#

Junjie

2024-10-16 f0b0f5d954d54840d62135a4a88db94797898967

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/Utils.java

@@ -1,6 +1,25 @@
package com.zy.asrs.wcs.core.utils;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.BasLift;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskSerialNo;
import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.NavigationMapType;
import com.zy.asrs.wcs.core.service.BasLiftService;
import com.zy.asrs.wcs.core.service.TaskSerialNoService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
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.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;

import java.util.ArrayList;
import java.util.List;
@@ -63,35 +82,145 @@

    //获取除白名单外的指定楼层全部穿梭车xy坐标点
    public static List<int[]> getShuttlePoints(Integer whiteShuttle, Integer lev) {
//        SlaveProperties slaveProperties = SpringUtils.getBean(SlaveProperties.class);
        DeviceService deviceService = SpringUtils.getBean(DeviceService.class);
        ArrayList<int[]> list = new ArrayList<>();
//        for (ShuttleSlave slave : slaveProperties.getShuttle()) {
//            if (slave.getId().intValue() == whiteShuttle) {
//                continue;//跳过白名单
//            }
//
//            //获取穿梭车所在节点位置
//            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId());
//            if (shuttleThread == null) {
//                continue;
//            }
//            ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
//            if (shuttleProtocol == null) {
//                continue;
//            }
//
//            if (shuttleProtocol.getCurrentLocNo() == null) {
//                continue;
//            }
//
//            if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
//                continue;//楼层不同
//            }
//
//            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
//            list.add(xyPosition);
//        }

        List<Device> devices = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));
        for (Device device : devices) {
            if (Integer.parseInt(device.getDeviceNo()) == whiteShuttle) {
                continue;//跳过白名单
            }

            //获取穿梭车所在节点位置
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (shuttleThread == null) {
                continue;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }

            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }

            if (lev != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                continue;//楼层不同
            }

            int[] xyPosition = NavigatePositionConvert.positionToXY(shuttleProtocol.getCurrentLocNo());//通过库位号获取xy坐标
            list.add(xyPosition);
        }
        return list;
    }

    public static boolean hasShuttleInLoc(String locNo, Long deviceId) {
        DeviceService deviceService = SpringUtils.getBean(DeviceService.class);

        List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getStatus, 1));

        for (Device device : list) {
            if (deviceId.equals(device.getId())) {
                continue;
            }

            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
            if (shuttleThread == null) {
                continue;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                continue;
            }

            if (shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.OFFLINE)) {
                continue;
            }

            if (shuttleProtocol.getCurrentLocNo() == null) {
                continue;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(locNo)) {
                return true;
            }
        }

        return false;
    }

    /**
     * 生成工作号
     * @return taskNo(工作号)
     */
    public static int getTaskNo(String flag) {
        TaskSerialNoService taskSerialNoService = SpringUtils.getBean(TaskSerialNoService.class);
        TaskService taskService = SpringUtils.getBean(TaskService.class);
        TaskSerialNo taskSerialNo = taskSerialNoService.getOne(new LambdaQueryWrapper<TaskSerialNo>()
                .eq(TaskSerialNo::getFlag, flag)
                .eq(TaskSerialNo::getStatus, 1));
        if (Cools.isEmpty(taskSerialNo)) {
            throw new CoolException("数据异常，请联系管理员");
        }

        int taskNo = taskSerialNo.getTaskNo();
        int sNo = taskSerialNo.getStartNo();
        int eNo = taskSerialNo.getTargetNo();
        taskNo = taskNo >= eNo ? sNo : taskNo + 1;
        while (true) {
            Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
                    .eq(Task::getTaskNo, taskNo));
            if (null != task) {
                taskNo = taskNo >= eNo ? sNo : taskNo + 1;
            } else {
                break;
            }
        }
        // 修改序号记录
        if (taskNo > 0){
            taskSerialNo.setTaskNo(taskNo);
            taskSerialNoService.updateById(taskSerialNo);
            return taskNo;
        }
        throw new CoolException("工作号生成失败");
    }

    /**
     * 检测穿梭车是否有任务绑定
     */
    public static boolean checkShuttleHasBinding(Device device, String taskNo) {
        TaskService taskService = SpringUtils.getBean(TaskService.class);
        List<Task> tasks = taskService.selectWorkingByShuttle(Integer.parseInt(device.getDeviceNo()), taskNo);
        if (tasks.isEmpty()) {
            return false;//无任务绑定
        }
        return true;//有任务绑定
    }

    /**
     * 检测提升机是否有任务绑定
     */
    public static boolean checkLiftHasBinding(Integer liftNo) {
        return checkLiftHasBinding(liftNo, null);
    }

    /**
     * 检测提升机是否有任务绑定
     */
    public static boolean checkLiftHasBinding(Integer liftNo, String taskNo) {
        TaskService taskService = SpringUtils.getBean(TaskService.class);
        List<Task> tasks = taskService.selectWorkingByLift(liftNo, taskNo);
        if (tasks.isEmpty()) {
            return false;//无任务绑定
        }
        return true;//有任务绑定
    }

}