#

Junjie

2024-06-12 5c698a110c552d5ef7af812f89d2950b82724c02

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -9,6 +9,7 @@
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.MatDto;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.domain.dto.StaDto;
@@ -17,6 +18,7 @@
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.RedisUtil;
@@ -179,7 +181,7 @@

                        //获取入库任务类型
                        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                                .eq(TaskCtg::getFlag, "IN")
                                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
                                .eq(TaskCtg::getStatus, 1));

                        // 判断重复工作档
@@ -268,6 +270,11 @@
            for (Dict dict : dicts) {
                String[] split = dict.getFlag().split("-");
                int lev = Integer.parseInt(split[1]);

                Object data = redisUtil.get(DeviceRedisConstant.MAP + lev);
                if (data != null) {
                    continue;
                }

                TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
                //排序Row
@@ -374,6 +381,19 @@
                    list.add(mapNode.clone());
                }

                //最后一次检测地图节点是否完整，地图矩阵row均要达到最长row
                for (ArrayList<MapNode> list : lists) {
                    int len = (row + 2);//row+2是因为头节点和尾节点存在人为添加的-1节点
                    if (list.size() == len) {
                        continue;
                    }
                    //节点长度不满足，进行补足
                    for (int i = list.size(); i < len; i++) {
                        list.add(mapNode.clone());
                    }
                }


                ArrayList<MapNode> headNodes = new ArrayList<>();
                ArrayList<MapNode> footerNodes = new ArrayList<>();
                for (int i = 0; i < row+2; i++) {
@@ -392,11 +412,8 @@
                map.setUpdateTime(now);
                map.setLev(lev);

                Object data = redisUtil.get(DeviceRedisConstant.MAP + lev);
                if (data == null) {
                    //将地图数据存入redis
                    redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
                }
                //将地图数据存入redis
                redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -425,7 +442,7 @@
    /**
     * 出库 ====>> 同一时间一台穿梭车只能有一个出库任务
     */
    public synchronized void generateOutboundWrkMast() {
    public synchronized void analyzeOutBoundTask() {
        List<Task> tasks = taskService.selectPakOut();
        if (tasks.isEmpty()) {
            return;
@@ -461,6 +478,23 @@
//                    continue;//浅库位存在未执行任务
//                }

                if (Cools.isEmpty(task.getShuttleNo())) {
                    //分配小车
                    //搜索空闲车
                    ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                    if (shuttleThread == null) {
                        News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                        continue;
                    }

                    task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                    }
                    continue;
                }

                // generate motion list
                List<Motion> motionList = analyzeService.generateMotion(task);
                if (Cools.isEmpty(motionList)) {
@@ -480,6 +514,25 @@
        }
    }

    // 解析小车移动工作档
    public synchronized void analyzeMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
            // generate motion list
            List<Motion> motionList = analyzeService.generateMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }

    /**
     * 四向穿梭车电量检测 ===>> 发起充电
     */
@@ -494,7 +547,7 @@

        //获取充电任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "CHARGE")
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.CHARGE))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return;
@@ -638,7 +691,7 @@

        //获取迁移任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MOVE")
                .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return;