#双工位堆垛机任务下发控制优化

Junjie

11 小时以前 f305e5244e059c5e43566412f69b180e2e790026

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

@@ -91,6 +91,10 @@
                continue;
            }

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

            this.crnExecute(basDualCrnp, dualCrnThread);
        }
    }
@@ -105,24 +109,47 @@
            return;
        }

        Object clearLock = redisUtil.get(RedisKeyType.CLEAR_DUAL_CRN_TASK_LIMIT.key + basDualCrnp.getCrnNo());
        if (clearLock != null) {
            return;
        }

        // 如果最近一次是出库模式
        if (dualCrnProtocol.getLastIo().equals("O")) {
            processLoveMove(basDualCrnp, dualCrnThread);
            processIn(basDualCrnp, dualCrnThread);
            processOut(basDualCrnp, dualCrnThread);
            boolean executeResult1 = processLoveMove(basDualCrnp, dualCrnThread);
            if (executeResult1) {
                return;
            }
            boolean executeResult2 = processIn(basDualCrnp, dualCrnThread);
            if (executeResult2) {
                return;
            }
            boolean executeResult3 = processOut(basDualCrnp, dualCrnThread);
            if (executeResult3) {
                return;
            }
        }
        // 如果最近一次是入库模式
        else if (dualCrnProtocol.getLastIo().equals("I")) {
            processLoveMove(basDualCrnp, dualCrnThread);
            processOut(basDualCrnp, dualCrnThread);
            processIn(basDualCrnp, dualCrnThread);
            boolean executeResult1 = processLoveMove(basDualCrnp, dualCrnThread);
            if (executeResult1) {
                return;
            }
            boolean executeResult2 = processOut(basDualCrnp, dualCrnThread);
            if (executeResult2) {
                return;
            }
            boolean executeResult3 = processIn(basDualCrnp, dualCrnThread);
            if (executeResult3) {
                return;
            }
        }
    }

    private void processIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
    private boolean processIn(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
        List<WrkMast> inTaskList = getInTaskList(basDualCrnp);
        if (inTaskList.isEmpty()) {
            return;
            return false;
        }

        WrkMast stationOneWrkMast = inTaskList.get(0);
@@ -158,13 +185,15 @@
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, list));
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(list));
            dualCrnProtocol.setLastIo("I");
            return true;
        }
        return false;
    }

    private void processOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
    private boolean processOut(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
        List<WrkMast> outTaskList = getOutTaskList(basDualCrnp);
        if (outTaskList.isEmpty()) {
            return;
            return false;
        }

        WrkMast stationOneWrkMast = null;
@@ -214,13 +243,15 @@
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, list));
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(list));
            dualCrnProtocol.setLastIo("O");
            return true;
        }
        return false;
    }

    private void processLoveMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
    private boolean processLoveMove(BasDualCrnp basDualCrnp, DualCrnThread dualCrnThread) {
        List<WrkMast> locMoveTaskList = getLocMoveTaskList(basDualCrnp);
        if (locMoveTaskList.isEmpty()) {
            return;
            return false;
        }

        WrkMast stationOneWrkMast = null;
@@ -270,7 +301,9 @@
            MessageQueue.offer(SlaveType.DualCrn, crnNo, new Task(2, list));
            News.info("双工位堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(list));
            dualCrnProtocol.setLastIo("O");
            return true;
        }
        return false;
    }

    private List<WrkMast> getInTaskList(BasDualCrnp basDualCrnp) {
@@ -432,6 +465,10 @@

        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$();
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
@@ -439,6 +476,10 @@
                return null;
            }
        }else {
            if (dualCrnProtocol.getTaskNoTwo() > 0) {
                News.taskInfo(wrkMast.getWrkNo(), "工位2系统内部记录有任务");
                return null;
            }
            List<Integer> basList = basDualCrnp.getDisableStationTwoBays$();
            if (basList.contains(Utils.getBay(wrkMast.getLocNo()))) {
                //禁止放货列，申请重新分配
@@ -487,6 +528,18 @@
        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();
@@ -655,12 +708,14 @@
                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;
            }
        }
    }
@@ -678,28 +733,13 @@
            return;
        }

        Object commandListObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_.key + basDualCrnp.getCrnNo());
        if (commandListObj == null) {
            News.error("双工位堆垛机处于等待确认且任务完成状态，但未找到命令。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
            return;
        }
        List<SendDualCrnCommandParam> dualCrnCommandParamList = JSON.parseArray(commandListObj.toString(), SendDualCrnCommandParam.class);
        SendDualCrnCommandParam taskCommand = null;
        for (SendDualCrnCommandParam sendDualCrnCommandParam : dualCrnCommandParamList) {
            DualCrnCommand dualCrnCommand = sendDualCrnCommandParam.getCommands().get(0);
            if(dualCrnCommand.getTaskNo() == taskNo){
                taskCommand = sendDualCrnCommandParam;
                break;
            }
        }
        if (taskCommand == null) {
            News.error("双工位堆垛机处于等待确认且任务完成状态，但未找到命令。堆垛机号={}，工作号={}", basDualCrnp.getCrnNo(), taskNo);
            return;
        int idx = 10;
        Object idxObj = redisUtil.get(RedisKeyType.DUAL_CRN_COMMAND_IDX.key + wrkMast.getWrkNo());
        if(idxObj != null) {
            idx = (Integer) idxObj;
        }

        Integer idx = taskCommand.getCommandIdx();
        List<DualCrnCommand> commandList = taskCommand.getCommands();
        if (idx >= commandList.size()) {
        if (idx >= 2) {
            Long updateWrkSts = null;
            if (wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts) {
                updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
@@ -739,9 +779,15 @@
                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());
@@ -751,9 +797,10 @@
                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);
        }
    }

@@ -784,8 +831,7 @@
        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")) {