#

Administrator

2026-04-25 a55f2835748bd494ff46ca3e1a2d7d672153cb2f

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

@@ -27,6 +27,8 @@
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.task.MainProcessLane;
import com.zy.core.task.MainProcessTaskSubmitter;
import com.zy.core.thread.CrnThread;
import com.zy.core.thread.StationThread;
import org.springframework.beans.factory.annotation.Autowired;
@@ -56,6 +58,8 @@
    private NotifyUtils notifyUtils;
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;
    @Autowired
    private MainProcessTaskSubmitter mainProcessTaskSubmitter;

    public synchronized void crnIoExecute() {
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
@@ -69,18 +73,44 @@
        }
    }

    public void crnIoExecute(BasCrnp basCrnp) {
        if (basCrnp == null || basCrnp.getCrnNo() == null) {
            return;
        }
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
            if ("solver".equals(systemConfigMap.get("crnRunMethod"))) {
                plannerExecute(basCrnp);
            } else {
                crnIoExecuteNormal(basCrnp);
            }
        } else {
            crnIoExecuteNormal(basCrnp);
        }
    }

    //入出库  ===>>  堆垛机入出库作业下发
    public synchronized void crnIoExecuteNormal() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            crnIoExecuteNormal(basCrnp);
        }
    }

    public void crnIoExecuteNormal(BasCrnp basCrnp) {
        if (basCrnp == null || basCrnp.getCrnNo() == null) {
            return;
        }

            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if(crnThread == null){
                continue;
            return;
            }

            CrnProtocol crnProtocol = crnThread.getStatus();
            if(crnProtocol == null){
                continue;
            return;
            }

            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
@@ -89,7 +119,7 @@
                    .orderBy("batch_seq", false)
            );
            if(!wrkMasts.isEmpty()){
                continue;
            return;
            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
@@ -102,7 +132,7 @@
            ) {
                Object clearLock = redisUtil.get(RedisKeyType.CLEAR_CRN_TASK_LIMIT.key + basCrnp.getCrnNo());
                if (clearLock != null) {
                    continue;
                return;
                }

                // 如果最近一次是入库模式
@@ -111,13 +141,13 @@
                        boolean result = this.crnExecuteIn(basCrnp, crnThread);//  入库
                        crnProtocol.setLastIo("O");
                        if (result) {
                            break;
                        return;
                        }
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        boolean result = this.crnExecuteOut(basCrnp, crnThread);//  出库
                        crnProtocol.setLastIo("I");
                        if (result) {
                            break;
                        return;
                        }
                    }
                }
@@ -127,23 +157,19 @@
                        boolean result = this.crnExecuteOut(basCrnp, crnThread);//  出库
                        crnProtocol.setLastIo("I");
                        if (result) {
                            break;
                        return;
                        }
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        boolean result = this.crnExecuteIn(basCrnp, crnThread);//  入库
                        crnProtocol.setLastIo("O");
                        if (result) {
                            break;
                        return;
                        }
                    }
                }

                //库位移转
                boolean transfer = this.crnExecuteLocTransfer(basCrnp, crnThread);
                if (transfer) {
                    break;
                }
            }
            this.crnExecuteLocTransfer(basCrnp, crnThread);
        }
    }

@@ -587,14 +613,23 @@
    public synchronized void crnIoExecuteFinish() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            crnIoExecuteFinish(basCrnp);
        }
    }

    public void crnIoExecuteFinish(BasCrnp basCrnp) {
        if (basCrnp == null || basCrnp.getCrnNo() == null) {
            return;
        }

            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if(crnThread == null){
                continue;
            return;
            }

            CrnProtocol crnProtocol = crnThread.getStatus();
            if(crnProtocol == null){
                continue;
            return;
            }

            if (crnProtocol.getMode() == CrnModeType.AUTO.id
@@ -603,14 +638,14 @@
            ) {
                Object lock = redisUtil.get(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo());
                if(lock != null){
                    continue;
                return;
                }

                // 获取待确认工作档
                WrkMast wrkMast = wrkMastService.selectByWorkNo(crnProtocol.getTaskNo());
                if (wrkMast == null) {
                    News.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                    continue;
                return;
                }

                Long updateWrkSts = null;
@@ -640,7 +675,7 @@
                    notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_COMPLETE, null);
                }else{
                    News.error("堆垛机处于等待确认且任务完成状态，但工作状态异常。堆垛机号={}，工作号={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
                    continue;
                return;
                }

                wrkMast.setWrkSts(updateWrkSts);
@@ -655,32 +690,40 @@
                redisUtil.set(RedisKeyType.CRN_IO_EXECUTE_FINISH_LIMIT.key + basCrnp.getCrnNo(), "lock",10);
            }
        }
    }

    public synchronized void plannerExecute() {
        int nowSec = (int) (System.currentTimeMillis() / 1000);
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            plannerExecute(basCrnp);
        }
    }

    public void plannerExecute(BasCrnp basCrnp) {
        if (basCrnp == null || basCrnp.getCrnNo() == null) {
            return;
        }

        int nowSec = (int) (System.currentTimeMillis() / 1000);
            String key = RedisKeyType.PLANNER_SCHEDULE.key + "CRN-" + basCrnp.getCrnNo();
            List<Object> items = redisUtil.lGet(key, 0, -1);
            if (items == null || items.isEmpty()) {
                continue;
            return;
            }

            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            return;
            }
            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            return;
            }
            List<WrkMast> running = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("crn_no", basCrnp.getCrnNo())
                    .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts)
            );
            if (!running.isEmpty()) {
                continue;
            return;
            }
            if (!(crnProtocol.getMode() == CrnModeType.AUTO.id
                    && crnProtocol.getTaskNo() == 0
@@ -688,7 +731,7 @@
                    && crnProtocol.getLoaded() == 0
                    && crnProtocol.getForkPos() == 0
                    && crnProtocol.getAlarm() == 0)) {
                continue;
            return;
            }

            for (Object v : items) {
@@ -735,20 +778,19 @@
                    boolean result = this.crnExecuteInPlanner(basCrnp, crnThread, wrkMast);//入库
                    if (result) {
                        redisUtil.lRemove(key, 1, s);
                        break;
                    return;
                    }
                } else if ("OUT".equalsIgnoreCase(taskType)) {
                    boolean result = this.crnExecuteOutPlanner(basCrnp, crnThread, wrkMast);//出库
                    if (result) {
                        redisUtil.lRemove(key, 1, s);
                        break;
                    return;
                    }
                } else if ("MOVE".equalsIgnoreCase(taskType)) {
                    boolean result = this.crnExecuteMovePlanner(basCrnp, crnThread, wrkMast);//移库
                    if (result) {
                        redisUtil.lRemove(key, 1, s);
                        break;
                    }
                    return;
                }
            }
        }
@@ -805,6 +847,48 @@
        return false;
    }

    public void submitCrnIoTasks(long minIntervalMs) {
        submitCrnIoTasks(MainProcessLane.CRN_IO, minIntervalMs);
    }

    public void submitCrnIoTasks(MainProcessLane lane, long minIntervalMs) {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            if (basCrnp == null || basCrnp.getCrnNo() == null) {
                continue;
            }
            final BasCrnp currentCrn = basCrnp;
            mainProcessTaskSubmitter.submitKeyedSerialTask(
                    lane,
                    currentCrn.getCrnNo(),
                    "crnIoExecute",
                    minIntervalMs,
                    () -> crnIoExecute(currentCrn)
            );
        }
    }

    public void submitCrnIoExecuteFinishTasks(long minIntervalMs) {
        submitCrnIoExecuteFinishTasks(MainProcessLane.CRN_IO_FINISH, minIntervalMs);
    }

    public void submitCrnIoExecuteFinishTasks(MainProcessLane lane, long minIntervalMs) {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            if (basCrnp == null || basCrnp.getCrnNo() == null) {
                continue;
            }
            final BasCrnp currentCrn = basCrnp;
            mainProcessTaskSubmitter.submitKeyedSerialTask(
                    lane,
                    currentCrn.getCrnNo(),
                    "crnIoExecuteFinish",
                    minIntervalMs,
                    () -> crnIoExecuteFinish(currentCrn)
            );
        }
    }

    //检测浅库位状态
    public synchronized boolean checkShallowLocStatus(String locNo, Integer taskNo) {
        String checkDeepLocOutTaskBlockReport = "Y";