package com.zy.core.utils;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.exception.CoolException;
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import com.zy.asrs.domain.param.CreateLocMoveTaskParam;
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import com.zy.asrs.entity.BasCrnp;
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import com.zy.asrs.entity.BasDualCrnp;
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import com.zy.asrs.entity.LocMast;
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import com.zy.asrs.entity.WrkMast;
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import com.zy.asrs.service.BasDualCrnpService;
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import com.zy.asrs.service.LocMastService;
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import com.zy.asrs.service.WrkMastService;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.RedisUtil;
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import com.zy.core.News;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.StationObjModel;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.DualCrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.DualCrnProtocol;
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import com.zy.core.model.protocol.StationProtocol;
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import com.zy.core.thread.CrnThread;
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import com.zy.core.thread.DualCrnThread;
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import com.zy.core.thread.StationThread;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.stereotype.Component;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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@Component
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public class DualCrnOperateProcessUtils {
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasDualCrnpService basDualCrnpService;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private WmsOperateUtils wmsOperateUtils;
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@Autowired
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private CommonService commonService;
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//入出库 ===>> 双工位堆垛机入出库作业下发
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public synchronized void dualRrnIoExecute() {
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List<BasDualCrnp> basDualCrnps = basDualCrnpService.selectList(new EntityWrapper<>());
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for (BasDualCrnp basDualCrnp : basDualCrnps) {
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DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
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if(dualCrnThread == null){
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continue;
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}
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DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
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if(dualCrnProtocol == null){
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continue;
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}
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("dual_crn_no", basDualCrnp.getCrnNo())
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.in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts)
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);
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if(wrkMasts.size() >= 2){
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continue;
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}
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if(dualCrnProtocol.getMode() != DualCrnModeType.AUTO.id) {
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continue;
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}
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if(dualCrnProtocol.getAlarm() != 0) {
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continue;
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}
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int executeTaskNo = 0;
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if (dualCrnProtocol.getTaskNo() > 0) {
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executeTaskNo = dualCrnProtocol.getTaskNo();
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}
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if (dualCrnProtocol.getTaskNoTwo() > 0) {
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executeTaskNo = dualCrnProtocol.getTaskNoTwo();
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}
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if (executeTaskNo > 0) {
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WrkMast wrkMast = wrkMastService.selectByWorkNo(executeTaskNo);
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if (wrkMast != null) {
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if (wrkMast.getIoType().equals(WrkIoType.IN.id)) {
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this.crnExecuteIn(basDualCrnp, dualCrnThread); // 入库
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} else if (wrkMast.getIoType().equals(WrkIoType.OUT.id)) {
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this.crnExecuteOut(basDualCrnp, dualCrnThread); // 出库
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}else {
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continue;
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}
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}
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}
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// 如果最近一次是入库模式
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if (dualCrnProtocol.getLastIo().equals("I")) {
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if (basDualCrnp.getInEnable().equals("Y")) {
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this.crnExecuteIn(basDualCrnp, dualCrnThread); // 入库
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dualCrnProtocol.setLastIo("O");
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} else if (basDualCrnp.getOutEnable().equals("Y")) {
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this.crnExecuteOut(basDualCrnp, dualCrnThread); // 出库
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dualCrnProtocol.setLastIo("I");
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}
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}
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// 如果最近一次是出库模式
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else if (dualCrnProtocol.getLastIo().equals("O")) {
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if (basDualCrnp.getOutEnable().equals("Y")) {
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this.crnExecuteOut(basDualCrnp, dualCrnThread); // 出库
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dualCrnProtocol.setLastIo("I");
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} else if (basDualCrnp.getInEnable().equals("Y")) {
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this.crnExecuteIn(basDualCrnp, dualCrnThread); // 入库
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dualCrnProtocol.setLastIo("O");
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}
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}
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}
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}
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private synchronized void crnExecuteIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
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DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
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if(dualCrnProtocol == null){
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return;
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}
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if(!basDualCrnp.getInEnable().equals("Y")){
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News.info("双工位堆垛机:{} 可入信号不满足", basDualCrnp.getCrnNo());
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return;
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}
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List<StationObjModel> inStationList = basDualCrnp.getInStationList$();
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if(inStationList.isEmpty()){
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News.info("双工位堆垛机:{} 入库站点未设置", basDualCrnp.getCrnNo());
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return;
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}
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Integer crnNo = basDualCrnp.getCrnNo();
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int station = calcStation(dualCrnProtocol);
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if(station == 0){
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News.info("双工位堆垛机:{} 无可用工位", basDualCrnp.getCrnNo());
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return;
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}
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for (StationObjModel stationObjModel : inStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (!stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() <= 0) {
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continue;
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}
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if (!stationProtocol.isInEnable()) {
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News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
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continue;
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}
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// 获取任务
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WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
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if (null == wrkMast) {
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News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务信息不存在", stationProtocol.getTaskNo());
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continue;
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}
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if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
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News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务状态异常", stationProtocol.getTaskNo());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 信息不存在", wrkMast.getLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("S")) {
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News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 状态异常", wrkMast.getLocNo());
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continue;
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}
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//检测浅库位状态
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boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
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if (!checkStatus) {
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News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
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continue;
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}
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String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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List<DualCrnCommand> commandList = new ArrayList<>();
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DualCrnCommand pickCommand = dualCrnThread.getPickCommand(sourceLocNo, wrkMast.getWrkNo(), crnNo, station);
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DualCrnCommand putCommand = dualCrnThread.getPutCommand(wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo, station);
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commandList.add(pickCommand);
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commandList.add(putCommand);
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wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
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wrkMast.setDualCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
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News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
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}
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}
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}
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private synchronized void crnExecuteOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
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DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
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if(dualCrnProtocol == null){
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return;
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}
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if(!basDualCrnp.getOutEnable().equals("Y")){
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News.info("双工位堆垛机:{} 可出信号不满足", basDualCrnp.getCrnNo());
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return;
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}
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List<StationObjModel> outStationList = basDualCrnp.getOutStationList$();
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if(outStationList.isEmpty()){
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News.info("双工位堆垛机:{} 出库站点未设置", basDualCrnp.getCrnNo());
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return;
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}
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Integer crnNo = basDualCrnp.getCrnNo();
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int station = calcStation(dualCrnProtocol);
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if(station == 0){
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News.info("双工位堆垛机:{} 无可用工位", basDualCrnp.getCrnNo());
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return;
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}
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List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
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.eq("crn_no", crnNo)
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.eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts)
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);
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for (WrkMast wrkMast : wrkMasts) {
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for (StationObjModel stationObjModel : outStationList) {
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StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
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if (stationThread == null) {
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continue;
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}
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Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
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StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
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if (stationProtocol == null) {
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continue;
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}
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if (!stationProtocol.isAutoing()) {
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continue;
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}
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if (stationProtocol.isLoading()) {
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continue;
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}
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if (stationProtocol.getTaskNo() != 0) {
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continue;
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}
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if (!stationProtocol.isOutEnable()) {
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News.info("放货站点:{} 没有可出信号", stationObjModel.getStationId());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
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if (locMast == null) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("R")) {
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News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常", wrkMast.getSourceLocNo());
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continue;
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}
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//检测浅库位状态
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boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
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if (!checkStatus) {
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News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
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continue;
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}
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String targetLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
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List<DualCrnCommand> commandList = new ArrayList<>();
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DualCrnCommand pickCommand = dualCrnThread.getPickCommand(wrkMast.getSourceLocNo(), wrkMast.getWrkNo(), crnNo, station);
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DualCrnCommand putCommand = dualCrnThread.getPutCommand(targetLocNo, wrkMast.getWrkNo(), crnNo, station);
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commandList.add(pickCommand);
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commandList.add(putCommand);
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wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
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wrkMast.setDualCrnNo(crnNo);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, commandList));
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//取货后等待下一个任务时长
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redisUtil.set(RedisKeyType.DUAL_CRN_PICK_WAIT_NEXT_TASK.key + crnNo, "wait", 5);
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News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(commandList));
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return;
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}
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}
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}
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}
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//双工位堆垛机任务执行完成
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public synchronized void dualCrnIoExecuteFinish() {
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List<BasDualCrnp> basDualCrnps = basDualCrnpService.selectList(new EntityWrapper<>());
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for (BasDualCrnp basDualCrnp : basDualCrnps) {
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DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
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if(dualCrnThread == null){
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continue;
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}
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DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
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if(dualCrnProtocol == null){
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continue;
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}
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if(dualCrnProtocol.getMode() != DualCrnModeType.AUTO.id) {
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continue;
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}
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if(dualCrnProtocol.getAlarm() != 0) {
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continue;
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}
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if(dualCrnProtocol.getTaskNo() > 0 && dualCrnProtocol.getStatus() == DualCrnStatusType.WAITING.id) {
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executeFinish(basDualCrnp, dualCrnThread, dualCrnProtocol, dualCrnProtocol.getTaskNo(), 1);
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continue;
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}
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if(dualCrnProtocol.getTaskNoTwo() > 0 && dualCrnProtocol.getStatusTwo() == DualCrnStatusType.WAITING.id) {
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executeFinish(basDualCrnp, dualCrnThread, dualCrnProtocol, dualCrnProtocol.getTaskNoTwo(), 2);
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continue;
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}
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}
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}
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private void executeFinish(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, DualCrnProtocol dualCrnProtocol, int taskNo, int station) {
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Object lock = redisUtil.get(RedisKeyType.DUAL_CRN_IO_EXECUTE_FINISH_LIMIT.key + basDualCrnp.getCrnNo() + "_" + taskNo);
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if (lock != null) {
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return;
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}
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// 获取待确认工作档
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WrkMast wrkMast = wrkMastService.selectByWorkNo(taskNo);
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if (wrkMast == null) {
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News.error("双工位堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
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return;
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}
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Object commandObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + wrkMast.getWrkNo());
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if (commandObj == null) {
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News.error("双工位堆垛机处于等待确认且任务完成状态，但未找到命令。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
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return;
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}
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JSONObject commandMap = JSON.parseObject(commandObj.toString());
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Integer idx = commandMap.getInteger("idx");
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List<DualCrnCommand> commandList = commandMap.getJSONArray("commands").toJavaList(DualCrnCommand.class);
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if (idx >= commandList.size()) {
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Long updateWrkSts = null;
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if (wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts) {
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updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
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} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts) {
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updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
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} else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts) {
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updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
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} else {
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News.error("双工位堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
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return;
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}
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wrkMast.setWrkSts(updateWrkSts);
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wrkMast.setSystemMsg("");
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wrkMast.setIoTime(new Date());
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if (wrkMastService.updateById(wrkMast)) {
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DualCrnCommand resetCommand = dualCrnThread.getResetCommand(dualCrnProtocol.getCrnNo(), station);
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MessageQueue.offer(SlaveType.DualCrn, dualCrnProtocol.getCrnNo(), new Task(3, resetCommand));
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News.info("双工位堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
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}
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redisUtil.set(RedisKeyType.DUAL_CRN_IO_EXECUTE_FINISH_LIMIT.key + basDualCrnp.getCrnNo() + "_" + taskNo, "lock", 10);
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}else {
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DualCrnCommand resetCommand = dualCrnThread.getResetCommand(dualCrnProtocol.getCrnNo(), station);
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MessageQueue.offer(SlaveType.DualCrn, dualCrnProtocol.getCrnNo(), new Task(3, resetCommand));
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News.info("双工位堆垛机命令完成确认成功，堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
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}
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}
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//检测浅库位状态
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public synchronized boolean checkShallowLocStatus(String locNo, Integer taskNo) {
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String checkDeepLocOutTaskBlockReport = "Y";
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Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
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if (systemConfigMapObj != null) {
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HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
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checkDeepLocOutTaskBlockReport = systemConfigMap.get("checkDeepLocOutTaskBlockReport");
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}
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if (!checkDeepLocOutTaskBlockReport.equals("Y")) {
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return true;
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}
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Object lock = redisUtil.get(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo);
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if (lock != null) {
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return false;
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}
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redisUtil.set(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo, "lock", 5);
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Integer shallowRow = Utils.getShallowRowByDeepRow(Utils.getRow(locNo));
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if (shallowRow == null) {
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return true;
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}
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String shallowLocNo = Utils.getLocNo(shallowRow, Utils.getBay(locNo), Utils.getLev(locNo));
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LocMast shallowLocMast = locMastService.queryByLoc(shallowLocNo);
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if (shallowLocMast == null) {
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News.taskInfo(taskNo, "浅库位:{} 数据不存在", shallowLocNo);
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return false;
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}
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if (shallowLocMast.getLocSts().equals("O")) {
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return true;
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}
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if (shallowLocMast.getLocSts().equals("F")) {
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//浅库位状态有货,申请更换库位
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String response = wmsOperateUtils.applyChangeLocNo(shallowLocNo);
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if (response == null) {
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News.taskError(taskNo, "WCS申请在库库位更换库位失败，WMS接口未响应！！！response：{}", response);
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return false;
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}
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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String moveLocNo = dto.getLocNo();
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CreateLocMoveTaskParam moveTaskParam = new CreateLocMoveTaskParam();
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moveTaskParam.setTaskNo(dto.getTaskNo());
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moveTaskParam.setSourceLocNo(shallowLocNo);
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moveTaskParam.setLocNo(moveLocNo);
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try {
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boolean result = commonService.createLocMoveTask(moveTaskParam);
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} catch (CoolException e) {
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News.taskInfo(taskNo, e.getMessage());
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}
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} else {
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News.error("请求WMS申请更换库位接口失败！！！response：{}", response);
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}
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}
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return false;
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}
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private int calcStation(DualCrnProtocol dualCrnProtocol) {
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int station = 0;
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if(dualCrnProtocol.getTaskNo() == 0){
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station = 1;
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}else if (dualCrnProtocol.getTaskNoTwo() == 0){
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station = 2;
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}
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return station;
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}
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}
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