#

Junjie

昨天 37348c5855649e98defe0f5b1557750cb7c84aa5

 src/main/java/com/zy/core/utils/StationOperateProcessUtils.java

@@ -2,13 +2,19 @@

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.common.entity.FindCrnNoResult;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
@@ -34,15 +40,17 @@
    @Autowired
    private CommonService commonService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasDualCrnpService basDualCrnpService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private WmsOperateUtils wmsOperateUtils;
    @Autowired
    private NotifyUtils notifyUtils;
    @Autowired
    private NavigateUtils navigateUtils;
    @Autowired
    private BasStationService basStationService;

    //执行输送站点入库任务
    public synchronized void stationInExecute() {
@@ -132,6 +140,8 @@
                    .eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
                    .isNotNull("crn_no")
            );
            List<Integer> outOrderList = getAllOutOrderList();

            for (WrkMast wrkMast : wrkMasts) {
                Object infoObj = redisUtil.get(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
                if (infoObj == null) {
@@ -161,7 +171,24 @@
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() == 0
                ) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                    Integer moveStaNo = wrkMast.getStaNo();

                    if (!outOrderList.isEmpty()) {
                        List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
                        for (int i = nodes.size() - 1; i >= 0; i--) {
                            NavigateNode node = nodes.get(i);
                            JSONObject v = JSONObject.parseObject(node.getNodeValue());
                            if (v != null) {
                                Integer stationId = v.getInteger("stationId");
                                if (outOrderList.contains(stationId)) {
                                    moveStaNo = stationId;
                                    break;
                                }
                            }
                        }
                    }

                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
@@ -174,7 +201,6 @@
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                        News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
                        redisUtil.del(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
                    }
                }
@@ -231,9 +257,9 @@
                    wrkMast.setIoTime(new Date());
                    if (wrkMastService.updateById(wrkMast)) {
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                        notifyUtils.notify(String.valueOf(SlaveType.Devp), stationObjModel.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN, null);
                        News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
                        redisUtil.del(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + wrkMast.getWrkNo());
                    }
                }
@@ -249,26 +275,73 @@
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
            for (WrkMast wrkMast : wrkMasts) {
                Integer wrkNo = wrkMast.getWrkNo();
                Integer targetStaNo = wrkMast.getStaNo();

                boolean complete = false;
                BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
                if (basStation == null) {
                    continue;
                }

                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
                if (stationThread == null) {
                    continue;
                }

                Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
                StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
                if (stationProtocol == null) {
                    continue;
                }

                if (stationProtocol.getTaskNo().equals(wrkNo)) {
                    complete = true;
                }

                if (complete) {
                    wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
                    wrkMast.setIoTime(new Date());
                    wrkMastService.updateById(wrkMast);
                    redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    // 检测任务转完成
    public synchronized void checkTaskToComplete() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
            for (WrkMast wrkMast : wrkMasts) {
                Integer wrkNo = wrkMast.getWrkNo();
                Integer targetStaNo = wrkMast.getStaNo();

                Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkNo);
                if (lock != null) {
                    continue;
                }

                boolean complete = true;
                List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
                for (BasDevp basDevp : basDevps) {
                    StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
                    if (stationThread == null) {
                        continue;
                    }
                boolean complete = false;
                BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
                if (basStation == null) {
                    continue;
                }

                    List<StationProtocol> list = stationThread.getStatus();
                    for (StationProtocol stationProtocol : list) {
                        if (stationProtocol.getTaskNo().equals(wrkNo)) {
                            complete = false;
                        }
                    }
                StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
                if (stationThread == null) {
                    continue;
                }

                Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
                StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
                if (stationProtocol == null) {
                    continue;
                }

                if (!stationProtocol.getTaskNo().equals(wrkNo)) {
                    complete = true;
                }

                if (complete) {
@@ -439,5 +512,247 @@
        return currentStationTaskCount;
    }

    // 检测出库排序
    public synchronized void checkStationOutOrder() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
            if (stationThread == null) {
                continue;
            }
            Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
            List<StationObjModel> orderList = basDevp.getOutOrderList$();
            for (StationObjModel stationObjModel : orderList) {
                StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
                if (stationProtocol == null) {
                    continue;
                }

                if (!stationProtocol.isAutoing()) {
                    continue;
                }

                if (!stationProtocol.isLoading()) {
                    continue;
                }

                if (stationProtocol.getTaskNo() <= 0) {
                    continue;
                }

                if (!stationProtocol.getStationId().equals(stationProtocol.getTargetStaNo())) {
                    continue;
                }

                WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                if (wrkMast == null) {
                    continue;
                }

                if (Cools.isEmpty(wrkMast.getBatch())) {
                    continue;
                }

                if (Cools.isEmpty(wrkMast.getBatchSeq())) {
                    continue;
                }

                List<WrkMast> batchWrkList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                        .notIn("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts, WrkStsType.COMPLETE_OUTBOUND.sts)
                        .eq("batch", wrkMast.getBatch())
                        .orderBy("batch")
                );
                if (batchWrkList.isEmpty()) {
                    continue;
                }
                WrkMast firstWrkMast = batchWrkList.get(0);
                Integer currentBatchSeq = firstWrkMast.getBatchSeq();

                List<NavigateNode> initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());

                String commandType = "none";
                Integer seq = getOutStationBatchSeq(initPath, stationProtocol.getStationId(), wrkMast.getBatch());
                if (seq == null) {
                    if (currentBatchSeq.equals(wrkMast.getBatchSeq())) {
                        commandType = "toTarget";
                    }else {
                        commandType = "toCircle";
                    }
                }else {
                    seq++;
                    if (seq.equals(wrkMast.getBatchSeq()) && currentBatchSeq.equals(wrkMast.getBatchSeq())) {
                        commandType = "toTarget";
                    }else {
                        commandType = "toCircle";
                    }
                }

                if (commandType.equals("toTarget")) {
                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }
                    MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                    News.info("{}任务直接去目标点", wrkMast.getWrkNo());
                } else if (commandType.equals("toCircle")) {
                    Integer circleTarget = null;
                    for (NavigateNode node : initPath) {
                        JSONObject v = JSONObject.parseObject(node.getNodeValue());
                        if (v != null) {
                            Integer stationId = v.getInteger("stationId");
                            try {
                                List<NavigateNode> enableMovePath = navigateUtils.calcByStationId(stationProtocol.getStationId(), stationId);
                                if (enableMovePath.isEmpty()) {
                                    continue;
                                }
                            } catch (Exception e) {
                                continue;
                            }

                            circleTarget = stationId;
                            break;
                        }
                    }

                    if (circleTarget == null) {
                        continue;
                    }

                    StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), circleTarget, 0);
                    if (command == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                        continue;
                    }
                    MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                    redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkMast.getWrkNo(), JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
                    News.info("{}任务进行绕圈", wrkMast.getWrkNo());
                }
            }
        }
    }

    // 监控绕圈站点
    public synchronized void watchCircleStation() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
            if (stationThread == null) {
                continue;
            }

            List<Integer> outOrderList = basDevp.getOutOrderIntList();

            for (StationProtocol stationProtocol : stationThread.getStatus()) {
                if (!stationProtocol.isAutoing()) {
                    continue;
                }

                if (!stationProtocol.isLoading()) {
                    continue;
                }

                if (stationProtocol.getTaskNo() <= 0) {
                    continue;
                }

                Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + stationProtocol.getTaskNo());
                if (circleObj == null) {
                    continue;
                }

                StationCommand circleCommand = JSON.parseObject(circleObj.toString(), StationCommand.class);
                if (!stationProtocol.getStationId().equals(circleCommand.getTargetStaNo())) {
                    continue;
                }

                WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
                if (wrkMast == null) {
                    continue;
                }

                Integer moveStaNo = wrkMast.getStaNo();

                if (!outOrderList.isEmpty()) {
                    List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
                    for (int i = nodes.size() - 1; i >= 0; i--) {
                        NavigateNode node = nodes.get(i);
                        JSONObject v = JSONObject.parseObject(node.getNodeValue());
                        if (v != null) {
                            Integer stationId = v.getInteger("stationId");
                            if (outOrderList.contains(stationId)) {
                                moveStaNo = stationId;
                                break;
                            }
                        }
                    }
                }

                StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
                if (command == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                    continue;
                }
                MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
            }
        }
    }

    public List<Integer> getAllOutOrderList() {
        List<Integer> list = new ArrayList<>();
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
        for (BasDevp basDevp : basDevps) {
            List<Integer> orderList = basDevp.getOutOrderIntList();
            list.addAll(orderList);
        }
        return list;
    }

    public Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
        List<Integer> checkList = new ArrayList<>();
        for (int i = pathList.size() - 1; i >= 0; i--) {
            NavigateNode node = pathList.get(i);
            JSONObject v = JSONObject.parseObject(node.getNodeValue());
            if (v != null) {
                Integer stationId = v.getInteger("stationId");
                if (searchStationId.equals(stationId)) {
                    break;
                } else {
                    checkList.add(stationId);
                }
            }
        }

        HashMap<String, Integer> batchMap = new HashMap<>();
        for (Integer station : checkList) {
            BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", station));
            if (basStation == null) {
                continue;
            }

            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
            if (stationThread == null) {
                continue;
            }
            Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
            StationProtocol checkStationProtocol = statusMap.get(station);
            if (checkStationProtocol == null) {
                continue;
            }
            if (checkStationProtocol.getTaskNo() > 0) {
                WrkMast checkWrkMast = wrkMastService.selectByWorkNo(checkStationProtocol.getTaskNo());
                if (checkWrkMast == null) {
                    continue;
                }

                if (!Cools.isEmpty(checkWrkMast.getBatch())) {
                    batchMap.put(checkWrkMast.getBatch(), checkWrkMast.getBatchSeq());
                }
            }
        }

        Integer seq = batchMap.get(searchBatch);
        return seq;
    }

}