#

Junjie

2024-04-03 903825e4434a91ef5d29f8565551dbcc0a4eadaa

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

@@ -1,8 +1,24 @@
package com.zy.asrs.wcs.core.service.impl;

import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.service.MotionService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.Date;
import java.util.List;

/**
 * 立体仓库WCS系统主流程业务
@@ -13,6 +29,224 @@
@Transactional
public class MainServiceImpl {

    @Autowired
    private TaskService taskService;
    @Autowired
    private AnalyzeService analyzeService;
    @Autowired
    private MotionService motionService;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public synchronized void generateInboundWrk() {

    }

    // 解析入库工作档
    public synchronized void analyzeInBoundTask() {
        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
            // 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_INBOUND.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());
            }
        }
    }

    /**
     * 出库 ====>> 同一时间一台穿梭车只能有一个出库任务
     */
    public synchronized void generateOutboundWrkMast() {
        List<Task> tasks = taskService.selectPakOut();
        if (tasks.isEmpty()) {
            return;
        }

        for (Task task : tasks) {
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(task.getOriginSite()));//源站
            StaProtocol staProtocol1 = devpThread.getStation().get(Integer.parseInt(task.getDestSite()));//目标站
            if (staProtocol == null || staProtocol1 == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
                staProtocol1 = staProtocol1.clone();
            }

//            // 查询站点详细信息
//            BasDevp staDetl = basDevpService.selectById(outSta.getStaNo());
//            if (staDetl == null) {
//                log.error("出库 ===>> 站点在数据库不存在, 站点编号={}", outSta.getStaNo());
//                continue;
//            }
            // 判断堆垛机出库站状态
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

                if (!(staProtocol1.isAutoing() && !staProtocol1.isLoading() && staProtocol1.getWorkNo() == 0 && staProtocol1.isOutEnable())) {
                    continue;
                }

//                //同库位组校验
//                List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
//                List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
//                if (!outerLocMasts.isEmpty()) {
//                    News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo());
//                    continue;//浅库位存在未执行任务
//                }

                // generate motion list
                List<Motion> motionList = analyzeService.generateMotion(task);
                if (Cools.isEmpty(motionList)) {
                    log.error("出库 ===>> 暂时没有空闲小车, 任务号={}", task.getTaskNo());
                    continue;
                }
                motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));

                // 更新工作主档
                task.setTaskSts(TaskStsType.ANALYZE_OUTBOUND.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
     */
    public synchronized void loopShuttleCharge() {
//        ShuttleChargeType shuttleCharge = ShuttleChargeType.CHARGE_1;
//        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
//            // 判断充电位是否被占用
//            if (wrkChargeService.hasShuttleInChargeLoc(shuttleCharge.locNo, shuttle.getId())) {
//                continue;
//            }
//
//            //获取四向穿梭车线程
//            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
//            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
//            if (shuttleProtocol == null) {
//                continue;
//            }
//            if (motionService.selectCount(new EntityWrapper<Motion>()
//                    .eq("device_ctg", DeviceCtgType.SHUTTLE.val())
//                    .eq("device", shuttle.getId())
//                    .eq("motion_sts", MotionStsType.EXECUTING.val())) > 0) {
//                continue;
//            }
//
//            //判断当前小车是否满足需要充电要求
//            if (!shuttleProtocol.isRequireCharge()) {
//                continue;
//            }
//
//            WrkCharge wrkCharge = wrkChargeService.selectWorking(null);
//            if (wrkCharge != null) {//已有充电任务
//                continue;
//            }
//
//            String chargeLocNo = shuttleCharge.locNo;
//            wrkCharge = new WrkCharge();
//            wrkCharge.setShuttleNo(shuttle.getId());
//            wrkCharge.setCharge(shuttleCharge.id);
//            wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
//            wrkCharge.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
//            wrkCharge.setWrkSts(WrkMastStsType.NEW_CHARGE.sts);   // 充电任务
//            wrkCharge.setIoType(WrkIoTypeType.CHARGE.sts);
//            wrkCharge.setIoPri((double) 10);
//            wrkCharge.setLocNo(chargeLocNo);
//            wrkCharge.setMemo("charge");
//            wrkCharge.setAppeTime(new Date());
//
//            // generate motion list
//            List<Motion> motionList = analyzeService.generateChargeMotion(wrkCharge);
//            if (Cools.isEmpty(motionList)) {
//                News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
//                continue;
//            }
//            motionService.batchInsert(motionList, wrkCharge.getUuid(), wrkCharge.getWrkNo());
//
//            wrkCharge.setWrkSts(WrkMastStsType.ANALYZE_CHARGE.sts);
//
//            if (!wrkChargeService.insert(wrkCharge)) {
//                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());
//        }
    }

    /**
     * 四向穿梭车电量检测 ===>> 满电后回到待机位
     */
    public synchronized void loopShuttleToStandbyCauseCharge() {
//        ShuttleChargeType shuttleCharge = ShuttleChargeType.CHARGE_1;
//        Integer enoughPower = 90;
//        Config config = configService.selectOne(new EntityWrapper<Config>()
//                .eq("code", "chargeMaxValue")
//                .eq("status", 1));
//        if (config != null) {
//            enoughPower = Integer.parseInt(config.getValue());
//        }
//
//        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.getShuttleProtocol();
//            if (shuttleProtocol == null) {
//                continue;
//            }
//            // 是否存在充电任务
//            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
//            if (wrkCharge == null) {
//                continue;
//            }
//
//            if (motionService.selectCount(new EntityWrapper<Motion>()
//                    .eq("device_ctg", DeviceCtgType.SHUTTLE.val())
//                    .eq("device", shuttle.getId())
//                    .eq("motion_sts", MotionStsType.EXECUTING.val())) > 0) {
//                continue;
//            }
//            // 不处于充电中
//            if (!shuttleProtocol.getPlcOutputCharge()) {
//                continue;
//            }
//            // 在充电位
//            if (!shuttleProtocol.getCurrentLocNo().equals(shuttleCharge.locNo)) {
//                continue;
//            }
//            // 电量是否达到满电要求
//            if (shuttleProtocol.getBatteryPower$().intValue() < enoughPower) {
//                continue;
//            }
//            // 已有迁移任务
//            if (wrkChargeService.selectMoveWorking(shuttle.getId()) != null) {
//                continue;
//            }
//
//            // 待机位
//            String standByLocNo = ShuttleTempLocType.query(shuttleProtocol.getShuttleNo().intValue(), 2, Utils.getLev(shuttleCharge.locNo)).locNo;
//
//            shuttleDispatcher.generateShuttleChargeWrkComplete(shuttleProtocol.getShuttleNo().intValue(), standByLocNo);
//
//            wrkCharge.setWrkSts(WrkMastStsType.COMPLETE_CHARGE.sts);
//            wrkCharge.setIoTime(new Date());
//            wrkChargeMapper.updateById(wrkCharge);
//        }
    }

}