#motion == null时释放小车

zjj

2025-04-10 d8f676ad00f7053180bcbdb91b8abe511eae208e

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

@@ -10,6 +10,8 @@
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.action.LiftAction;
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 +19,8 @@
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.MapNode;
import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
import com.zy.asrs.wcs.core.utils.OpenUtils;
@@ -30,13 +34,11 @@
import com.zy.asrs.wcs.rcs.model.command.LedCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.BarcodeThread;
import com.zy.asrs.wcs.rcs.thread.DevpThread;
import com.zy.asrs.wcs.rcs.thread.LedThread;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.rcs.thread.*;
import com.zy.asrs.wcs.system.entity.Dict;
import com.zy.asrs.wcs.system.service.DictService;
import lombok.extern.slf4j.Slf4j;
@@ -91,6 +93,8 @@
    private ShuttleChargeStaService shuttleChargeStaService;
    @Autowired
    private OpenUtils openUtils;
    @Autowired
    private LiftAction liftAction;

    /**
     * 组托
@@ -295,6 +299,134 @@
    }

    /**
     * 入库-托盘进库
     */
    public synchronized void palletInbound() {
        try {
            // 根据输送线plc遍历
            List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
                    .eq(Device::getStatus, 1));
            for (Device devp : list) {
                BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
                // 遍历入库口
                for (StaDto inSta : JSON.parseArray(basConveyor.getInSta(), StaDto.class)) {
                    BasConveyorSta basConveyorSta = basConveyorStaService.selectBySiteNo(inSta.getDeviceStaNo().toString());
                    if(basConveyorSta == null) {
                        continue;
                    }

                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, devp.getId().intValue());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getDeviceStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    int workNo = staProtocol.getWorkNo().intValue();

                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing()
                            && staProtocol.isLoading()
                            && staProtocol.isInEnable()
                            && (workNo >= 0)
                            && staProtocol.isPakMk()
                    ) {
                        Object object = redisUtil.get(DeviceRedisConstant.LIFT_PALLET_INBOUND + workNo);
                        if (object != null) {
                            continue;
                        }

                        Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
                                .eq(Task::getDestSite, inSta.getDeviceStaNo())
                                .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts)
                                .eq(Task::getTaskNo, workNo));
                        if (task != null) {
                            int lev = Utils.getLev(task.getDestLoc());
                            Integer targetSite = null;
                            if (lev == 1) {
                                targetSite = 31006;
                            }else if (lev == 2) {
                                targetSite = 31007;
                            }else if (lev == 3) {
                                targetSite = 31008;
                            }
                            if(targetSite == null) {
                                throw new CoolException(lev + "层站点信息不存在");
                            }

                            StaProtocol staProtocol1 = devpThread.getStation().get(targetSite);
                            if (staProtocol1 == null) {
                                break;
                            }
                            if (!staProtocol1.isAutoing()) {
                                break;
                            }
                            if (staProtocol1.isLoading()) {
                                break;
                            }
                            if (staProtocol1.getWorkNo().intValue() != 0) {
                                break;
                            }

                            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, inSta.getLiftNo());
                            if (liftThread == null) {
                                break;
                            }

                            LiftProtocol liftProtocol = liftThread.getStatus();
                            if (liftProtocol == null) {
                                break;
                            }

                            if (!liftThread.isIdle()) {
                                break;
                            }

                            if (motionService.count(new LambdaQueryWrapper<Motion>()
                                    .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
                                    .eq(Motion::getDevice, inSta.getLiftNo())
                                    .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
                                break;
                            }

                            //检测提升机是否有任务绑定
                            boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(workNo));
                            if (liftResult) {
                                //存在任务，禁止执行
                                break;
                            }

                            //每次执行提升机指令都绑定提升机
                            task.setLiftNo(liftProtocol.getLiftNo());
                            task.setUpdateTime(new Date());
                            if (!taskService.updateById(task)) {
                                break;
                            }

                            List<LiftCommand> command = liftThread.getPalletInOutCommand(workNo, 1, lev, inSta.getDeviceStaNo(), targetSite, LiftCommandModeType.PALLET_INOUT);

                            LiftAssignCommand assignCommand = new LiftAssignCommand();
                            assignCommand.setLiftNo(liftProtocol.getLiftNo());
                            assignCommand.setTaskNo(workNo);
                            assignCommand.setDeviceTaskNo(liftThread.generateDeviceTaskNo(workNo, MotionCtgType.LIFT_WITH_GOODS));
                            assignCommand.setCommands(command);
                            liftAction.assignWork(liftThread.getDevice(), assignCommand);

                            redisUtil.set(DeviceRedisConstant.LIFT_PALLET_INBOUND + workNo, "send", 60 * 60 * 6);
                            break;
                        }

                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * 初始化实时地图
     */
    public synchronized void initRealtimeBasMap() {
@@ -471,86 +603,176 @@

    // 解析入库工作档
    public synchronized void analyzeInBoundTask() {
        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
            BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, task.getDestSite()));
            if (basConveyorSta == null) {
                continue;
            }
            BasConveyor basConveyor = basConveyorService.getById(basConveyorSta.getConveyorId());
            if (basConveyor == null) {
                continue;
            }
//            DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
//            if (deviceBarcode == null) {
//                continue;
//            }
//            BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, Integer.parseInt(deviceBarcode.getDeviceId()));
//            if (barcodeThread == null) {
//                continue;
//            }
//            if (!barcodeThread.getBarcode().equals(task.getZpallet())) {
//                continue;
//            }
            if (Cools.isEmpty(basConveyorSta.getTaskNo())){
                continue;
            }
            if (!basConveyorSta.getTaskNo().toString().equals(task.getTaskNo())){
                continue;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
            if (devpThread == null) {
                continue;
            }
            StaProtocol staProtocol = devpThread.getStation().get(basConveyorSta.getSiteNo());
            if (staProtocol == null) {
                continue;
            }
            if (!(staProtocol.isAutoing()
                    && staProtocol.isLoading()
                    && staProtocol.isInEnable())) {
                continue;
            }
        try {
            // 根据输送线plc遍历
            List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                    .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
                    .eq(Device::getStatus, 1));
            for (Device devp : list) {
                BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
                // 遍历入库口
                for (StaDto inSta : JSON.parseArray(basConveyor.getDeviceInSta(), StaDto.class)) {
                    BasConveyorSta basConveyorSta = basConveyorStaService.selectBySiteNo(inSta.getStaNo().toString());
                    if(basConveyorSta == null) {
                        continue;
                    }

            //解析前判断内部目标值是否有物 有工作号
            StaProtocol staProtocolInside = devpThread.getStation().get(Utils.getStaByLev(Utils.getLev(task.getDestLoc())));
            if (staProtocolInside == null) {
                continue;
            }
            if (staProtocolInside.isLoading() || staProtocolInside.getWorkNo() !=0) {
                continue;
            }
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, devp.getId().intValue());
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    int workNo = staProtocol.getWorkNo().intValue();

            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;
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing()
                            && staProtocol.isInEnable()
                            && (workNo >= 0)
                            && staProtocol.isPakMk()
                    ) {

                        Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
                                .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts)
                                .eq(Task::getTaskNo, workNo));
                        if (task != null) {
                            if (!Cools.isEmpty(task.getLiftNo())) {
                                if (task.getLiftNo() > 0) {
                                    task.setLiftNo(0);
                                    task.setUpdateTime(new Date());
                                    if (!taskService.updateById(task)) {
                                        News.info("{}任务更新释放提升机失败", task.getTaskNo());
                                    }
                                }
                            }

                            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 (motionList.isEmpty()) {
                                task.setShuttleNo(null);//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;
                            }
                            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

                            // 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());
                            }
                            break;
                        }

                    }
                }

                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 (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 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());
            }
        } catch (Exception e) {
            e.printStackTrace();
        }

//        for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
//            BasConveyorSta basConveyorSta = basConveyorStaService.getOne(new LambdaQueryWrapper<BasConveyorSta>().eq(BasConveyorSta::getSiteNo, task.getDestSite()));
//            if (basConveyorSta == null) {
//                continue;
//            }
//            BasConveyor basConveyor = basConveyorService.getById(basConveyorSta.getConveyorId());
//            if (basConveyor == null) {
//                continue;
//            }
////            DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
////            if (deviceBarcode == null) {
////                continue;
////            }
////            BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, Integer.parseInt(deviceBarcode.getDeviceId()));
////            if (barcodeThread == null) {
////                continue;
////            }
////            if (!barcodeThread.getBarcode().equals(task.getZpallet())) {
////                continue;
////            }
//            if (Cools.isEmpty(basConveyorSta.getTaskNo())){
//                continue;
//            }
//            if (!basConveyorSta.getTaskNo().toString().equals(task.getTaskNo())){
//                continue;
//            }
//            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, basConveyor.getDeviceId().intValue());
//            if (devpThread == null) {
//                continue;
//            }
//            StaProtocol staProtocol = devpThread.getStation().get(basConveyorSta.getSiteNo());
//            if (staProtocol == null) {
//                continue;
//            }
//            if (!(staProtocol.isAutoing()
//                    && staProtocol.isLoading()
//                    && staProtocol.isInEnable())) {
//                continue;
//            }
//
//            //解析前判断内部目标值是否有物 有工作号
//            StaProtocol staProtocolInside = devpThread.getStation().get(Utils.getStaByLev(Utils.getLev(task.getDestLoc())));
//            if (staProtocolInside == null) {
//                continue;
//            }
//            if (staProtocolInside.isLoading() || staProtocolInside.getWorkNo() !=0) {
//                continue;
//            }
//
//            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 (motionList.isEmpty()) {
//                continue;
//            }
//            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
//
//            // 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());
//            }
//        }
    }

    /**
@@ -617,6 +839,11 @@
                // generate motion list
                List<Motion> motionList = analyzeService.generateMotion(task);
                if (Cools.isEmpty(motionList)) {
                    task.setShuttleNo(null);//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());
                    }
                    log.error("出库 ===>> 暂时没有空闲小车, 任务号={}", task.getTaskNo());
                    continue;
                }
@@ -656,6 +883,11 @@
            // generate motion list
            List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
            if (motionList.isEmpty()) {
                task.setShuttleNo(null);//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;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
@@ -1073,4 +1305,39 @@
        }
    }

    // 解析小车载货移动工作档
    public synchronized void analyzeLadenMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) {
            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.generateShuttleLadenMoveMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_LADEN_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());
            }
        }
    }
}