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.zy.asrs.domain.enums.NotifyMsgType;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.NotifyUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.*;
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import com.zy.common.model.enums.NavigationMapType;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.*;
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import com.zy.core.News;
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import com.zy.core.action.ForkLiftAction;
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import com.zy.core.action.ShuttleAction;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.dispatcher.ShuttleDispatchUtils;
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import com.zy.core.enums.*;
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import com.zy.core.model.*;
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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 com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Service;
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import java.util.*;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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public class MainServiceImpl {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasShuttleErrLogService basShuttleErrLogService;
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@Autowired
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private BasLiftErrLogService basLiftErrLogService;
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@Autowired
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private BasShuttleErrService basShuttleErrService;
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@Autowired
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private BasLiftErrService basLiftErrService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private BasMapService basMapService;
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@Autowired
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private ShuttleDispatchUtils shuttleDispatchUtils;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private ConfigService configService;
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@Autowired
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private NavigateMapUtils navigateMapUtils;
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@Autowired
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private NavigateMapData navigateMapData;
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@Autowired
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private NavigateUtils navigateUtils;
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@Autowired
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private ShuttleOperaUtils shuttleOperaUtils;
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@Autowired
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private ShuttleAction shuttleAction;
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@Autowired
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private ForkLiftAction forkLiftAction;
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@Autowired
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private NotifyUtils notifyUtils;
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@Autowired
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private BasShuttleChargeService basShuttleChargeService;
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/**
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* 初始化实时地图
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*/
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public synchronized void initRealtimeBasMap() {
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try {
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List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
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for (BasMap basMap : basMaps) {
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Integer lev = basMap.getLev();
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Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
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if (data == null) {//redis地图数据为空
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//载入地图
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List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库)
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//存入数据库
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basMap.setData(JSON.toJSONString(lists));
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basMap.setCreateTime(new Date());
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basMap.setUpdateTime(new Date());
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if (!basMapService.updateById(basMap)) {
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log.info("地图数据存储失败");
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}
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//将数据库地图数据存入redis
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redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap));
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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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* 入库 ===>> 四向穿梭车入库作业下发
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*/
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public synchronized void shuttleInExecute() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.in("wrk_sts"
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, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
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));
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for (WrkMast wrkMast : wrkMasts) {
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boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
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Thread.sleep(100);
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if (!step1) {
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continue;
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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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* 入库-小车搬入库中
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* 如需主方法执行continue，请返回false
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* 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
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*/
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public synchronized boolean shuttleInExecuteStep1(WrkMast wrkMast) {
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if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
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//获取目标站
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ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
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if (liftSta == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
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return false;
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}
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if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
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boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//调度小车到货物所在输送站点进行取货
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
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return false;
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}
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
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if (shuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return false;
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}
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if (!shuttleThread.isIdle()) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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//判断小车是否存在移动任务
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WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
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if (hasMoveWorking != null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}号小车，存在移动任务，禁止派发任务", wrkMast.getShuttleNo());
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return false;//存在移动任务，禁止执行入库任务
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}
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//判断小车是否到达输送站点库位
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if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
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//小车不在输送站点位置
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shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货
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News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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//检测障碍物车
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boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
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add(shuttleProtocol.getShuttleNo());
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}});
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if (checkObstacle) {
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News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
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return false;
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}
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ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
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assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
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assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
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assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
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assignCommand.setAuto(true);//自动模式
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//获取小车到输送站点行走命令
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List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
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if (commands == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
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if (liftCommand == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
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if (liftCommand2 == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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commands.add(0, liftCommand.get(0));
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commands.add(liftCommand2.get(0));
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assignCommand.setCommands(commands);
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wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中
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wrkMast.setModiTime(new Date());
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wrkMast.setSystemMsg("");//清空消息
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if (wrkMastService.updateById(wrkMast)) {
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//下发任务
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shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
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//触发通知
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notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
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return false;
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}
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return false;
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}
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return true;
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}
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/**
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* 出库 ===>> 四向穿梭车出库作业下发
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*/
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public synchronized void shuttleOutExecute() {
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try {
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.in("wrk_sts"
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, WrkStsType.NEW_OUTBOUND.sts
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));
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for (WrkMast wrkMast : wrkMasts) {
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boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
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Thread.sleep(100);
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if (!step1) {
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continue;
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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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* 出库-小车搬出库中
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* 如需主方法执行continue，请返回false
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* 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
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*/
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public synchronized boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
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//101.生成出库任务 => 102.小车搬运中
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if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
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Integer liftNo = wrkMast.getLiftNo();
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if (liftNo == null) {
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//通过输送线站号获取提升机号
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liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
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if (liftNo == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
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return false;
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}
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}
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ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
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if (forkLiftThread == null) {
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return false;
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}
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ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
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if (forkLiftProtocol == null) {
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return false;
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}
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//判断提升机是否处于出库模式
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if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
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return false;
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}
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//获取源站
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ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
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if (liftSta == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
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return false;
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}
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if (liftSta.getHasCar()) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
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return false;
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}
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if (liftSta.getHasTray()) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
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return false;
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}
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if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
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//强制预留一台小车给入库任务
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int lev = Utils.getLev(wrkMast.getSourceLocNo());
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//获取当前楼层有几台可用小车
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int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
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if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
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int shuttleWrkInObligateCount = 1;//预留小车数量
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Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
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if (config != null) {
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shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
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}
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//可用出库小车数量(给入库任务预留一台车)
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int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
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//查询楼层已分配车辆的出库任务数量
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List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
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if (wrkMasts.size() >= useShuttleCount) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
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return false;
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}
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}
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boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
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return false;
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}
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//获取四向穿梭车线程
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
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if (shuttleThread == null) {
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return false;
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}
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ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
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if (shuttleProtocol == null) {
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return false;
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}
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if (!shuttleThread.isIdle()) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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//判断小车是否到达货物库位
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if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
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//检测障碍物车
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boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
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add(shuttleProtocol.getShuttleNo());
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}});
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if (checkObstacle) {
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News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
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return false;
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}
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//小车不在输送站点位置
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shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
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assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
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assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
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assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
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assignCommand.setAuto(true);//自动模式
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//获取小车到输送站点行走命令
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List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
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if (commands == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
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if (liftCommand == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
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if (liftCommand2 == null) {
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News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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return false;
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}
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commands.add(0, liftCommand.get(0));
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commands.add(liftCommand2.get(0));
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assignCommand.setCommands(commands);
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
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wrkMast.setSourceStaNo(liftSta.getStaNo());
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wrkMast.setModiTime(new Date());
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wrkMast.setSystemMsg("");//清空消息
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if (wrkMastService.updateById(wrkMast)) {
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//下发任务
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shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
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//触发通知
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notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
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return false;
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}
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return false;
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}
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return true;
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}
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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 synchronized void shuttleFinished() {
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try {
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for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
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//获取四向穿梭车信息
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ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
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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_SITE.sts) {
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//302.小车移动至站点 ==> 303.小车移动至站点完成
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wrkMast.setWrkSts(WrkStsType.MOVE_SITE_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);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
|
//310.小车移动中 ==> 311.小车移动完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
|
//204.小车充电中 ==> 205.小车充电完成
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
|
//502.小车搬运中 ==> 509.移库完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//触发通知
|
} else {
|
continue;
|
}
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//设置四向穿梭车为空闲状态
|
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
} else {
|
Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
|
if(object != null){
|
ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
|
if (!assignCommand.getAuto()) {
|
//手动模式
|
//工作号清零
|
shuttleThread.setTaskNo(0);
|
//设置四向穿梭车为空闲状态
|
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
}
|
}
|
}
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行移库任务
|
*/
|
public synchronized void shuttleLocMoveExecute() {
|
try {
|
//查询移库任务
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts));
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//移库任务-小车去目标点
|
if (!stepToTarget) {
|
continue;
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 移库任务-小车去目标点
|
* 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 shuttleLocMoveExecuteToTarget(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 501.生成移库任务 ==> 502.小车搬运中
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
|
if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货
|
News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
|
return false;
|
}
|
|
//检测障碍物车
|
boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
|
add(shuttleProtocol.getShuttleNo());
|
}});
|
if (checkObstacle) {
|
News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
|
return false;
|
}
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
|
//获取小车到输送站点行走命令
|
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
|
if (liftCommand == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
|
if (liftCommand2 == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
commands.add(0, liftCommand.get(0));
|
commands.add(liftCommand2.get(0));
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//小车搬运中 501.生成移库任务 ==> 502.小车搬运中
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
//触发通知
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 货叉提升机任务
|
*/
|
public synchronized void forkLiftIoExecute() {
|
try {
|
//搜索是否有待处理的任务
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
|
.in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
|
if (wrkMasts.isEmpty()) {
|
return;
|
}
|
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
|
if (!stepIn) {
|
continue;
|
}
|
|
boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
|
if (!stepOut) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 提升机入库
|
* 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 liftIoExecuteStepIn(WrkMast wrkMast) {
|
//--------------------------------------提升机入库-----------------------------------------//
|
Date now = new Date();
|
|
//1.生成入库任务 ==> 3.提升机搬运中
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
|
//获取目标输送站
|
ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (liftSta == null) {
|
return false;//找不到站点
|
}
|
|
if (liftSta.getHasTray()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (liftSta.getHasCar()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
|
return false;
|
}
|
|
Integer liftNo = wrkMast.getLiftNo();
|
if (liftNo == null) {
|
//未分配提升机
|
Integer staNo = wrkMast.getSourceStaNo();
|
liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
|
if(liftNo == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
|
return false;
|
}
|
}
|
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
|
if (forkLiftThread == null) {
|
return false;
|
}
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
return false;
|
}
|
if (!forkLiftThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
|
return false;
|
}
|
|
//判断提升机是否处于入库模式
|
if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
}
|
|
//检测楼层是否有可用穿梭车
|
boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
|
if (!checkLevHasShuttle) {
|
if (wrkMast.getShuttleNo() != null) {
|
return false;
|
}
|
|
//获取小车待机位
|
String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
|
if (standbyLocNo == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//调度小车去待机位
|
boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
|
if (!dispatchShuttle) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo());
|
return false;
|
}
|
return false;
|
}
|
|
//请求上级系统，是否允许入库
|
boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
|
if (!inMission) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//获取提升机命令
|
List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
|
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommands);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftNo.shortValue());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
|
|
wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.提升机搬运中
|
wrkMast.setLiftNo(liftNo);
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 提升机出库
|
* 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 liftIoExecuteStepOut(WrkMast wrkMast) {
|
//--------------------------------------提升机出库-----------------------------------------//
|
//103.小车搬运完成 ==> 104.提升机搬运中
|
if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
|
//获取源站
|
ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
|
if (liftSta == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo());
|
return false;//找不到站点
|
}
|
|
if(wrkMast.getShuttleNo() != null) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if(shuttleProtocol == null) {
|
return false;
|
}
|
|
if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
|
//小车还在输送站点
|
//获取小车待机位
|
String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
|
if (standbyLocNo == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
|
return false;
|
}
|
//调度小车去待机位
|
boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
|
if (!dispatchShuttle) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo());
|
return false;
|
}
|
} else {
|
//小车已不在输送站点位置，释放小车
|
wrkMast.setShuttleNo(null);//释放小车
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
return false;
|
}
|
|
if (liftSta.getHasCar()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
|
return false;
|
}
|
|
if (!liftSta.getHasTray()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
|
return false;
|
}
|
|
Integer liftNo = wrkMast.getLiftNo();
|
if (liftNo == null) {
|
//未分配提升机
|
Integer staNo = wrkMast.getStaNo();
|
liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
|
if(liftNo == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
|
return false;
|
}
|
}
|
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
|
if (forkLiftThread == null) {
|
return false;
|
}
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
return false;
|
}
|
if (!forkLiftThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo());
|
return false;
|
}
|
|
//判断提升机是否处于出库模式
|
if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
}
|
|
//请求上级系统，是否允许出库
|
boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
|
if (!outMission) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//获取提升机命令
|
List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
|
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommands);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftNo.shortValue());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
|
|
wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中
|
wrkMast.setLiftNo(liftNo);
|
wrkMast.setShuttleNo(null);//释放小车
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 货叉提升机任务完成
|
*/
|
public synchronized void forkLiftFinished() {
|
try {
|
for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
|
//获取提升机信息
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
continue;
|
}
|
|
//提升机为等待确认且空闲
|
if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
|
&& forkLiftProtocol.getWrkNo() != 0
|
) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
|
//3.提升机搬运中 ==> 4.提升机搬运完成
|
wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
|
wrkMast.setLiftNo(null);//释放提升机
|
forkLiftThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
|
//104.提升机搬运中 ==> 109.出库完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
|
wrkMast.setLiftNo(null);//释放提升机
|
forkLiftThread.setSyncTaskNo(0);
|
redisUtil.set(RedisKeyType.FORK_LIFT_PUT_COMPLETE.key + forkLiftProtocol.getLiftNo(), wrkMast.getWmsWrkNo(), 60 * 3);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
|
//306.提升机搬运中 ==> 307.提升机搬运完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
|
forkLiftThread.setSyncTaskNo(0);
|
}
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
forkLiftThread.reset();
|
News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.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={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
|
}
|
}else {
|
boolean checkPreviewDispatchForkLift = commonService.checkWorkNoContainMk(forkLiftProtocol.getWrkNo(), WrkIoType.FORKLIFT_MOVE.id);
|
if (checkPreviewDispatchForkLift) {
|
//属于提升机预调度移动任务
|
//无工作档支撑，直接确认完成
|
forkLiftThread.setSyncTaskNo(0);
|
forkLiftThread.reset();
|
News.info("已确认提升机预调度移动任务。提升机号={}", forkLiftProtocol.getLiftNo());
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recShuttleErr();
|
this.recLiftErr();
|
} catch (Exception e) {
|
News.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* 四向穿梭车异常信息记录
|
*/
|
private void recShuttleErr() {
|
Date now = new Date();
|
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
|
// 获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//有任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
|
// 有异常
|
if (latest == null) {
|
if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
|
String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
|
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
shuttleSlave.getId(), // 四向穿梭车
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
errorCode, // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(shuttleProtocol) // 系统状态数据
|
);
|
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basShuttleErrLogService.updateById(latest)) {
|
News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 提升机异常信息记录
|
*/
|
private void recLiftErr() {
|
Date now = new Date();
|
for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
|
// 获取提升机信息
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
|
if (forkLiftThread == null) {
|
continue;
|
}
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
continue;
|
}
|
|
if (forkLiftProtocol.getTaskNo() != 0) {
|
//有任务
|
BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo());
|
// 有异常
|
if (latest == null) {
|
if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) {
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.getErrorCode());
|
String errName = basLiftErr==null? "未知异常":basLiftErr.getErrName();
|
|
BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
forkLiftSlave.getId(), // 提升机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
null, // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(forkLiftProtocol) // 系统状态数据
|
);
|
if (!basLiftErrLogService.insert(basLiftErrLog)) {
|
News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (forkLiftProtocol.getErrorCode() == null || forkLiftProtocol.getErrorCode() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basLiftErrLogService.updateById(latest)) {
|
News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
try {
|
|
List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
|
if (charges.isEmpty()) {
|
return;//无充电桩
|
}
|
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleThread.isRequireCharge()) {
|
continue;
|
}
|
|
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
|
if (wrkMast != null) {//已有充电任务
|
continue;
|
}
|
|
//小车所在楼层
|
int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
|
BasShuttleCharge shuttleCharge = null;
|
|
//搜索小车所在楼层有没有充电桩
|
for (BasShuttleCharge charge : charges) {
|
if (lev != Utils.getLev(charge.getLocNo())) {
|
continue;//小车和充电桩不在同一层
|
}
|
|
if (charge.getStatus() == 0) {
|
continue;//充电桩被禁用
|
}
|
|
//小车和充电桩在同一层
|
if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
|
shuttleCharge = charge;
|
break;
|
}
|
}
|
|
if (shuttleCharge == null) {
|
//同楼层没有找到充电桩，找可用充电桩
|
//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
|
for (BasShuttleCharge charge : charges) {
|
if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
|
//判断当前充电桩是否有小车，如有小车，不分配该充电桩
|
ArrayList<String> locs = new ArrayList<>();
|
locs.add(charge.getLocNo());
|
Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
|
if(checkHasShuttle != null) {
|
//当前充电桩有穿梭车，不分配该充电桩
|
continue;
|
}
|
|
if (charge.getStatus() == 0) {
|
continue;//充电桩被禁用
|
}
|
|
shuttleCharge = charge;
|
break;
|
}
|
}
|
}
|
|
if (shuttleCharge == null) {
|
continue;
|
}
|
|
String chargeLocNo = shuttleCharge.getLocNo();
|
wrkMast = new WrkMast();
|
wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
|
wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
|
wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
|
wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
|
wrkMast.setIoPri((double) 999);
|
wrkMast.setLocNo(chargeLocNo);
|
wrkMast.setShuttleNo(shuttle.getId());
|
wrkMast.setMemo("charge");
|
wrkMast.setAppeTime(new Date());
|
if (!wrkMastService.insert(wrkMast)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
|
continue;
|
}
|
|
News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行四向穿梭车充电任务
|
*/
|
public synchronized void executeShuttleCharge() {
|
try {
|
//查询小车充电任务
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
|
if(wrkMast == null) {
|
continue;
|
}
|
|
boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩
|
if (!result1) {
|
continue;
|
}
|
|
boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩
|
if (!result2) {
|
continue;
|
}
|
|
boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电
|
if (!result3) {
|
continue;
|
}
|
|
boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电
|
if (!result4) {
|
continue;
|
}
|
|
boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩
|
if (!result5) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 小车前往充电桩
|
*/
|
private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
//小车在充电桩位置
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
//调度小车去充电桩
|
boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
|
if (!dispatched) {
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 小车到达充电桩
|
*/
|
private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//判断是否存在未完成的移动任务
|
WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
|
if(moveWrk != null) {
|
return false;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
return false;
|
}
|
|
//小车在充电桩位置
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
|
return false;
|
}
|
return true;
|
}
|
|
//小车开始充电
|
private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车已经在充电桩位置，下发充电命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
|
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
|
assignCommand.setCommands(commands);//运行命令
|
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
|
wrkMast.setModiTime(new Date());
|
if (!wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知
|
return false;
|
}
|
return true;
|
}
|
|
//小车停止充电
|
private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (!shuttleThread.isChargingCompleted()) {
|
return false;
|
}
|
|
//小车已经在充电桩位置，下发停止充电命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
|
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
|
assignCommand.setCommands(commands);//运行命令
|
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
return false;
|
}
|
return true;
|
}
|
|
//小车离开充电桩
|
private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
|
if(basShuttleCharge == null) {
|
return false;
|
}
|
|
//检测障碍物车
|
boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
|
add(shuttleProtocol.getShuttleNo());
|
}});
|
if (checkObstacle) {
|
News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//调度小车去待机位
|
boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
|
if (!dispatched) {
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 执行小车移库任务
|
*/
|
public synchronized void shuttleMoveExecute() {
|
try {
|
//查询小车移库任务
|
List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点
|
if (!stepMoveSta) {
|
continue;
|
}
|
|
boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中
|
if (!stepLiftMove) {
|
continue;
|
}
|
|
boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标
|
if (!updateShuttleLocation) {
|
continue;
|
}
|
|
boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
|
if (!stepMoveLoc) {
|
continue;
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 小车迁移-小车移动到站点
|
* 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 shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 301.生成小车移库任务 ==> 302.小车移动至站点中
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
|
//目标库位和小车库位处于同一楼层，不需要通过提升机调度
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中
|
}
|
return false;
|
}
|
|
//获取源输送站
|
ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
|
if (liftSta == null) {
|
return false;//找不到站点
|
}
|
|
if (liftSta.getHasTray()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (liftSta.getHasCar()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在小车", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//获取目标输送站
|
ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (liftStaTarget == null) {
|
return false;//找不到站点
|
}
|
|
if (liftStaTarget.getHasTray()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (liftStaTarget.getHasCar()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (wrkMast.getLiftNo() == null) {
|
//判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo());
|
if (liftWrkMast != null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
|
wrkMast.setModiTime(now);
|
wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
//*************尝试锁定目标站路径***************
|
List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
|
if (targetNodes == null) {
|
return false;//未获取到节点
|
}
|
boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
|
if (!checkPathIsAvailable) {
|
News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//检测目标站点路径是否未被占用
|
}
|
//尝试锁定目标站路径
|
boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用
|
if (!result2) {
|
News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//路径锁定失败
|
}
|
//*************尝试锁定目标站路径***************
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
|
//获取小车到输送站点行走命令
|
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
|
//所使用的路径进行锁定禁用
|
navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
|
return false;//路径解锁失败
|
}
|
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
|
//触发通知
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-提升机搬运中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
|
//--------------------------------------提升机搬运中-----------------------------------------//
|
Date now = new Date();
|
|
//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中
|
if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) {
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
|
if (forkLiftThread == null) {
|
return false;
|
}
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
return false;
|
}
|
if (!forkLiftThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;
|
}
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
|
return false;//当前提升机存在未完成任务，等待下一次轮询
|
}
|
}
|
|
//获取源站
|
ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
|
//获取目标站
|
ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
|
if (sourceLiftSta == null || liftSta == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
|
return false;//缺少站点信息
|
}
|
|
if (liftSta.getHasTray()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘，禁止派发", wrkMast.getWrkNo());
|
return false;//有托盘跳过
|
}
|
|
//获取提升机命令
|
List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
|
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommands);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
|
}
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-提升机搬运完成更新小车坐标
|
* 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 shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
|
//--------------------------------------提升机搬运中-----------------------------------------//
|
Date now = new Date();
|
|
//提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中
|
if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
|
assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
|
|
//更新小车坐标
|
ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
|
ArrayList<ShuttleCommand> commands = new ArrayList<>();
|
commands.add(command);
|
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
}
|
}
|
return true;
|
}
|
|
/**
|
* 小车迁移-小车移动到目标库位中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
|
//--------------------------------------小车移动到目标库位中-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
|
if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) {
|
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车处于空闲状态
|
if (!shuttleThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//小车已经在目标库位，直接认定小车移动任务完成
|
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setModiTime(now);
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
|
assignCommand.setLocNo(wrkMast.getLocNo());//目标库位
|
|
List<ShuttleCommand> commands = null;
|
//跨楼层移动任务
|
if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
return false;//小车未到达目标层
|
}
|
|
//需要将前两个节点作为白名单节点传入
|
List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
|
if (targetNodes == null) {
|
return false;//未获取到节点
|
}
|
|
//设置计算节点的白名单
|
ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
|
for (NavigateNode node : targetNodes) {
|
whiteList.add(new int[]{node.getX(), node.getY()});
|
}
|
commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
|
}else {
|
//获取小车到目标库位命令
|
commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
|
}
|
|
if (commands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;//路径计算失败
|
}
|
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中
|
wrkMast.setLiftNo(null);//释放提升机
|
wrkMast.setSystemMsg("");//清空消息
|
wrkMast.setModiTime(now);
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
}
|
}
|
return true;
|
}
|
|
//自动切换出入库模式
|
public void autoSwitchForkLiftIOMode() {
|
for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
|
Integer liftNo = forkLiftSlave.getId();
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
|
if (forkLiftThread == null) {
|
continue;
|
}
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
continue;
|
}
|
|
List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo);
|
if (liftAllStaNo.isEmpty()) {
|
continue;
|
}
|
|
List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo);
|
if (conveyorBindLiftAllStaNo.isEmpty()) {
|
continue;
|
}
|
|
//获取入库任务
|
List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
|
.in("sta_no", liftAllStaNo)
|
.in("wrk_sts"
|
, WrkStsType.NEW_INBOUND.sts
|
, WrkStsType.INBOUND_DEVICE_RUN.sts
|
, WrkStsType.INBOUND_LIFT_RUN.sts
|
, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
|
, WrkStsType.INBOUND_SHUTTLE_RUN.sts
|
, WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
|
));
|
|
//获取出库任务
|
List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
|
.in("sta_no", conveyorBindLiftAllStaNo)
|
.in("wrk_sts"
|
, WrkStsType.NEW_OUTBOUND.sts
|
, WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
|
, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
|
, WrkStsType.OUTBOUND_LIFT_RUN.sts
|
, WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
|
));
|
|
if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
|
//未知模式
|
if (!inWrkMasts.isEmpty()) {
|
forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
|
} else if (!outWrkMasts.isEmpty()) {
|
forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
|
}else {
|
forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
|
}
|
} else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
|
//入库模式
|
if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
|
forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
|
}
|
} else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
|
//出库模式
|
if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
|
forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
|
}
|
}
|
}
|
}
|
|
//出库任务预调度提升机
|
public void outTaskPreviewDispatchForkLift() {
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
|
.in("wrk_sts"
|
, WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
|
));
|
for (WrkMast wrkMast : wrkMasts) {
|
if(wrkMast.getShuttleNo() == null){
|
continue;
|
}
|
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if(shuttleProtocol.getCurrentLocNo() == null){
|
continue;
|
}
|
|
//通过输送线站号获取提升机号
|
Integer liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
|
if (liftNo == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
|
continue;
|
}
|
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
|
if (forkLiftThread == null) {
|
continue;
|
}
|
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
continue;
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
|
if (liftWrkMast != null) {
|
continue;//提升机已被绑定，不再执行预调度任务
|
}
|
|
if (!forkLiftThread.isIdle()) {
|
continue;
|
}
|
|
//提升机不在出库层
|
if (forkLiftProtocol.getLev() != Utils.getLev(wrkMast.getSourceLocNo())) {
|
continue;
|
}
|
|
//移动
|
int workNo = commonService.getWorkNo(WrkIoType.FORKLIFT_MOVE.id);//获取任务号
|
|
//获取提升机命令
|
List<ForkLiftCommand> liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo()));
|
ArrayList<ForkLiftCommand> commands = new ArrayList<>();
|
commands.addAll(liftCommand);
|
|
//提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
|
assignCommand.setTaskNo((short) workNo);
|
assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue());
|
|
forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
|
}
|
}
|
|
}
|
