|
liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
|
wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
|
} else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
|
if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
|
//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
|
continue;
|
}
|
liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号
|
|
//判断小车是否在提升机内，且处于空闲状态
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
continue;//小车状态忙
|
}
|
if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
|
continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
|
}
|
if (!liftProtocol.getPlatShuttleCheck()) {
|
//提升机未检测到小车，禁止执行
|
continue;
|
}
|
|
//工作档目标库位号
|
String wrkMastLocNo = wrkMast.getSourceLocNo();
|
//工作档目标库位楼层
|
int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
|
if (wrkMastLocNoLey >= 2) {
|
wrkMastLocNoLey++;
|
}
|
|
//提升机前往目标楼层(工作档目标楼层)
|
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
|
commands.add(command1);//将命令添加进list
|
|
//给提升机分配任务
|
liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
|
wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
|
} else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
|
if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
|
//提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
|
continue;
|
}
|
if (liftProtocol.getPlatShuttleCheck()) {
|
//提升机此时有四向车，可能有未完成的任务，禁止分配新任务
|
continue;
|
}
|
|
//工作档源库位号
|
String wrkMastLocNo = wrkMast.getSourceLocNo();
|
//工作档源库位楼层
|
int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
|
|
//提升机当前楼层
|
int liftLev = liftProtocol.getLev().intValue();
|
|
//判断提升机是否到位
|
StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
|
if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
|
//提升机不在工作档源库位楼层，调度提升机
|
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
|
commands.add(command1);//将命令添加进list
|
}
|
|
//输送线将货物运进来(无货反转)
|
LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
|
command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//输送线操作站点号
|
command2.setRotationDire(2);//给输送线下发链条转动信号，反转
|
command2.setDevpId(devpId);//输送线ID
|
command2.setStaNo((short) 104);//写入出库目标站104
|
commands.add(command2);//将命令添加进list
|
|
//提升机前往出库口，输送线楼层
|
LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
|
command3.setDevpId(devpId);//输送线ID
|
commands.add(command3);//将命令添加进list
|
|
//提升机到达指定楼层，输送线将货物移出去(反转)
|
//输送线将货物移出去
|
LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
|
command4.setOperaStaNo((short) 102);//操作102站
|
command4.setRotationDire(2);//给输送线下发链条转动信号，反转
|
command4.setDevpId(devpId);//输送线ID
|
commands.add(command4);//将命令添加进list
|
|
//提升机链条执行完毕后，给102站写入资料
|
LiftCommand command5 = liftThread.getResetCommand();
|
command5.setDevpId(devpId);//输送线ID
|
command5.setOperaStaNo((short) 102);//操作102站
|
command5.setStaNo((short) 104);//写入出库目标站104
|
command5.setRotationDire(0);//链条转动停止
|
commands.add(command5);
|
|
//给提升机分配任务
|
liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
|
wrkMast.setWrkSts(28L);//28.提升机搬运中
|
}
|
|
//所需命令组合完毕，更新数据库，提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(liftProtocol.getTaskNo());
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 提升机任务完成
|
*/
|
public synchronized void liftFinished() {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//提升机为等待确认且空闲
|
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
|
&& liftProtocol.getTaskNo() != 0
|
&& !liftProtocol.getRunning()
|
) {
|
|
DevpThread devpThread = null;
|
Integer devpId = null;
|
for (DevpSlave devp : slaveProperties.getDevp()){
|
// 获取入库站信息
|
devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
devpId = devp.getId();
|
}
|
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
|
if (wrkMast != null) {
|
//判断提升机是否到达任务楼层
|
String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
|
int lev = Utils.getLev(locNo);//任务目标楼层
|
|
//标记复位
|
liftProtocol.setPakMk(true);
|
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 3://3.提升机搬运中 ==> 4.提升机搬运完成
|
if (liftProtocol.getLev().intValue() != lev) {
|
continue;//提升机没有到达目标
|
}
|
//给目标站设置工作号
|
StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
wrkMast.setWrkSts(4L);
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
wrkMast.setLiftNo(null);//提升机解锁
|
break;
|
case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
|
if (liftProtocol.getLev().intValue() != lev) {
|
continue;//提升机没有到达目标
|
}
|
wrkMast.setWrkSts(8L);
|
break;
|
case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
|
if (liftProtocol.getLev().intValue() != lev) {
|
continue;//提升机没有到达目标
|
}
|
wrkMast.setWrkSts(25L);
|
break;
|
case 28://28.提升机搬运中 ==> 29.提升机搬运完成
|
if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
|
continue;//提升机是否达到输送线楼层
|
}
|
wrkMast.setWrkSts(29L);
|
wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
wrkMast.setLiftNo(null);//提升机解锁
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
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());
|
}
|
}
|
|
//查询是否有充电任务
|
WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
|
if (wrkCharge != null) {
|
//标记复位
|
liftProtocol.setPakMk(true);
|
|
switch (wrkCharge.getWrkSts().intValue()) {
|
case 54://提升机搬运中
|
wrkCharge.setWrkSts(55L);//提升机搬运完成
|
break;
|
default:
|
}
|
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
//标记复位
|
liftProtocol.setPakMk(true);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
News.info("提升机已确认且任务完成状态,复位。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());
|
}
|
}
|
|
//不是入出库调度任务、工作档任务，进行提升机的复位
|
if (liftProtocol.getAssignCommand() != null) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//判断是否为四向穿梭车调度提升机，如是则无需清理任务号
|
if (!liftProtocol.getSecurityMk()) {
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
}
|
//标记复位
|
liftProtocol.setPakMk(true);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
|
}
|
|
}
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
public synchronized void locToLocExecute() {
|
//获取出入库工作档
|
List<WrkMast> wrkMasts = wrkMastMapper.selectInOutWrkMast();
|
if (wrkMasts.size() > 0) {
|
//有出入库任务，必须等待任务执行完毕再执行库位移转
|
return;
|
}
|
|
//查询库位移转工作档
|
List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
|
for (WrkMast wrkMast : wrkMasts1) {
|
|
boolean step1 = this.locToLocExecuteStep1(wrkMast);//绑定小车
|
if (!step1) {
|
continue;
|
}
|
|
boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度小车到目标楼层
|
if (!step2) {
|
continue;
|
}
|
|
boolean step3 = this.locToLocExecuteStep3(wrkMast);//同楼层库位移转
|
if (!step3) {
|
continue;
|
}
|
|
}
|
}
|
|
/**
|
* 绑定小车并调度车
|
* 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 locToLocExecuteStep1(WrkMast wrkMast) {
|
if (wrkMast.getShuttleNo() == null) {//给库位移转绑定穿梭车号
|
//寻找最近且空闲的四向穿梭车
|
HashMap<String,Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
if (shuttleThread == null) {
|
//没有找到空闲穿梭车
|
return false;
|
}
|
wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
|
wrkMastMapper.updateById(wrkMast);
|
}
|
return true;
|
}
|
|
/**
|
* 调度小车到目标楼层
|
* 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 locToLocExecuteStep2(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == 1 && wrkMast.getShuttleNo() != null) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
return false;//小车处于不空闲状态
|
}
|
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号
|
int shuttleLev = Utils.getLev(currentLocNo);//小车所在楼层
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
|
//判断小车是否再目标楼层
|
if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
|
//小车和目标不在同一楼层
|
|
//提升机口站点库位号
|
String liftSiteLocNo = Utils.levToOutInStaLocNo(shuttleLev);
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式
|
assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)
|
|
//小车移动到提升机口，计算路径
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(shuttleProtocol.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
return false;//未找到路径
|
}
|
|
//获取当前小车所在楼层的站点信息
|
BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
|
Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
|
|
//增加移动进提升机命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
|
commands.add(moveCommand);
|
|
//分配目标库位
|
shuttleProtocol.setLocNo(liftSiteLocNo);
|
//目标库位
|
assignCommand.setLocNo(liftSiteLocNo);
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(5L);//小车迁移状态
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
}
|
return true;
|
}
|
|
/**
|
* 同楼层库位移转
|
* 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 locToLocExecuteStep3(WrkMast wrkMast) {
|
if (wrkMast.getShuttleNo() == null) {
|
return false;
|
}
|
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
|
return false;//小车处于不空闲状态
|
}
|
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
|
DevpThread devpThread = null;
|
for (DevpSlave devp : slaveProperties.getDevp()){
|
// 获取入库站信息
|
devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
}
|
|
//判断小车是否在工作档任务目标楼层
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号
|
int shuttleLev = Utils.getLev(currentLocNo);//小车所在楼层
|
if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
|
return false;//不在同一楼层
|
}
|
|
if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 8) {
|
//调度小车执行同楼层移库任务
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式
|
assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)
|
|
List<ShuttleCommand> commands = new ArrayList<>();
|
|
if (wrkMast.getWrkSts() == 8) {//8.提升机迁移小车完成，需要将小车移出提升机
|
//判断提升机是否空闲
|
if (!liftProtocol.isIdleNoTask()) {
|
return false;//提升机忙
|
}
|
//判断提升机任务号和当前工作档任务号是否一致
|
if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
|
return false;
|
}
|
|
//判断提升机楼层是否到位，判断站点是否给出提升机到位信号
|
String locNo = wrkMast.getLocNo();
|
int lev = Utils.getLev(locNo);//目标二维码所在楼层
|
int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层
|
if (liftLev != lev) {
|
return false;//提升机不在目标楼层跳过
|
}
|
|
Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
|
//获取目标站信息
|
StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
|
if (staProtocol1 == null) {
|
return false;//站点信息不存在
|
}
|
if (!staProtocol1.isLiftArrival()) {
|
return false;//站点提升机到位信号false
|
}
|
|
BasDevp basDevp = basDevpService.selectById(staNo);
|
short startCode = liftProtocol.getBarcode();//提升机内部二维码
|
Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
|
Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
|
//获取命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, null, null, 500);
|
commands.add(0, moveCommand);//将该指令添加到队头
|
|
currentLocNo = basDevp.getLocNo();//使用输送站点口作为起点坐标
|
}
|
|
//直接计算车到源库位到目标库位路径
|
List<ShuttleCommand> commands1 = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), wrkMast.getLocNo(), assignCommand, shuttleThread);
|
if (commands1 == null) {
|
return false;//找不到路径等待下一次
|
}
|
commands.addAll(commands1);
|
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
|
|
assignCommand.setCommands(commands);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getLocNo());
|
wrkMast.setWrkSts(9L);//小车入库中
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
return true;
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recShuttleErr();
|
} 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()) {
|
// 获取堆垛机信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//有任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
|
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
|
(int) shuttleProtocol.getStatusErrorCode(), // 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
|
);
|
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.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 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());
|
}
|
}
|
}
|
}else {
|
//无任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
|
// 有异常
|
if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
|
String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
|
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
|
null, // 编号
|
null, // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
null, // 工作状态
|
null, // 入出库类型
|
shuttleSlave.getId(), // 四向穿梭车
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int)shuttleProtocol.getStatusErrorCode(), // 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
|
"无任务异常" // 备注
|
);
|
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
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());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public void storeEmptyPlt(){
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 站点条件判断
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& staProtocol.isEmptyMk()
|
&& (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
|
&& staProtocol.isPakMk()) {
|
|
// 获取条码扫描仪信息
|
String barcode = null;
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
|
if (barcodeThread != null) {
|
String barcode0 = barcodeThread.getBarcode();
|
if(!Cools.isEmpty(barcode0)) {
|
// News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
|
if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
|
barcode = barcode0;
|
}
|
}
|
}
|
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
if (!Cools.isEmpty(barcode)) {
|
param.setBarcode(barcode);
|
}
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
// param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
staProtocol.setStaNo(dto.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
} else {
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public void ledExecute() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> wrkMasts = new ArrayList<>();
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
|
wrkMasts.add(wrkMast);
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(wrkMast.getWrkNo());
|
ledCommand.setIoType(wrkMast.getIoType());
|
// 出库模式
|
switch (wrkMast.getIoType()) {
|
case 101:
|
ledCommand.setTitle("全板出库");
|
break;
|
case 103:
|
ledCommand.setTitle("拣料出库");
|
break;
|
case 104:
|
ledCommand.setTitle("并板出库");
|
break;
|
case 107:
|
ledCommand.setTitle("盘点出库");
|
break;
|
case 110:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
|
break;
|
}
|
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
|
ledCommand.setLocNo(wrkMast.getLocNo());
|
ledCommand.setStaNo(wrkMast.getStaNo());
|
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
|
}
|
commands.add(ledCommand);
|
}
|
Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
|
// 获取LED线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// 相同工作号集合则过滤
|
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
|
continue;
|
}
|
// 命令下发 -------------------------------------------------------------------------------
|
if (!commands.isEmpty()) {
|
if (led.getId()>3){
|
if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId()-3, led.getIp(), led.getPort());
|
continue;
|
}else {
|
ledThread.setLedMk(false);
|
}
|
}else {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
}else {
|
ledThread.setLedMk(false);
|
}
|
}
|
}
|
|
try {
|
// 修改主档led标记
|
for (WrkMast wrkMast : wrkMasts) {
|
wrkMast.setOveMk("Y");
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("更新工作档失败");
|
}
|
}
|
|
// 更新线程当前工作号集合
|
ledThread.setWorkNos(workNos);
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
public void ledReset() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) {
|
continue;
|
}
|
if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
|
News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
} else {
|
|
}
|
}
|
}
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) { continue; }
|
if (staProtocol.getWorkNo() != 0) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
}
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
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.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleProtocol.isRequireCharge()) {
|
continue;
|
}
|
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
|
if (wrkCharge != null) {//已有充电任务
|
continue;
|
}
|
|
ShuttleChargeType shuttleCharge = null;
|
for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
|
if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
|
shuttleCharge = chargeType;
|
break;
|
}
|
}
|
|
if (shuttleCharge == null) {
|
continue;
|
}
|
|
String chargeLocNo = shuttleCharge.locNo;
|
wrkCharge = new WrkCharge();
|
wrkCharge.setShuttleNo(shuttle.getId());
|
wrkCharge.setCharge(shuttleCharge.id);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
|
wrkCharge.setWrkSts(51L); // 21.准备充电
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setLocNo(chargeLocNo);
|
wrkCharge.setMemo("charge");
|
wrkCharge.setAppeTime(new Date());
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
|
continue;
|
}
|
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
|
News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
|
}
|
}
|
|
/**
|
* 执行四向穿梭车充电任务
|
*/
|
public synchronized void executeShuttleCharge() {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
|
if (wrkCharge == null) {
|
continue;
|
}
|
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//获取提升机
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
//充电库位号
|
String chargeLocNo = wrkCharge.getLocNo();
|
//充电库位层高
|
Integer chargeLocNoLev = Utils.getLev(chargeLocNo);
|
|
if (wrkCharge.getWrkSts() == 51) {
|
//当前穿梭车库位号
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
if (currentLocNo == null) {
|
continue;
|
}
|
//小车当前层高
|
Integer currentLev = Utils.getLev(currentLocNo);
|
|
if (currentLev == chargeLocNoLev) {
|
//同一层无需经过提升机
|
//直接计算车到充电库位
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
|
//获取小车到充电库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
continue;//未找到路径
|
}
|
//进行充电中
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);//充电任务
|
|
//创建充电指令
|
ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电
|
commands.add(command);
|
|
//指令集分配
|
assignCommand.setCommands(commands);
|
|
wrkCharge.setWrkSts(56L);//充电中状态
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}else {
|
//不同层，调度小车到充电桩目标层
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
|
//获取小车当前楼层的站点号
|
String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
|
|
//小车移动到提升机口站点，计算路径
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
continue;//未找到路径
|
}
|
|
//获取当前小车所在楼层的站点信息
|
BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
|
if (basDevp == null) {
|
continue;//找不到站点信息
|
}
|
Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码
|
|
//增加移动进提升机命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
|
commands.add(moveCommand);
|
|
//分配目标库位
|
shuttleProtocol.setLocNo(chargeLocNo);
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);//充电任务
|
//目标库位
|
assignCommand.setLocNo(chargeLocNo);
|
//源库位
|
assignCommand.setSourceLocNo(currentLocNo);
|
assignCommand.setCommands(commands);
|
wrkCharge.setWrkSts(52L);//小车迁移状态
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}else if(wrkCharge.getWrkSts() == 53){
|
//小车已经达到提升机内
|
|
//判断提升机是否处于空闲状态
|
if (!liftProtocol.isIdle(wrkCharge.getWrkNo().shortValue())) {
|
continue;
|
}
|
|
//判断小车是否在提升机内
|
if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
|
//小车不在提升机内
|
continue;
|
}
|
|
//给提升机分配任务
|
liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//设置四向穿梭车号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
//命令list
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
|
//提升机前往目标楼层
|
//获取充电库位目标楼层命令
|
LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev >= 2 ? chargeLocNoLev + 1 : chargeLocNoLev);
|
commands.add(command1);//将命令添加进list
|
|
wrkCharge.setWrkSts(54L);//提升机搬运中
|
//所需命令组合完毕，更新数据库，提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(liftProtocol.getTaskNo());
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
|
}else if(wrkCharge.getWrkSts() == 55){//55.提升机迁移小车完成
|
//直接计算车到充电库位
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
|
Short liftLev = liftProtocol.getLev();
|
if (liftLev == null) {
|
continue;
|
}
|
//判断提升机楼层是否到达目标楼层
|
if (liftLev.intValue() != chargeLocNoLev) {
|
continue;//没有到达目标楼层
|
}
|
|
//此时车在提升机内部，下达一步指令让车移动到提升机口
|
Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//站点号
|
BasDevp basDevp = basDevpService.selectById(staNo);
|
if (basDevp == null) {
|
continue;//站点不存在
|
}
|
|
//获取提升机口到充电库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
continue;//未找到路径
|
}
|
|
short startCode = liftProtocol.getBarcode();//提升机内部二维码
|
Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码
|
Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向
|
//获取命令
|
ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, runDirection, startCode, 1600, 500);
|
commands.add(0, moveCommand);//将该指令添加到队头
|
|
//进行充电中
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//充电
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);//充电任务
|
|
//创建充电指令
|
ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电
|
commands.add(command);
|
|
//指令集分配
|
assignCommand.setCommands(commands);
|
|
wrkCharge.setWrkSts(56L);//充电中状态
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}else if (wrkCharge.getWrkSts() == 57) {//57.小车到达充电桩
|
//充电中
|
//判断小车是否充满电量，满电1000或电压54V以上
|
if (shuttleProtocol.getBatteryPower() == null || shuttleProtocol.getCurrentVoltage() == null) {
|
continue;
|
}
|
if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
|
//充满，断开充电
|
// List<ShuttleCommand> commands = new ArrayList<>();
|
// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
// assignCommand.setTaskMode((short) 0);
|
// assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
// assignCommand.setCharge(true);
|
//
|
// //创建充电指令
|
// ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电
|
// commands.add(command);
|
//
|
// //指令集分配
|
// assignCommand.setCommands(commands);
|
//
|
// shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
|
|
//将小车移动到空闲的巷道
|
ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
|
if (assignCommand == null) {
|
continue;
|
}
|
|
wrkCharge.setWrkSts(60L);//60.充电任务完成
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
}
|
}
|
}
|
|
}
|
|
|
/**
|
* 出入库模式切换
|
*/
|
public synchronized void outAndIn() {
|
try {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
for (DevpSlave.Sta inSta : devp.getInSta()) {
|
Thread.sleep(500);
|
boolean a=true,b=true;
|
List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
|
if (Cools.isEmpty(wrkMasts)){
|
b=false;
|
}else {
|
for (WrkMast wrkMast:wrkMasts){
|
if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
|
a=false;
|
break;
|
}
|
}
|
}
|
switch (inSta.getStaNo()) {
|
case 102://1F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
|
}
|
break;
|
case 202://2F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
|
}
|
break;
|
case 302://3F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
|
}
|
break;
|
}
|
}
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
|
}
|
