#

Junjie

2024-06-18 3ca4638e436076b583ae5da6ffef3e52a080b70a

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java

@@ -2,10 +2,7 @@

import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.kernel.command.AgvCommandService;
import com.zy.asrs.wcs.core.kernel.command.CraneCommandService;
import com.zy.asrs.wcs.core.kernel.command.LiftCommandService;
import com.zy.asrs.wcs.core.kernel.command.ShuttleCommandService;
import com.zy.asrs.wcs.core.kernel.command.*;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
@@ -35,8 +32,8 @@
    private MotionService motionService;
    @Autowired
    private AgvCommandService agvCommandService;
//    @Autowired
//    private ConveyorCommandService conveyorCommandService;
    @Autowired
    private ConveyorCommandService conveyorCommandService;
    @Autowired
    private CraneCommandService craneCommandService;
    @Autowired
@@ -44,7 +41,7 @@
    @Autowired
    private ShuttleCommandService shuttleCommandService;

//    @Scheduled(cron = "0/1 * * * * ? ")
    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeTask() {
        Date now = new Date();
        // ANALYZE_INBOUND
@@ -61,7 +58,7 @@
                    continue;
                }

                // 更新wrkMast
                // 更新Task
                switch (TaskStsType.query(task.getTaskSts())) {
                    case ANALYZE_INBOUND:
                        task.setTaskSts(TaskStsType.EXECUTE_INBOUND.sts);
@@ -90,7 +87,7 @@
                        continue;
                    }

                    // 更新wrkMast
                    // 更新Task
                    switch (TaskStsType.query(task.getTaskSts())) {
                        case EXECUTE_INBOUND:
                            task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts);
@@ -108,72 +105,181 @@
        }
    }

//    @Scheduled(cron = "0/1 * * * * ? ")
//    public synchronized void executeWrkCharge() {
//        Date now = new Date();
//        // ANALYZE_INBOUND
//        for (WrkCharge wrkCharge : wrkChargeMapper.selectByAnalyzeSts()) {
//            Motion executingMotion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val());
//            if (executingMotion != null) {//存在正在执行的motion
//                continue;
//            }
//
//            Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.INIT.val());
//            if (null != motion) {
//                boolean result = this.executeMotion(motion);
//                if (!result) {
//                    continue;
//                }
//                // 更新wrkMast
//                switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
//                    case ANALYZE_CHARGE:
//                        wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_CHARGE.sts);
//                        break;
//                    case ANALYZE_MOVE:
//                        wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_MOVE.sts);
//                        break;
//                }
//                wrkCharge.setModiTime(now);
//                if (wrkChargeMapper.updateById(wrkCharge) == 0) {
//                    log.error("{}其他工作档更新状态失败！", wrkCharge.getWrkNo());
//                }
//            }
//        }
//        // EXECUTE_INBOUND
//        for (WrkCharge wrkCharge : wrkChargeMapper.selectByExecuteSts()) {
//            if (!motionService.hasRunningMotion(wrkCharge.getUuid())) {
//                Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.WAITING.val());
//                if (null != motion) {
//                    boolean result = this.executeMotion(motion);
//                    if (!result) {
//                        continue;
//                    }
//                } else {
//                    if (motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val()) != null) {
//                        continue;
//                    }
//
//                    // 更新wrkMast
//                    switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
//                        case EXECUTE_CHARGE:
//                            wrkCharge.setWrkSts(WrkMastStsType.CHARGE_WORKING.sts);
//                            break;
//                        case EXECUTE_MOVE:
//                            wrkCharge.setWrkSts(WrkMastStsType.COMPLETE_MOVE.sts);
//                            break;
//                    }
//                    wrkCharge.setModiTime(now);
//                    if (wrkChargeMapper.updateById(wrkCharge) == 0) {
//                        log.error("{}他工作档更新状态失败！", wrkCharge.getWrkNo());
//                    }
//                }
//            }
//        }
//    }
    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeChargeTask() {
        Date now = new Date();
        // ANALYZE_CHARGE
        for (Task taskCharge : taskService.selectChargeByAnalyzeSts()) {
            Motion executingMotion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId());
            if (executingMotion != null) {//存在正在执行的motion
                continue;
            }

//    @Scheduled(cron = "0/1 * * * * ? ")
            Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.INIT.val(), taskCharge.getHostId());
            if (null != motion) {
                boolean result = this.executeMotion(motion);
                if (!result) {
                    continue;
                }
                // 更新Task
                switch (TaskStsType.query(taskCharge.getTaskSts())) {
                    case ANALYZE_CHARGE:
                        taskCharge.setTaskSts(TaskStsType.EXECUTE_CHARGE.sts);
                        break;
                    case ANALYZE_MOVE:
                        taskCharge.setTaskSts(TaskStsType.EXECUTE_MOVE.sts);
                        break;
                }
                taskCharge.setUpdateTime(now);
                if (!taskService.updateById(taskCharge)) {
                    log.error("{}其他工作档更新状态失败！", taskCharge.getTaskNo());
                }
            }
        }
        // EXECUTE_CHARGE
        for (Task taskCharge : taskService.selectChargeByExecuteSts()) {
            if (!motionService.hasRunningMotion(taskCharge.getUuid(), taskCharge.getHostId())) {
                Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.WAITING.val(), taskCharge.getHostId());
                if (null != motion) {
                    boolean result = this.executeMotion(motion);
                    if (!result) {
                        continue;
                    }
                } else {
                    if (motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId()) != null) {
                        continue;
                    }

                    // 更新Task
                    switch (TaskStsType.query(taskCharge.getTaskSts())) {
                        case EXECUTE_CHARGE:
                            taskCharge.setTaskSts(TaskStsType.CHARGE_WORKING.sts);
                            break;
                        case EXECUTE_MOVE:
                            taskCharge.setTaskSts(TaskStsType.COMPLETE_MOVE.sts);
                            break;
                    }
                    taskCharge.setUpdateTime(now);
                    if (!taskService.updateById(taskCharge)) {
                        log.error("{}他工作档更新状态失败！", taskCharge.getTaskNo());
                    }
                }
            }
        }
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeManualTask() {
        Date now = new Date();
        // ANALYZE_MANUAL
        for (Task task : taskService.selectManualByAnalyzeSts()) {
            Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
            if (executingMotion != null) {//存在正在执行的motion
                continue;
            }

            Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
            if (null != motion) {
                boolean result = this.executeMotion(motion);
                if (!result) {
                    continue;
                }
                // 更新Task
                switch (TaskStsType.query(task.getTaskSts())) {
                    case ANALYZE_MANUAL:
                        task.setTaskSts(TaskStsType.EXECUTE_MANUAL.sts);
                        break;
                }
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    log.error("{}其他工作档更新状态失败！", task.getTaskNo());
                }
            }
        }
        // EXECUTE_MANUAL
        for (Task task : taskService.selectManualByExecuteSts()) {
            if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
                Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
                if (null != motion) {
                    boolean result = this.executeMotion(motion);
                    if (!result) {
                        continue;
                    }
                } else {
                    if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
                        continue;
                    }

                    // 更新Task
                    switch (TaskStsType.query(task.getTaskSts())) {
                        case EXECUTE_MANUAL:
                            task.setTaskSts(TaskStsType.COMPLETE_MANUAL.sts);
                            break;
                    }
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        log.error("{}他工作档更新状态失败！", task.getTaskNo());
                    }
                }
            }
        }
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeMoveTask() {
        Date now = new Date();
        // ANALYZE_MOVE
        for (Task task : taskService.selectMoveByAnalyzeSts()) {
            Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
            if (executingMotion != null) {//存在正在执行的motion
                continue;
            }

            Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
            if (null != motion) {
                boolean result = this.executeMotion(motion);
                if (!result) {
                    continue;
                }
                // 更新Task
                switch (TaskStsType.query(task.getTaskSts())) {
                    case ANALYZE_MOVE:
                        task.setTaskSts(TaskStsType.EXECUTE_MOVE.sts);
                        break;
                }
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    log.error("{}其他工作档更新状态失败！", task.getTaskNo());
                }
            }
        }
        // EXECUTE_MOVE
        for (Task task : taskService.selectMoveByExecuteSts()) {
            if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
                Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
                if (null != motion) {
                    boolean result = this.executeMotion(motion);
                    if (!result) {
                        continue;
                    }
                } else {
                    if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
                        continue;
                    }

                    // 更新Task
                    switch (TaskStsType.query(task.getTaskSts())) {
                        case EXECUTE_MOVE:
                            task.setTaskSts(TaskStsType.COMPLETE_MOVE.sts);
                            break;
                    }
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        log.error("{}他工作档更新状态失败！", task.getTaskNo());
                    }
                }
            }
        }
    }

    @Scheduled(cron = "0/1 * * * * ? ")
@@ -188,7 +294,7 @@
        Boolean executeRes = Boolean.FALSE;
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).deviceCtg) {
            case CONVEYOR:
//                executeRes = conveyorCommandService.accept(motion);
                executeRes = conveyorCommandService.accept(motion);
                break;
            case CRANE:
                executeRes = craneCommandService.accept(motion);
@@ -235,7 +341,7 @@
                executeRes = shuttleCommandService.finish(motion);
                break;
            case CONVEYOR:
//                executeRes = conveyorCommandService.finish(motion);
                executeRes = conveyorCommandService.finish(motion);
                break;
            default:
                break;