package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.service.BasCircularShuttleService;
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import com.zy.asrs.service.BasDevpPositionService;
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import com.zy.asrs.service.BasDevpService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
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import com.zy.asrs.utils.TimeCalculatorUtils;
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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.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.RgvThread;
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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.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.*;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private BasRgvServiceImpl basRgvService;
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@Autowired
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private BasDevpPositionService basDevpPositionService;
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@Autowired
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private BasCircularShuttleService basCircularShuttleService;
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@Autowired
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private WrkMastService wrkMastService;
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/**
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* 站点任务检测 更新小车位置信息
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*/
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public synchronized void updateStePositionNearby() {
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try{
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L));
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if (wrkMasts.isEmpty()){
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return;
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}
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List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
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if (basDevpPositions.isEmpty()){
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log.error("获取所有站点信息异常");
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return;
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}
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List<Integer> siteList = SortTheExecutionOfTheCarUtil.WrkMastExtractSites(wrkMasts);
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List<Integer> devpList = SortTheExecutionOfTheCarUtil.BasDevpPositionExtractSites(basDevpPositions);
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Integer siteNo = SortTheExecutionOfTheCarUtil.ObtainDenseAreasFirstPlace(siteList, devpList);
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if (siteNo == null){
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log.error("就近密集原则获取站点失败");
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return;
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}
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Long sitePosition = 0L;
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for (BasDevpPosition basDevpPosition : basDevpPositions){
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if (basDevpPosition.getDevNo().equals(siteNo)){
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sitePosition = basDevpPosition.getPlcPosition();
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}
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}
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List<List<Long>> rgvPositionList = new ArrayList<>();
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for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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List<Long> rgvPosition = new ArrayList<>();
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rgvPosition.add(rgvProtocol.getRgvNo().longValue());
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rgvPosition.add(rgvProtocol.getRgvPos());
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rgvPositionList.add(rgvPosition);
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}
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Integer rgvNo = SortTheExecutionOfTheCarUtil.LatelyAndGreaterThan(rgvPositionList, sitePosition);
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List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
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if (basCircularShuttleList.get(0).getRgvNo().equals(rgvNo)){
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return;
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}
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int[][] ints = new int[basCircularShuttleList.size()][2];
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
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ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
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}
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String[] oldList = new String[ints.length];
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for (int[] rgv : ints){
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oldList[rgv[0]-1] = Arrays.toString(rgv);
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}
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int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
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String[] newList = new String[rgvList.length];
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for (int[] rgv : rgvList){
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newList[rgv[0]-1] = Arrays.toString(rgv);
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}
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log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
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int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
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basCircularShuttle.setRgvId(rgv[1]);
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basCircularShuttleService.updateById(basCircularShuttle);
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}
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} catch (Exception e) {
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log.error("自动更新小车排序信息失败，异常："+e);
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}
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}
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/**
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* 站点任务检测 更新小车位置信息
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*/
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public synchronized void updateStePosition() {
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try{
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boolean sign = false;
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Integer rgvNo = 0;
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List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().orderBy("rgv_id", true));
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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sign = true;
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} else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM) ){
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sign = true;
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} else {
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rgvNo = basCircularShuttle.getRgvNo();
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break;
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}
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}
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if (sign && rgvNo!=0){
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int[][] ints = new int[basCircularShuttleList.size()][2];
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
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ints[basCircularShuttle.getRgvNo()-1] = new int[]{basCircularShuttle.getRgvNo(),basCircularShuttle.getRgvId()};
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}
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String[] oldList = new String[ints.length];
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for (int[] rgv : ints){
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oldList[rgv[0]-1] = Arrays.toString(rgv);
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}
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int[][] rgvList = SortTheExecutionOfTheCarUtil.ReorderSteId(ints, rgvNo);
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String[] newList = new String[rgvList.length];
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for (int[] rgv : rgvList){
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newList[rgv[0]-1] = Arrays.toString(rgv);
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}
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log.info("更新小车排序信息：原始小车号rgvNo={},小车重新排序信息={},小车原始排序信息={}",rgvNo,Arrays.toString(newList),Arrays.toString(oldList));
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for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
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int[] rgv = rgvList[basCircularShuttle.getRgvNo() - 1];
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basCircularShuttle.setRgvId(rgv[1]);
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basCircularShuttleService.updateById(basCircularShuttle);
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}
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}
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} catch (Exception e) {
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log.error("自动更新小车排序信息失败，异常："+e);
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}
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}
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/**
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* 站点任务检测 下发小车取放任务
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*/
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public synchronized void DevpTaskNoRun() {
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try{
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", 1L).orderBy("modi_time",true));
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if (wrkMasts.isEmpty()){
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return;
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}
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long differenceInSeconds = TimeCalculatorUtils.differenceInSeconds(wrkMasts.get(0).getModiTime(), new Date());
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if (differenceInSeconds<=5){
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return;
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}
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BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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return;
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}
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List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
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Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos());
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BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
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BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
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List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
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//下发任务
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taskDown(wrkMastLists);
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} catch (Exception e){
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log.error("自动下发小车取放任务失败，异常："+e);
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}
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}
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//获取小车取放任务列表失败
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public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
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List<List<WrkMast>> wrkMastLists = new ArrayList<>();
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try{
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List<WrkMast> wrkMastlistA = new ArrayList<>();
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List<WrkMast> wrkMastlistB = new ArrayList<>();
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for (BasDevpPosition basDevpPosition : basDevpPositionsListUN){
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List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts", 1L).orderBy("modi_time",true));
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for (WrkMast wrkMast:wrkMastList){
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if (!Cools.isEmpty(wrkMast)){
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if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN,wrkMast.getSourceStaNo(),wrkMast.getStaNo())){
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wrkMastlistA.add(wrkMast);
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} else {
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wrkMastlistB.add(wrkMast);
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}
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}
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}
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}
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wrkMastLists.add(wrkMastlistA);
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wrkMastLists.add(wrkMastlistB);
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return wrkMastLists;
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} catch (Exception e){
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log.error("获取小车取放任务列表失败，异常："+e);
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return wrkMastLists;
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}
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}
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public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
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long rgvId = 0;
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runRgv:
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for (List<WrkMast> wrkMastList : wrkMastLists){
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for (WrkMast wrkMast: wrkMastList){
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log.error("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));
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rgvId++;
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BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol != null
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&& rgvProtocol.modeType == RgvModeType.AUTO
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&& (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
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&& rgvProtocol.getTaskNo1()==0
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&& rgvProtocol.getAlarm() == 0){
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RgvCommand rgvCommand = new RgvCommand();
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rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
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rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
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rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
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rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
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rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue()); //工位1起点
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rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue()); //工位1目标站点
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rgvCommand.setCommand((short) 1); //工位1任务确认
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if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
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//
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log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
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break runRgv;
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}
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log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
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wrkMast.setWrkSts(2L);
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wrkMast.setRgvNo(rgvProtocol.getRgvNo());
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wrkMast.setAppeTime(new Date());
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try{
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wrkMastService.updateById(wrkMast);
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continue ;
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}catch (Exception e){
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log.error("更新小车任务失败,任务号："+wrkMast.getWrkNo());
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}
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break runRgv;
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} else {
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break runRgv;
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}
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}
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}
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}
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//任务完成
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public synchronized void rgvCompleteWrkMastSta() {
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try{
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for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
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RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
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RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
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if (rgvProtocol == null) {
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continue;
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}
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BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
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if (basRgv == null) {
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log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
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continue;
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}
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if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
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log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
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}
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// 只有当RGV等待WCS确认、自动
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if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
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&& rgvProtocol.getModeType() == RgvModeType.AUTO
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&& rgvProtocol.getTaskNo1()!=0
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) {
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log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
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if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)){
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log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMast);
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continue;
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}
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boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
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if (!rgvComplete){
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log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
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break;
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}
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wrkMast.setWrkSts(3L);
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wrkMast.setAppeTime(new Date());
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wrkMastService.updateById(wrkMast);
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}
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}
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} catch (Exception e){
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log.error("小车复位线程报错！"+e);
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}
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}
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/*
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* 小车复位
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* */
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public synchronized boolean rgvComplete(Integer rgvId){
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try{
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// 命令下发区 --------------------------------------------------------------------------
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if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
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log.error("RGV命令下发失败，RGV号={}",rgvId);
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return false;
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} else {
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log.info("RGV命令下发成功，RGV号={}",rgvId);
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return true;
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}
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}catch (Exception e){
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log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
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return false;
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}
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}
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}
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