package com.zy.asrs.utils;
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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.zy.asrs.domain.enums.NotifyMsgType;
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import com.zy.asrs.entity.DeviceConfig;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.DeviceConfigService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.RedisKeyType;
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import com.zy.core.enums.ShuttleProtocolStatusType;
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import com.zy.core.enums.SlaveType;
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import com.zy.core.enums.WrkStsType;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.protocol.ShuttleProtocol;
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import com.zy.core.thread.ShuttleThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.List;
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@Component
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public class ShuttleTaskUtils {
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@Autowired
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private DeviceConfigService deviceConfigService;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private NotifyUtils notifyUtils;
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@Autowired
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private RedisUtil redisUtil;
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/**
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* 四向穿梭车任务完成
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*/
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public void shuttleFinished() {
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try {
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List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
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.eq("device_type", String.valueOf(SlaveType.Shuttle)));
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for (DeviceConfig device : shuttleList) {
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//获取四向穿梭车信息
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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continue;
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}
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//四向穿梭车状态为等待确认、小车处于空闲状态
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if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
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&& shuttleProtocol.getTaskNo() != 0
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) {
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//将任务档标记为完成
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WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
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if (wrkMast != null) {
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if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
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//5.小车搬运中 ==> 9.入库完成
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wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
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shuttleThread.setSyncTaskNo(0);
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} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
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//102.小车搬运中 ==> 103.小车搬运完成
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
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shuttleThread.setSyncTaskNo(0);
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} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY.sts) {
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//302.小车移动至近点中 ==> 303.小车移动至近点完成
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wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);
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shuttleThread.setSyncTaskNo(0);
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} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
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//304.小车迁入提升机中 ==> 305.小车迁入提升机完成
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wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
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shuttleThread.setSyncTaskNo(0);
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} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
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//308.小车迁出提升机中 ==> 309.小车迁出提升机完成
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if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
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continue;//小车未到达目标层
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}
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wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
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shuttleThread.setSyncTaskNo(0);
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} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
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//310.小车移动中 ==> 311.小车移动完成
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wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
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shuttleThread.setSyncTaskNo(0);
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notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
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} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
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//204.小车充电中 ==> 205.小车充电完成
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wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
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shuttleThread.setSyncTaskNo(0);
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notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
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} else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
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//502.小车搬运中 ==> 509.移库完成
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wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
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shuttleThread.setSyncTaskNo(0);
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notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//触发通知
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} else {
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continue;
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}
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if (wrkMastService.updateById(wrkMast)) {
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//设置四向穿梭车为空闲状态
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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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());
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} else {
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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());
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}
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} else {
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Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
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if(object != null){
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ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
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if (!assignCommand.getAuto()) {
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//手动模式
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//工作号清零
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shuttleThread.setTaskNo(0);
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//设置四向穿梭车为空闲状态
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shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
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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());
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}
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}
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}
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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}
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