#

Junjie

昨天 51a1786ef3e4e016d5f3f7bad8c2e2e8a84247a6

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

@@ -3,15 +3,18 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
import com.core.exception.CoolException;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.domain.param.CreateLocMoveTaskParam;
import com.zy.asrs.entity.BasStation;
import com.zy.asrs.entity.BasDualCrnp;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.BasDualCrnpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkAnalysisService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
@@ -53,6 +56,8 @@
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private BasStationService basStationService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private WmsOperateUtils wmsOperateUtils;
@@ -60,10 +65,16 @@
    private CommonService commonService;
    @Autowired
    private NotifyUtils notifyUtils;
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;
    @Autowired
    private WrkAnalysisService wrkAnalysisService;

    private static final String CRN_OUT_REQUIRE_STATION_OUT_ENABLE_CONFIG = "crnOutRequireStationOutEnable";

    //入出库  ===>>  双工位堆垛机入出库作业下发
    public synchronized void dualCrnIoExecute() {
        List<BasDualCrnp> basDualCrnps = basDualCrnpService.selectList(new EntityWrapper<>());
        List<BasDualCrnp> basDualCrnps = basDualCrnpService.list(new QueryWrapper<>());
        for (BasDualCrnp basDualCrnp : basDualCrnps) {
            DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
            if(dualCrnThread == null){
@@ -75,9 +86,9 @@
                continue;
            }

            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
            List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
                    .eq("dual_crn_no", basDualCrnp.getCrnNo())
                    .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts)
                    .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts)
            );
            if(wrkMasts.size() >= 2){
                continue;
@@ -88,6 +99,10 @@
            }

            if(dualCrnProtocol.getAlarm() != 0) {
                continue;
            }

            if(dualCrnProtocol.getTaskSend() != 0 || dualCrnProtocol.getTaskSendTwo() != 0) {
                continue;
            }

@@ -195,18 +210,19 @@
        WrkMast stationOneWrkMast = null;
        WrkMast stationTwoWrkMast = null;

        List<Integer> disableList = basDualCrnp.getDisableStationOneBays$();
        List<Integer> disableOneList = basDualCrnp.getDisableStationOneBays$();
        List<Integer> disableTwoList = basDualCrnp.getDisableStationTwoBays$();

        for (WrkMast wrkMast : outTaskList) {
            if (stationOneWrkMast == null) {
                if (!disableList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                if (!disableOneList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                    stationOneWrkMast = wrkMast;
                    continue;
                }
            }

            if (stationTwoWrkMast == null) {
                if (!disableList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                if (!disableTwoList.contains(Utils.getBay(wrkMast.getSourceLocNo()))) {
                    stationTwoWrkMast = wrkMast;
                    continue;
                }
@@ -331,13 +347,17 @@
            }
        }

        if (taskList.isEmpty()) {
            return list;
        }

        // 获取任务
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
        List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("dual_crn_no", basDualCrnp.getCrnNo())
                .in("wrk_no", taskList)
        );
        for (WrkMast wrkMast : wrkMasts) {
            if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
            if(wrkMast.getWrkSts() != WrkStsType.INBOUND_STATION_RUN_COMPLETE.sts){
                continue;
            }
            list.add(wrkMast);
@@ -358,7 +378,7 @@
            return list;
        }

        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
        List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("dual_crn_no", basDualCrnp.getCrnNo())
                .eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts)
        );
@@ -368,7 +388,7 @@

    private List<WrkMast> getLocMoveTaskList(BasDualCrnp basDualCrnp) {
        List<WrkMast> list = new ArrayList<>();
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
        List<WrkMast> wrkMasts = wrkMastService.list(new QueryWrapper<WrkMast>()
                .eq("dual_crn_no", basDualCrnp.getCrnNo())
                .eq("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts)
        );
@@ -395,12 +415,12 @@

        Integer crnNo = basDualCrnp.getCrnNo();

        if (wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts) {
        if (wrkMast.getWrkSts() != WrkStsType.INBOUND_STATION_RUN_COMPLETE.sts) {
            return null;
        }

        // 获取库位信息
        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
        LocMast locMast = locMastService.getById(wrkMast.getLocNo());
        if (locMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 信息不存在", wrkMast.getLocNo());
            return null;
@@ -461,6 +481,10 @@

        Integer station = inStationObjModel.getDualCrnExecuteStation();
        if (station == 1) {
            if (dualCrnProtocol.getTaskNo() > 0) {
                News.taskInfo(wrkMast.getWrkNo(), "工位1系统内部记录有任务");
                return null;
            }
            List<Integer> basList = basDualCrnp.getDisableStationOneBays$();
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
@@ -468,6 +492,10 @@
                return null;
            }
        }else {
            if (dualCrnProtocol.getTaskNoTwo() > 0) {
                News.taskInfo(wrkMast.getWrkNo(), "工位2系统内部记录有任务");
                return null;
            }
            List<Integer> basList = basDualCrnp.getDisableStationTwoBays$();
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
@@ -484,11 +512,14 @@
        commandList.add(pickCommand);
        commandList.add(putCommand);

        Date now = new Date();
        wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
        wrkMast.setDualCrnNo(crnNo);
        wrkMast.setSystemMsg("");
        wrkMast.setIoTime(new Date());
        wrkMast.setIoTime(now);
        wrkMast.setModiTime(now);
        if (wrkMastService.updateById(wrkMast)) {
            wrkAnalysisService.markCraneStart(wrkMast, now);
            SendDualCrnCommandParam sendDualCrnCommandParam = new SendDualCrnCommandParam();
            sendDualCrnCommandParam.setCrnNo(crnNo);
            sendDualCrnCommandParam.setStation(station);
@@ -518,7 +549,23 @@
            return null;
        }

        if (station == 1) {
            if (dualCrnProtocol.getTaskNo() > 0) {
                News.taskInfo(wrkMast.getWrkNo(), "工位1系统内部记录有任务");
                return null;
            }
        }else {
            if (dualCrnProtocol.getTaskNoTwo() > 0) {
                News.taskInfo(wrkMast.getWrkNo(), "工位2系统内部记录有任务");
                return null;
            }
        }

        Integer crnNo = basDualCrnp.getCrnNo();

        if (isOutboundTargetStationTaskLimitReached(wrkMast)) {
            return null;
        }

        for (StationObjModel stationObjModel : outStationList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
@@ -548,13 +595,13 @@
                continue;
            }

            if (!stationProtocol.isOutEnable()) {
                News.info("放货站点:{} 没有可出信号", stationObjModel.getStationId());
            if (isRequireOutboundStationOutEnable() && !stationProtocol.isOutEnable()) {
                News.taskInfo(wrkMast.getWrkNo(), "放货站点:{} 没有可出信号", stationObjModel.getStationId());
                continue;
            }

            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
            LocMast locMast = locMastService.getById(wrkMast.getSourceLocNo());
            if (locMast == null) {
                News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
                continue;
@@ -580,11 +627,14 @@
            commandList.add(pickCommand);
            commandList.add(putCommand);

            Date now = new Date();
            wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
            wrkMast.setDualCrnNo(crnNo);
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(new Date());
            wrkMast.setIoTime(now);
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                wrkAnalysisService.markCraneStart(wrkMast, now);
                redisUtil.set(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + wrkMast.getWrkNo(), JSON.toJSONString(stationObjModel, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);

                SendDualCrnCommandParam sendDualCrnCommandParam = new SendDualCrnCommandParam();
@@ -600,6 +650,26 @@
        return null;
    }

    private boolean isOutboundTargetStationTaskLimitReached(WrkMast wrkMast) {
        if (wrkMast == null || wrkMast.getStaNo() == null) {
            return false;
        }
        BasStation basStation = basStationService.getById(wrkMast.getStaNo());
        if (basStation == null || basStation.getOutTaskLimit() == null || basStation.getOutTaskLimit() < 0) {
            return false;
        }
        int currentStationTaskCount = stationOperateProcessUtils.getCurrentOutboundTaskCountByTargetStation(wrkMast.getStaNo());
        if (currentStationTaskCount >= basStation.getOutTaskLimit()) {
            News.taskInfo(wrkMast.getWrkNo(),
                    "目标出库站:{} 已达出库任务上限，当前={}，上限={}",
                    wrkMast.getStaNo(),
                    currentStationTaskCount,
                    basStation.getOutTaskLimit());
            return true;
        }
        return false;
    }

    private synchronized SendDualCrnCommandParam crnExecuteLocMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast, int station) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if (dualCrnProtocol == null) {
@@ -609,7 +679,7 @@
        Integer crnNo = basDualCrnp.getCrnNo();

        // 获取源库位信息
        LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
        LocMast sourceLocMast = locMastService.getById(wrkMast.getSourceLocNo());
        if (sourceLocMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
            return null;
@@ -621,7 +691,7 @@
        }

        // 获取库位信息
        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
        LocMast locMast = locMastService.getById(wrkMast.getLocNo());
        if (locMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "库位:{} 信息不存在", wrkMast.getLocNo());
            return null;
@@ -645,11 +715,14 @@
        commandList.add(pickCommand);
        commandList.add(putCommand);

        Date now = new Date();
        wrkMast.setWrkSts(WrkStsType.LOC_MOVE_RUN.sts);
        wrkMast.setDualCrnNo(crnNo);
        wrkMast.setSystemMsg("");
        wrkMast.setIoTime(new Date());
        wrkMast.setIoTime(now);
        wrkMast.setModiTime(now);
        if (wrkMastService.updateById(wrkMast)) {
            wrkAnalysisService.markCraneStart(wrkMast, now);
            SendDualCrnCommandParam sendDualCrnCommandParam = new SendDualCrnCommandParam();
            sendDualCrnCommandParam.setCrnNo(crnNo);
            sendDualCrnCommandParam.setStation(station);
@@ -664,7 +737,7 @@

    //双工位堆垛机任务执行完成
    public synchronized void dualCrnIoExecuteFinish() {
        List<BasDualCrnp> basDualCrnps = basDualCrnpService.selectList(new EntityWrapper<>());
        List<BasDualCrnp> basDualCrnps = basDualCrnpService.list(new QueryWrapper<>());
        for (BasDualCrnp basDualCrnp : basDualCrnps) {
            DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
            if(dualCrnThread == null){
@@ -684,12 +757,12 @@
                continue;
            }

            if(dualCrnProtocol.getTaskNo() > 0 && dualCrnProtocol.getStatus() == DualCrnStatusType.WAITING.id) {
            if((dualCrnProtocol.getTaskNo() > 0 && dualCrnProtocol.getDeviceTaskNo() > 0) && dualCrnProtocol.getTaskSend() == 0 && dualCrnProtocol.getStatus().equals(DualCrnStatusType.WAITING.id)) {
                executeFinish(basDualCrnp, dualCrnThread, dualCrnProtocol, dualCrnProtocol.getTaskNo(), 1);
                continue;
            }

            if(dualCrnProtocol.getTaskNoTwo() > 0 && dualCrnProtocol.getStatusTwo() == DualCrnStatusType.WAITING.id) {
            if((dualCrnProtocol.getTaskNoTwo() > 0 && dualCrnProtocol.getDeviceTaskNoTwo() > 0) && dualCrnProtocol.getTaskSendTwo() == 0 && dualCrnProtocol.getStatusTwo().equals(DualCrnStatusType.WAITING.id)) {
                executeFinish(basDualCrnp, dualCrnThread, dualCrnProtocol, dualCrnProtocol.getTaskNoTwo(), 2);
                continue;
            }
@@ -717,6 +790,7 @@

        if (idx >= 2) {
            Long updateWrkSts = null;
            Date now = new Date();
            if (wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts) {
                updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
                notifyUtils.notify(String.valueOf(SlaveType.DualCrn), basDualCrnp.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.DUAL_CRN_IN_TASK_COMPLETE, null);
@@ -755,21 +829,30 @@
                return;
            }

            DualCrnCommand resetCommand = dualCrnThread.getResetCommand(dualCrnProtocol.getCrnNo(), station);
            DualCrnCommand resetCommand = dualCrnThread.getResetCommand(taskNo, dualCrnProtocol.getCrnNo(), station);
            boolean offer = MessageQueue.offer(SlaveType.DualCrn, dualCrnProtocol.getCrnNo(), new Task(3, resetCommand));
            if (offer) {
                if (station == 1) {
                    redisUtil.set(RedisKeyType.DUAL_CRN_STATION1_FLAG.key + basDualCrnp.getCrnNo(), 0, 60 * 60 * 24);
                }else {
                    redisUtil.set(RedisKeyType.DUAL_CRN_STATION2_FLAG.key + basDualCrnp.getCrnNo(), 0, 60 * 60 * 24);
                }

                wrkMast.setWrkSts(updateWrkSts);
                wrkMast.setSystemMsg("");
                wrkMast.setIoTime(new Date());
                wrkMast.setIoTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastService.updateById(wrkMast)) {
                    wrkAnalysisService.markCraneComplete(wrkMast, now, updateWrkSts);
                    News.info("双工位堆垛机任务状态更新成功，堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
                }
                redisUtil.set(RedisKeyType.DUAL_CRN_IO_EXECUTE_FINISH_LIMIT.key + basDualCrnp.getCrnNo() + "_" + taskNo, "lock", 10);
            }
        }else {
            DualCrnCommand resetCommand = dualCrnThread.getResetCommand(dualCrnProtocol.getCrnNo(), station);
            DualCrnCommand resetCommand = dualCrnThread.getResetCommand(taskNo, dualCrnProtocol.getCrnNo(), station);
            MessageQueue.offer(SlaveType.DualCrn, dualCrnProtocol.getCrnNo(), new Task(3, resetCommand));
            News.info("双工位堆垛机命令完成确认成功，堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
            redisUtil.set(RedisKeyType.DUAL_CRN_IO_EXECUTE_FINISH_LIMIT.key + basDualCrnp.getCrnNo() + "_" + taskNo, "lock", 10);
        }
    }

@@ -800,8 +883,7 @@
        String shallowLocNo = Utils.getLocNo(shallowRow, Utils.getBay(locNo), Utils.getLev(locNo));
        LocMast shallowLocMast = locMastService.queryByLoc(shallowLocNo);
        if (shallowLocMast == null) {
            News.taskInfo(taskNo, "浅库位:{} 数据不存在", shallowLocNo);
            return false;
            return true;
        }

        if (shallowLocMast.getLocSts().equals("O")) {
@@ -836,6 +918,32 @@
        return false;
    }

    private boolean isRequireOutboundStationOutEnable() {
        return getSystemConfigBoolean(CRN_OUT_REQUIRE_STATION_OUT_ENABLE_CONFIG, true);
    }

    private boolean getSystemConfigBoolean(String code, boolean defaultValue) {
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (!(systemConfigMapObj instanceof Map)) {
            return defaultValue;
        }
        try {
            Object value = ((Map<?, ?>) systemConfigMapObj).get(code);
            if (value == null) {
                return defaultValue;
            }
            String text = String.valueOf(value).trim();
            if ("Y".equalsIgnoreCase(text) || "true".equalsIgnoreCase(text) || "1".equals(text)) {
                return true;
            }
            if ("N".equalsIgnoreCase(text) || "false".equalsIgnoreCase(text) || "0".equals(text)) {
                return false;
            }
        } catch (Exception ignore) {
        }
        return defaultValue;
    }

    private boolean reassignTaskLocNo(WrkMast wrkMast, StationObjModel stationObjModel) {
        StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
        if (stationThread == null) {