#

Junjie

2023-10-20 16bb4a6e5bf59c308ff351c5060875629f93291c

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -25,6 +25,8 @@
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -102,6 +104,10 @@
    private RedisUtil redisUtil;
    @Autowired
    private WrkMastLocMapper wrkMastLocMapper;
    @Autowired
    private BasLiftOptService basLiftOptService;
    @Autowired
    private ConfigService configService;


    /**
@@ -522,6 +528,7 @@
                            wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站
                            wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位
                            wrkMast.setShuttleNo(null); // 穿梭车清空
                            wrkMast.setLiftNo(null);// 提升机清空
                            wrkMast.setModiTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
@@ -844,6 +851,10 @@
            BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (basDevp == null) {
                return false;//出库站点不存在
            }

            if (!basDevp.getAutoing().equals("Y")) {
                return false;//不是自动状态
            }

            if (!basDevp.getOutEnable().equals("Y")) {
@@ -1196,6 +1207,23 @@
                return false;//出库站点不存在
            }

            //获取源站对应的牛眼提升机站点编号(起点编号)
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftStaProtocol == null) {
                return false;//找不到站点
            }
            Integer startSta = liftStaProtocol.getStaNo();

            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车还在输送站点
                //调度小车避让
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
                if (!result) {
                    return false;
                }
            }

            if (!basDevp.getOutEnable().equals("Y")) {
                return false;//出库站点不可出
            }
@@ -1220,23 +1248,6 @@
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获取源站对应的牛眼提升机站点编号(起点编号)
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftStaProtocol == null) {
                return false;//找不到站点
            }
            Integer startSta = liftStaProtocol.getStaNo();

            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车还在输送站点
                //调度小车避让
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
                if (!result) {
                    return false;
                }
            }

            //获目标站源站对应的输送站点
@@ -1291,8 +1302,14 @@
                    && liftProtocol.getTaskNo() != 0
                    && !liftProtocol.getBusy()
            ) {
                BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString());
                int taskNo = liftProtocol.getTaskNo().intValue();
                if (basLiftOpt != null) {
                    taskNo = basLiftOpt.getWrkNo();
                }

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(taskNo);
                if (wrkMast != null) {
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 3://3.提升机搬运中 ==> 4.提升机搬运完成
@@ -1307,15 +1324,16 @@
                            wrkMast.setWrkSts(25L);
                            if (wrkMast.getIoType() == 11) {//库位移转
                                wrkMast.setWrkSts(4L);//4.提升机搬运完成
                            }else {
                                if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
                                    //不需要用到机械臂，直接转29.出库完成
                                    wrkMast.setWrkSts(29L);
                                }
                            }

                            if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
                                //释放提升机令牌
                                liftProtocol.setToken(0);
                            }

                            if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
                                //不需要用到机械臂，直接转29.出库完成
                                wrkMast.setWrkSts(29L);
                            }

                            break;
@@ -1484,7 +1502,7 @@
            }

            //获取穿梭车最近且空闲的提升机输送站点
            LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
            LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
            if (liftSta == null) {
                return false;//没有可用且空闲的输送站点
            }
@@ -1530,14 +1548,47 @@
    private boolean locToLocExecuteStep3(WrkMast wrkMast) {
        Date now = new Date();
        if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成
            //源站
            Integer sourceStaNo = wrkMast.getSourceStaNo();
            //目标站
            Integer staNo = wrkMast.getStaNo();
            if (sourceStaNo == null || staNo == null) {
                return false;//源站或目标站为空
            }

            int liftNo = staNo / 100;//获取提升机号

            //获取提升机线程
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
            if (liftThread == null) {
                return false;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return false;
            }

            //获取源站对应的输送站点
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftStaProtocol == null) {
                return false;//找不到站点
            }

            if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
                return false;//站点必须自动、空闲、有托盘
            }
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车还在输送站点
                //调度小车避让
                boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
                if (!result) {
                    return false;
                }
            }

            if (!liftProtocol.isIdle()) {
@@ -1548,14 +1599,6 @@
            WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
            if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
                return false;
            }

            //源站
            Integer sourceStaNo = wrkMast.getSourceStaNo();
            //目标站
            Integer staNo = wrkMast.getStaNo();
            if (sourceStaNo == null || staNo == null) {
                return false;//源站或目标站为空
            }

            //获取提升机命令
@@ -1592,13 +1635,17 @@
    private boolean locToLocExecuteStep4(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == 4) {//4.提升机搬运完成
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
            if (targetBasDevp == null) {
                return false;//缺少站点信息
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(wrkMast.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
            if (liftStaProtocol == null) {
                return false;//找不到站点
            }

            if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
                return false;//站点必须自动、空闲、有托盘
            }

            if (wrkMast.getShuttleNo() == null) {
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo());//调度小车到目标输送站点进行取货
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到目标输送站点进行取货
                return false;
            }

@@ -1616,14 +1663,14 @@
            }

            //判断小车是否到达目标输送站点
            if (!shuttleProtocol.getCurrentLocNo().equals(targetBasDevp.getLocNo())) {
            if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
                //小车不在目标输送站点
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getShuttleNo());//调度小车到目标输送站点进行取货
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到目标输送站点进行取货
                return false;
            }

            //小车已抵达目标输送站点，将货物搬运到目标库位
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getLocNo());
            if (result == null) {//路径计算失败
                return false;
            }
@@ -2001,58 +2048,56 @@
                        continue;//没有空闲站点
                    }

                    targetSta = (short) 317;

                    if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
                        //向AGV发起组托请求
//                        try {
//                            HashMap<String, Object> param = new HashMap<>();
//                            param.put("wrkNo", wrkMast.getWrkNo());
//                            String response = new HttpHandler.Builder()
//                                    .setUri(wmsUrl)
//                                    .setPath("/openAGV")
//                                    .setJson(JSON.toJSONString(param))
//                                    .build()
//                                    .doPost();
//                            JSONObject jsonObject = JSON.parseObject(response);
//                            Integer code = jsonObject.getInteger("code");
//                            if (code.equals(200)) {//AGV组托成功
//                                //覆盖工作档目标站
//                                wrkMast.setStaNo(targetSta.intValue());
//                                wrkMast.setShuttleNo(null);//释放小车
//                                if (wrkMastMapper.updateById(wrkMast) > 0) {
//                                    //向300站写入目标站
//                                    staProtocol = staProtocol.clone();
//                                    staProtocol.setStaNo(targetSta);//移动到目标站
//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    try {
//                                        Thread.sleep(500);
//                                    } catch (Exception e) {
//                                        e.printStackTrace();
//                                    }
//                                    continue;
//                                }
//                            }
//                        } catch (Exception e) {
//                            e.printStackTrace();
//                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
//                        }

                        //覆盖工作档目标站
                        wrkMast.setStaNo(targetSta.intValue());
                        wrkMast.setShuttleNo(null);//释放小车
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            //向300站写入目标站
                            staProtocol = staProtocol.clone();
                            staProtocol.setStaNo(targetSta);//移动到目标站
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            try {
                                Thread.sleep(500);
                            } catch (Exception e) {
                                e.printStackTrace();
                        try {
                            HashMap<String, Object> param = new HashMap<>();
                            param.put("wrkNo", wrkMast.getWrkNo());
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/replenishment")
                                    .setJson(JSON.toJSONString(param))
                                    .build()
                                    .doPost();
                            JSONObject jsonObject = JSON.parseObject(response);
                            Integer code = jsonObject.getInteger("code");
                            if (code.equals(200)) {//AGV组托成功
                                //覆盖工作档目标站
                                wrkMast.setStaNo(targetSta.intValue());
                                wrkMast.setShuttleNo(null);//释放小车
                                if (wrkMastMapper.updateById(wrkMast) > 0) {
                                    //向300站写入目标站
                                    staProtocol = staProtocol.clone();
                                    staProtocol.setStaNo(targetSta);//移动到目标站
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    try {
                                        Thread.sleep(500);
                                    } catch (Exception e) {
                                        e.printStackTrace();
                                    }
                                    continue;
                                }
                            }
                            continue;
                        } catch (Exception e) {
                            e.printStackTrace();
                            TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                        }

//                        //覆盖工作档目标站
//                        wrkMast.setStaNo(targetSta.intValue());
//                        wrkMast.setShuttleNo(null);//释放小车
//                        if (wrkMastMapper.updateById(wrkMast) > 0) {
//                            //向300站写入目标站
//                            staProtocol = staProtocol.clone();
//                            staProtocol.setStaNo(targetSta);//移动到目标站
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            try {
//                                Thread.sleep(500);
//                            } catch (Exception e) {
//                                e.printStackTrace();
//                            }
//                            continue;
//                        }
                    }
                }
            }
@@ -2142,11 +2187,11 @@
    private boolean agvRestockCall(String staNo, String barcode) {
        try {
            HashMap<String, Object> param = new HashMap<>();
            param.put("staNo", staNo);
            param.put("barcode", barcode);
            param.put("devNo", staNo);
            param.put("containerCode", barcode);
            String response = new HttpHandler.Builder()
                    .setUri(wmsUrl)
                    .setPath("/callAGV")
                    .setPath("/rpc/start")
                    .setJson(JSON.toJSONString(param))
                    .build()
                    .doPost();
@@ -2179,7 +2224,7 @@
                    continue;
                }

                if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成
                if (wrkMast.getWrkSts() != 29) {//29.出库完成
                    continue;
                }

@@ -2189,6 +2234,7 @@
                    //覆盖工作档目标站
                    wrkMast.setStaNo(sourceStaNo);
                    wrkMast.setSourceStaNo(staNo);
                    wrkMast.setMk("N");
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        //向300站写入目标站
                        staProtocol = staProtocol.clone();
@@ -2500,7 +2546,16 @@
                }
            } else if (wrkCharge.getWrkSts() == 52) {
                //检测小车是否满电

                //获取满电阈值
                int maxPower = 95;
                EntityWrapper<Config> wrapper = new EntityWrapper<>();
                wrapper.eq("code", "chargeMaxValue");
                Config config = configService.selectOne(wrapper);
                if (config != null) {
                    maxPower = Integer.parseInt(config.getValue());
                }

                if (shuttleProtocol.getPowerPercent() < maxPower) {
                    continue;
                }
@@ -2582,8 +2637,6 @@
            if (!stepMoveLoc) {
                continue;
            }

//            this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//清理111.小车移动完成

        }
    }
@@ -3146,69 +3199,6 @@
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
            }
        }
        return true;
    }

    /**
     * 小车迁移-清理111.小车移动完成
     */
    private boolean shuttleMoveExecuteStepClearWrkMast(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == 111) {
            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                return false;
            }

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                return false;
            }

            Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
            if (o != null) {
                ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
                ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
                int size = assignCommand.getCommands().size();
                NyShuttleHttpCommand command = assignCommand.getCommands().get(size - 1);//获取最后一段命令
                if (!command.getComplete()) {
                    return false;//最后一段命令还未完成，不做操作
                }
                NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
                navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//解锁路径

                //删除redis
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
            }

            // 保存工作主档历史档
            if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
                log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
            }
            // 删除工作主档
            if (!wrkMastService.deleteById(wrkMast)) {
                log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
            }

            //设置四向穿梭车为空闲状态
            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            //源库位清零
            shuttleProtocol.setSourceLocNo(null);
            //目标库位清零
            shuttleProtocol.setLocNo(null);
            //任务指令清零
            shuttleProtocol.setAssignCommand(null);
            //工作号清零
            shuttleProtocol.setTaskNo(0);
            //清除令牌
            shuttleProtocol.setToken(0);
            News.info("四向穿梭车已确认且移动任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
        }

        return true;
    }