#

Administrator

2026-04-25 e12b25d5fc8170099bfc48d1d4de158a7c4238dc

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

@@ -29,6 +29,8 @@
import com.zy.core.model.param.SendDualCrnCommandParam;
import com.zy.core.model.protocol.DualCrnProtocol;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.task.MainProcessLane;
import com.zy.core.task.MainProcessTaskSubmitter;
import com.zy.core.thread.DualCrnThread;
import com.zy.core.thread.StationThread;
import org.springframework.beans.factory.annotation.Autowired;
@@ -60,48 +62,63 @@
    private CommonService commonService;
    @Autowired
    private NotifyUtils notifyUtils;
    @Autowired
    private MainProcessTaskSubmitter mainProcessTaskSubmitter;

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

            DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
            if(dualCrnProtocol == null){
                continue;
            }

            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("dual_crn_no", basDualCrnp.getCrnNo())
                    .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts)
            );
            if(wrkMasts.size() >= 2){
                continue;
            }

            if(dualCrnProtocol.getMode() != DualCrnModeType.AUTO.id) {
                continue;
            }

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

            this.crnExecute(basDualCrnp, dualCrnThread);
            dualCrnIoExecute(basDualCrnp);
        }
    }

    private synchronized void crnExecute(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
    public void dualCrnIoExecute(BasDualCrnp basDualCrnp) {
        if (basDualCrnp == null || basDualCrnp.getCrnNo() == null) {
            return;
        }
        DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
        if(dualCrnThread == null){
            return;
        }

        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if(dualCrnProtocol == null){
            return;
        }

        if (!(dualCrnProtocol.getStatusType().equals(DualCrnStatusType.IDLE) && dualCrnProtocol.getStatusTypeTwo().equals(DualCrnStatusType.IDLE))) {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                .eq("dual_crn_no", basDualCrnp.getCrnNo())
                .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts)
        );
        if(wrkMasts == null || wrkMasts.size() >= 2){
            return;
        }

        if(!DualCrnModeType.AUTO.id.equals(dualCrnProtocol.getMode())) {
            return;
        }

        if(dualCrnProtocol.getAlarm() == null || dualCrnProtocol.getAlarm() != 0) {
            return;
        }

        if((dualCrnProtocol.getTaskSend() != null && dualCrnProtocol.getTaskSend() != 0)
                || (dualCrnProtocol.getTaskSendTwo() != null && dualCrnProtocol.getTaskSendTwo() != 0)) {
            return;
        }

        this.crnExecute(basDualCrnp, dualCrnThread);
    }

    private void crnExecute(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if(dualCrnProtocol == null){
            return;
        }

        if (!(DualCrnStatusType.IDLE.equals(dualCrnProtocol.getStatusType())
                && DualCrnStatusType.IDLE.equals(dualCrnProtocol.getStatusTypeTwo()))) {
            return;
        }

@@ -111,7 +128,7 @@
        }

        // 如果最近一次是出库模式
        if (dualCrnProtocol.getLastIo().equals("O")) {
        if ("O".equals(dualCrnProtocol.getLastIo())) {
            boolean executeResult1 = processLoveMove(basDualCrnp, dualCrnThread);
            if (executeResult1) {
                return;
@@ -126,7 +143,7 @@
            }
        }
        // 如果最近一次是入库模式
        else if (dualCrnProtocol.getLastIo().equals("I")) {
        else if ("I".equals(dualCrnProtocol.getLastIo())) {
            boolean executeResult1 = processLoveMove(basDualCrnp, dualCrnThread);
            if (executeResult1) {
                return;
@@ -195,18 +212,19 @@
        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;
                }
@@ -376,7 +394,7 @@
        return list;
    }

    private synchronized SendDualCrnCommandParam crnExecuteIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast) {
    private SendDualCrnCommandParam crnExecuteIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if (dualCrnProtocol == null) {
            return null;
@@ -461,6 +479,10 @@

        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$();
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
@@ -468,6 +490,10 @@
                return null;
            }
        }else {
            if (dualCrnProtocol.getTaskNoTwo() > 0) {
                News.taskInfo(wrkMast.getWrkNo(), "工位2系统内部记录有任务");
                return null;
            }
            List<Integer> basList = basDualCrnp.getDisableStationTwoBays$();
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
@@ -501,7 +527,7 @@
        return null;
    }

    private synchronized SendDualCrnCommandParam crnExecuteOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast, int station) {
    private SendDualCrnCommandParam crnExecuteOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast, int station) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if (dualCrnProtocol == null) {
            return null;
@@ -516,6 +542,18 @@
        if (outStationList.isEmpty()) {
            News.info("双工位堆垛机:{} 出库站点未设置", basDualCrnp.getCrnNo());
            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();
@@ -600,7 +638,7 @@
        return null;
    }

    private synchronized SendDualCrnCommandParam crnExecuteLocMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast, int station) {
    private SendDualCrnCommandParam crnExecuteLocMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread, WrkMast wrkMast, int station) {
        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if (dualCrnProtocol == null) {
            return null;
@@ -663,34 +701,100 @@
    }

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

    public void dualCrnIoExecuteFinish(BasDualCrnp basDualCrnp) {
        if (basDualCrnp == null || basDualCrnp.getCrnNo() == null) {
            return;
        }
        DualCrnThread dualCrnThread = (DualCrnThread) SlaveConnection.get(SlaveType.DualCrn, basDualCrnp.getCrnNo());
        if(dualCrnThread == null){
            return;
        }

        DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
        if(dualCrnProtocol == null){
            return;
        }

        if(!DualCrnModeType.AUTO.id.equals(dualCrnProtocol.getMode())) {
            return;
        }

        if(dualCrnProtocol.getAlarm() == null || dualCrnProtocol.getAlarm() != 0) {
            return;
        }

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

        if((dualCrnProtocol.getTaskNoTwo() != null && dualCrnProtocol.getTaskNoTwo() > 0
                && dualCrnProtocol.getDeviceTaskNoTwo() != null && dualCrnProtocol.getDeviceTaskNoTwo() > 0)
                && (dualCrnProtocol.getTaskSendTwo() == null || dualCrnProtocol.getTaskSendTwo() == 0)
                && DualCrnStatusType.WAITING.id.equals(dualCrnProtocol.getStatusTwo())) {
            executeFinish(basDualCrnp, dualCrnThread, dualCrnProtocol, dualCrnProtocol.getTaskNoTwo(), 2);
        }
    }

    public void submitDualCrnIoTasks(long minIntervalMs) {
        submitDualCrnIoTasks(MainProcessLane.DUAL_CRN_IO, minIntervalMs);
    }

    public void submitDualCrnIoTasks(MainProcessLane lane, long minIntervalMs) {
        List<BasDualCrnp> basDualCrnps = basDualCrnpService.selectList(new EntityWrapper<>());
        for (final BasDualCrnp basDualCrnp : basDualCrnps) {
            Integer crnNo = basDualCrnp == null ? null : basDualCrnp.getCrnNo();
            if (crnNo == null) {
                continue;
            }
            mainProcessTaskSubmitter.submitKeyedSerialTask(
                    lane,
                    crnNo,
                    "dualCrnIoExecute",
                    minIntervalMs,
                    new Runnable() {
                        @Override
                        public void run() {
                            dualCrnIoExecute(basDualCrnp);
                        }
                    }
            );
        }
    }

            DualCrnProtocol dualCrnProtocol = dualCrnThread.getStatus();
            if(dualCrnProtocol == null){
    public void submitDualCrnIoExecuteFinishTasks(long minIntervalMs) {
        submitDualCrnIoExecuteFinishTasks(MainProcessLane.DUAL_CRN_IO_FINISH, minIntervalMs);
    }

    public void submitDualCrnIoExecuteFinishTasks(MainProcessLane lane, long minIntervalMs) {
        List<BasDualCrnp> basDualCrnps = basDualCrnpService.selectList(new EntityWrapper<>());
        for (final BasDualCrnp basDualCrnp : basDualCrnps) {
            Integer crnNo = basDualCrnp == null ? null : basDualCrnp.getCrnNo();
            if (crnNo == null) {
                continue;
            }

            if(dualCrnProtocol.getMode() != DualCrnModeType.AUTO.id) {
                continue;
            }

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

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

            if(dualCrnProtocol.getTaskNoTwo() > 0 && dualCrnProtocol.getStatusTwo() == DualCrnStatusType.WAITING.id) {
                executeFinish(basDualCrnp, dualCrnThread, dualCrnProtocol, dualCrnProtocol.getTaskNoTwo(), 2);
            }
            mainProcessTaskSubmitter.submitKeyedSerialTask(
                    lane,
                    crnNo,
                    "dualCrnIoExecuteFinish",
                    minIntervalMs,
                    new Runnable() {
                        @Override
                        public void run() {
                            dualCrnIoExecuteFinish(basDualCrnp);
                        }
                    }
            );
        }
    }

@@ -753,26 +857,33 @@
                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());
                if (wrkMastService.updateById(wrkMast)) {
                    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);
                redisUtil.set(RedisKeyType.DUAL_CRN_IO_EXECUTE_FINISH_LIMIT.key + basDualCrnp.getCrnNo() + "_" + taskNo, "lock", 3);
            }
        }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", 3);
        }
    }

    //检测浅库位状态
    public synchronized boolean checkShallowLocStatus(String locNo, Integer taskNo) {
    public boolean checkShallowLocStatus(String locNo, Integer taskNo) {
        String checkDeepLocOutTaskBlockReport = "Y";
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj != null) {
@@ -798,8 +909,7 @@
        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")) {