package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.zy.asrs.domain.enums.NotifyMsgType;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.NotifyUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.MapNode;
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import com.zy.common.model.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.ShuttleAction;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.dispatcher.ShuttleDispatchUtils;
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import com.zy.core.enums.*;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.LiftSlave;
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import com.zy.core.model.ShuttleSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.ShuttleAssignCommand;
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import com.zy.core.model.command.ShuttleCommand;
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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.ArrayList;
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import java.util.Date;
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import java.util.List;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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public class MainServiceImpl {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasShuttleErrLogService basShuttleErrLogService;
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@Autowired
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private BasLiftErrLogService basLiftErrLogService;
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@Autowired
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private BasShuttleErrService basShuttleErrService;
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@Autowired
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private BasLiftErrService basLiftErrService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private BasMapService basMapService;
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@Autowired
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private ShuttleDispatchUtils shuttleDispatchUtils;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private ConfigService configService;
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@Autowired
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private NavigateMapData navigateMapData;
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@Autowired
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private ShuttleOperaUtils shuttleOperaUtils;
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@Autowired
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private ShuttleAction shuttleAction;
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@Autowired
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private NotifyUtils notifyUtils;
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@Autowired
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private BasShuttleChargeService basShuttleChargeService;
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@Autowired
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private TransportLiftInServiceImpl transportLiftInService;
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@Autowired
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private TransportLiftOutServiceImpl transportLiftOutService;
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@Autowired
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private ShuttleMoveServiceImpl shuttleMoveService;
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@Autowired
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private NoLiftInServiceImpl noLiftInService;
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@Autowired
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private NoLiftOutServiceImpl noLiftOutService;
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public static List<Integer> staNosIn = new ArrayList<Integer>() {{
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add(1015);
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add(1026);
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}};
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private boolean isInEnable(DevpThread devpThread, Integer staNo) {
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if (staNo == null) {
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return false;
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}
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// 获取入库站信息
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switch (staNo) {
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case 1011:
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case 1012:
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devpThread.getStation().get(1012).isInEnable();
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break;
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case 1021:
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case 1022:
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case 1023:
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devpThread.getStation().get(1022).isInEnable();
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break;
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case 1031:
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case 1032:
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devpThread.getStation().get(1032).isInEnable();
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break;
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case 1025:
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case 1026:
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devpThread.getStation().get(1025).isInEnable();
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break;
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case 1013:
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case 1014:
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case 1015:
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devpThread.getStation().get(1014).isInEnable();
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break;
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}
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return false;
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}
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private boolean isOutEnable(DevpThread devpThread, Integer staNo) {
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if (staNo == null) {
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return false;
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}
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// 获取入库站信息
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switch (staNo) {
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case 1011:
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case 1012:
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devpThread.getStation().get(1012).isOutEnable();
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break;
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case 1021:
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case 1022:
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case 1023:
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devpThread.getStation().get(1022).isOutEnable();
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break;
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case 1031:
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case 1032:
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devpThread.getStation().get(1032).isOutEnable();
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break;
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case 1025:
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case 1026:
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devpThread.getStation().get(1025).isOutEnable();
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break;
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case 1013:
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case 1014:
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case 1015:
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devpThread.getStation().get(1014).isOutEnable();
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break;
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}
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return false;
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}
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateInboundWrk() {
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try {
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DevpSlave devpSlave = slaveProperties.getDevp().get(0);
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// 遍历入库口
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for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg + "前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg + "后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg + "高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg + "左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg + "右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg + "超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg + "扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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// led 异常显示
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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ledThread.error(errMsg);
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}
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continue;
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}
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
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String barcode = staProtocol.getBarcode();
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if (!Cools.isEmpty(barcode)) {
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News.info("条码扫描器检测条码信息：{}", barcode);
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}
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// 判断重复工作档
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND).eq("barcode", barcode));
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if (wrkMast != null) {
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News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
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if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
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//判断时提升机侧，还是无提升机测
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if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
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staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
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staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
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MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
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News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
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wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
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wrkMast.setModiTime(new Date());
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wrkMastService.updateById(wrkMast);
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} else {
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}
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}
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continue;
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}
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try {
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/*String wmsUrl = "127.0.0.1:8080/fyxcwms";
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1(staProtocol.getLocType1().shortValue());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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// String wmsLocNo = dto.getLocNo();
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// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
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// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
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// int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
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// String wcsLocNo = Utils.getLocNo(row, bay, lev);
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//
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// CreateInTaskParam createInTaskParam = new CreateInTaskParam();
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// createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
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// createInTaskParam.setDestLoc(wcsLocNo);
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// createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
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// createInTaskParam.setDestSite(dto.getStaNo().toString());
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// createInTaskParam.setPriority(11);
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// createInTaskParam.setBarcode(barcode);
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//
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// R result = openUtils.createInTask(createInTaskParam);
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// News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
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// try{
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// String msg = "";
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// HashMap<String, String> hashMap = new HashMap<>();
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// hashMap.put("msg", msg);
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// hashMap.put("sta", inSta.getStaNo().toString());
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// new HttpHandler.Builder()
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// .setUri(wmsUrl)
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// .setPath("/rpc/led/getError")
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// .setJson(JSON.toJSONString(hashMap))
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// .build()
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// .doPost();
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// }catch (Exception e){
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//
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// }
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} else {
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String msg = jsonObject.getString("msg");
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HashMap<String, String> hashMap = new HashMap<>();
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hashMap.put("msg", msg);
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hashMap.put("sta", inSta.getStaNo().toString());
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new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/led/getError")
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.setJson(JSON.toJSONString(hashMap))
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.build()
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.doPost();
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News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
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}*/
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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}
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} catch (Exception e) {
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e.printStackTrace();
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}
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}
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public synchronized void generateInboundWrk2() {
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DevpSlave devpSlave = slaveProperties.getDevp().get(0);
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// 遍历堆垛机出库站
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for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
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StaProtocol staProtocol = devpThread.getStation().get(inSta);
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if (staProtocol == null) {
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return;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short finishWorkNo = staProtocol.getFinishWorkNo();
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WrkMast wrkMast = wrkMastService.selectByWorkNo(Integer.valueOf(finishWorkNo));
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if (wrkMast != null) {
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if (wrkMast.getSourceStaNo() == 1015 || wrkMast.getSourceStaNo() == 1026) {
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//调度车辆
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// boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(null, staProtocol.getLocNo(), wrkMast.getLocNo(), param.getShuttleNo(), "TRANSPORT_DEVP");
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// if (!dispatchShuttle) {
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// News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
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// return;
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// }
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} else {
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//判断提升机
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}
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}
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}
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}
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/**
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* 出库到出库口
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*/
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public synchronized void stnToOutStn() {
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DevpSlave devpSlave = slaveProperties.getDevp().get(0);
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// 遍历堆垛机出库站
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for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
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if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
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List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts));
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for (WrkMast wrkMast : wrkSts) {
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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if (staProtocol.isAutoing() && !staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
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// 查询工作档
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if (wrkMast == null) {
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continue;
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}
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staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
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staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
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MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
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News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
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wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
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wrkMast.setModiTime(new Date());
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wrkMastService.updateById(wrkMast);
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}
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}
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} else {
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}
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}
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}
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/**
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* 初始化实时地图
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*/
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public synchronized void initRealtimeBasMap() {
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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>().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts));
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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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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 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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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
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
//触发通知
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 出库 ===>> 四向穿梭车出库作业下发
|
*/
|
public synchronized void shuttleOutExecute() {
|
try {
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
|
if (!step1) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 出库-小车搬出库中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
|
//101.生成出库任务 => 102.小车搬运中
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
|
Integer liftNo = wrkMast.getLiftNo();
|
if (liftNo == null) {
|
//通过输送线站号获取提升机号
|
liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
|
if (liftNo == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//判断提升机是否有其他任务
|
WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
|
if (liftWrkMast != null) {
|
if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
|
return false;
|
}
|
}
|
|
wrkMast.setLiftNo(liftNo);
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
|
if (forkLiftThread == null) {
|
return false;
|
}
|
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
|
if (forkLiftProtocol == null) {
|
return false;
|
}
|
|
//判断提升机是否处于出库模式
|
if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
|
return false;
|
}
|
|
//获取源站
|
ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
|
if (liftSta == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (liftSta.getHasCar()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
|
return false;
|
}
|
|
if (liftSta.getHasTray()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
|
return false;
|
}
|
|
if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
//强制预留一台小车给入库任务
|
int lev = Utils.getLev(wrkMast.getSourceLocNo());
|
//获取当前楼层有几台可用小车
|
int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
|
if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
|
int shuttleWrkInObligateCount = 1;//预留小车数量
|
Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
|
if (config != null) {
|
shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
|
}
|
//可用出库小车数量(给入库任务预留一台车)
|
int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
|
//查询楼层已分配车辆的出库任务数量
|
List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
|
if (wrkMasts.size() >= useShuttleCount) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
|
return false;
|
}
|
}
|
boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
return false;
|
}
|
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
if (!shuttleThread.isIdle()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
//判断小车是否到达货物库位
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
//小车不在输送站点位置
|
shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
|
assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setAuto(true);//自动模式
|
|
//获取小车到输送站点行走命令
|
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
|
if (commands == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
|
if (liftCommand == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
|
if (liftCommand2 == null) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
|
return false;
|
}
|
|
commands.add(0, liftCommand.get(0));
|
commands.add(liftCommand2.get(0));
|
assignCommand.setCommands(commands);
|
|
wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中
|
wrkMast.setSourceStaNo(liftSta.getStaNo());
|
wrkMast.setModiTime(new Date());
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
//触发通知
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 四向穿梭车任务完成
|
*/
|
public synchronized void shuttleFinished() {
|
try {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//四向穿梭车状态为等待确认、小车处于空闲状态
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
|
&& shuttleProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
|
//5.小车搬运中 ==> 9.入库完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
|
//102.小车搬运中 ==> 103.小车搬运完成
|
wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
|
//302.小车移动至站点 ==> 303.小车移动至站点完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
|
//304.小车迁入提升机中 ==> 305.小车迁入提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
|
//308.小车迁出提升机中 ==> 309.小车迁出提升机完成
|
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
|
continue;//小车未到达目标层
|
}
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
|
//310.小车移动中 ==> 311.小车移动完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) {
|
//小车移动至站点 ==> 小车移动至站点完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) {
|
//小车迁入提升机中 ==> 小车迁入提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) {
|
//小车迁出提升机中 ==> 小车迁出提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) {
|
//小车放货中 ==> 小车放货完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) {
|
//小车移动至站点 ==> 小车移动至站点完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) {
|
//小车迁入提升机中 ==> 小车迁入提升机完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) {
|
//小车迁出提升机中 ==> 小车放货完成
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts);
|
shuttleThread.setSyncTaskNo(0);
|
} else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
|
//204.小车充电中 ==> 205.小车充电完成
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
}
|
// else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
|
// wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts);
|
// shuttleThread.setSyncTaskNo(0);
|
// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
// }
|
else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) {
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts);
|
shuttleThread.setSyncTaskNo(0);
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知
|
} else {
|
continue;
|
}
|
|
if (wrkMastService.updateById(wrkMast)) {
|
//设置四向穿梭车为空闲状态
|
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
} else {
|
Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
|
if (object != null) {
|
ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
|
if (!assignCommand.getAuto()) {
|
//手动模式
|
//工作号清零
|
shuttleThread.setTaskNo(0);
|
//设置四向穿梭车为空闲状态
|
shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
}
|
}
|
}
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行移库任务
|
*/
|
public synchronized void shuttleLocMoveExecute() {
|
try {
|
//查询移库任务
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts));
|
for (WrkMast wrkMast : wrkMasts) {
|
boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//移库任务-小车取货中
|
if (!stepTake) {
|
continue;
|
}
|
|
boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//移库任务-小车取货中
|
if (!stepPut) {
|
continue;
|
}
|
|
boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//移库任务-任务完成
|
if (!stepComplete) {
|
continue;
|
}
|
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 移库任务-小车取货中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleLocMoveExecuteTake(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 501.生成移库任务 ==> 502.小车取货中
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
|
if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
|
boolean result = shuttleDispatchUtils.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");
|
|
if (result) {
|
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
}
|
|
return false;
|
}
|
}
|
return true;
|
}
|
|
/**
|
* 移库任务-小车放货中
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleLocMoveExecutePut(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 502.小车取货中 ==> 503.小车放货中
|
if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
|
return false;
|
}
|
|
boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//调度小车放货
|
News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
|
|
if (result) {
|
wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 移库任务-任务完成
|
* 如需主方法执行continue，请返回false
|
* ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
|
*/
|
private boolean shuttleLocMoveComplete(WrkMast wrkMast) {
|
//--------------------------------------小车移动至站点-----------------------------------------//
|
Date now = new Date();
|
|
//小车移动至站点 503.小车放货中 ==> 509.移库完成
|
if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达放货位置", wrkMast.getWrkNo());
|
return false;
|
}
|
|
if (shuttleProtocol.getHasLift()) {
|
News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车处于顶升状态", wrkMast.getWrkNo());
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//小车搬运中 503.小车放货中 ==> 509.移库完成
|
wrkMast.setModiTime(now);
|
wrkMast.setSystemMsg("");//清空消息
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 提升机任务完成
|
*/
|
public synchronized void liftFinished() {
|
try {
|
for (LiftSlave slave : slaveProperties.getLift()) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//提升机为等待确认且空闲
|
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
|
//3.提升机搬运中 ==> 4.提升机搬运完成
|
wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
|
wrkMast.setLiftNo(null);//释放提升机
|
} 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
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
|
//306.提升机搬运中 ==> 307.提升机搬运完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) {
|
//提升机至放货层 ==> 提升机至放货层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts);
|
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) {
|
//提升机至小车层 ==> 提升机至小车层完成
|
wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);
|
}
|
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
liftThread.setSyncTaskNo(0);
|
liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());
|
} else {
|
News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recShuttleErr();
|
this.recLiftErr();
|
} catch (Exception e) {
|
News.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* 四向穿梭车异常信息记录
|
*/
|
private void recShuttleErr() {
|
Date now = new Date();
|
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
|
// 获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//有任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
|
// 有异常
|
if (latest == null) {
|
if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
|
String errName = basShuttleErr == null ? "未知异常" : basShuttleErr.getErrName();
|
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
shuttleSlave.getId(), // 四向穿梭车
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
errorCode, // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(shuttleProtocol) // 系统状态数据
|
);
|
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basShuttleErrLogService.updateById(latest)) {
|
News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 提升机异常信息记录
|
*/
|
private void recLiftErr() {
|
Date now = new Date();
|
for (LiftSlave slave : slaveProperties.getLift()) {
|
// 获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getStatus();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
if (liftProtocol.getTaskNo() != 0) {
|
//有任务
|
BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo());
|
// 有异常
|
if (latest == null) {
|
if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) {
|
WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode()));
|
String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName();
|
|
BasLiftErrLog basLiftErrLog = new BasLiftErrLog(null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
slave.getId(), // 提升机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
null, // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常", // 备注
|
JSON.toJSONString(liftProtocol) // 系统状态数据
|
);
|
if (!basLiftErrLogService.insert(basLiftErrLog)) {
|
News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", slave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (liftProtocol.getErrorCode() == null || liftProtocol.getErrorCode().equals("0")) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basLiftErrLogService.updateById(latest)) {
|
News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
try {
|
|
List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
|
if (charges.isEmpty()) {
|
return;//无充电桩
|
}
|
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleThread.isRequireCharge()) {
|
continue;
|
}
|
|
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
|
if (wrkMast != null) {//已有充电任务
|
continue;
|
}
|
|
//小车所在楼层
|
int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
|
BasShuttleCharge shuttleCharge = null;
|
|
//搜索小车所在楼层有没有充电桩
|
for (BasShuttleCharge charge : charges) {
|
if (lev != Utils.getLev(charge.getLocNo())) {
|
continue;//小车和充电桩不在同一层
|
}
|
|
if (charge.getStatus() == 0) {
|
continue;//充电桩被禁用
|
}
|
|
//小车和充电桩在同一层
|
if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
|
shuttleCharge = charge;
|
break;
|
}
|
}
|
|
if (shuttleCharge == null) {
|
//同楼层没有找到充电桩，找可用充电桩
|
//小车同楼层没有充电桩，只要充电桩可用就生成充电任务
|
for (BasShuttleCharge charge : charges) {
|
if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
|
//判断当前充电桩是否有小车，如有小车，不分配该充电桩
|
ArrayList<String> locs = new ArrayList<>();
|
locs.add(charge.getLocNo());
|
Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
|
if (checkHasShuttle != null) {
|
//当前充电桩有穿梭车，不分配该充电桩
|
continue;
|
}
|
|
if (charge.getStatus() == 0) {
|
continue;//充电桩被禁用
|
}
|
|
shuttleCharge = charge;
|
break;
|
}
|
}
|
}
|
|
if (shuttleCharge == null) {
|
continue;
|
}
|
|
String chargeLocNo = shuttleCharge.getLocNo();
|
wrkMast = new WrkMast();
|
wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
|
wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
|
wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
|
wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
|
wrkMast.setIoPri((double) 999);
|
wrkMast.setLocNo(chargeLocNo);
|
wrkMast.setShuttleNo(shuttle.getId());
|
wrkMast.setMemo("charge");
|
wrkMast.setAppeTime(new Date());
|
if (!wrkMastService.insert(wrkMast)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
|
continue;
|
}
|
|
News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 执行四向穿梭车充电任务
|
*/
|
public synchronized void executeShuttleCharge() {
|
try {
|
//查询小车充电任务
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
|
if (wrkMast == null) {
|
continue;
|
}
|
|
boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩
|
if (!result1) {
|
continue;
|
}
|
|
boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩
|
if (!result2) {
|
continue;
|
}
|
|
boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电
|
if (!result3) {
|
continue;
|
}
|
|
boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电
|
if (!result4) {
|
continue;
|
}
|
|
boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩
|
if (!result5) {
|
continue;
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
/**
|
* 小车前往充电桩
|
*/
|
private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
//小车在充电桩位置
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
|
//调度小车去充电桩
|
boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
|
if (!dispatched) {
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 小车到达充电桩
|
*/
|
private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//判断是否存在未完成的移动任务
|
WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
|
if (moveWrk != null) {
|
return false;
|
}
|
|
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
|
return false;
|
}
|
|
//小车在充电桩位置
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩
|
wrkMast.setModiTime(new Date());
|
wrkMastService.updateById(wrkMast);
|
|
return false;
|
}
|
return true;
|
}
|
|
//小车开始充电
|
private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
//小车已经在充电桩位置，下发充电命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
|
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
|
assignCommand.setCommands(commands);//运行命令
|
|
wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
|
wrkMast.setModiTime(new Date());
|
if (!wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
|
notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知
|
return false;
|
}
|
return true;
|
}
|
|
//小车停止充电
|
private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
if (!shuttleThread.isChargingCompleted()) {
|
return false;
|
}
|
|
//小车已经在充电桩位置，下发停止充电命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式
|
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
|
|
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
|
assignCommand.setCommands(commands);//运行命令
|
|
//下发任务
|
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
|
return false;
|
}
|
return true;
|
}
|
|
//小车离开充电桩
|
private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
|
if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) {
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
if (shuttleThread == null) {
|
return false;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
|
if (shuttleProtocol == null) {
|
return false;
|
}
|
|
BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
|
if (basShuttleCharge == null) {
|
return false;
|
}
|
|
//调度小车去待机位
|
boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
|
if (!dispatched) {
|
return false;
|
}
|
|
wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastService.updateById(wrkMast)) {
|
return false;
|
}
|
return false;
|
}
|
return true;
|
}
|
|
/**
|
* 执行小车移库任务
|
*/
|
public synchronized void shuttleMoveExecute() {
|
try {
|
//查询小车移库任务
|
List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
|
for (WrkMast wrkMast : wrkMasts) {
|
if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) {
|
this.shuttleMoveExecuteTransportLift(wrkMast);
|
} else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) {
|
this.shuttleMoveExecuteTransportNoLift(wrkMast);
|
} else {
|
shuttleMoveService.shuttleMoveExecuteMove(wrkMast);
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) {
|
LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo());
|
if (liftThread == null) {
|
return;
|
}
|
|
String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo()));
|
if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) {
|
//取货位置是提升机
|
transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast);
|
} else {
|
//放货位置是提升机
|
transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast);
|
}
|
}
|
|
private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
|
if (12 == Utils.getRow(wrkMast.getSourceLocNo()) && 3 == Utils.getBay(wrkMast.getSourceLocNo())) {
|
//入库
|
noLiftInService.shuttleMoveExecute(wrkMast);
|
} else {
|
//出库
|
noLiftOutService.shuttleMoveExecute(wrkMast);
|
}
|
}
|
|
|
}
|
