自动化立库仓库-WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
Junjie
2023-06-29 1edc46cc37adb14e30c80c22491d770bfe9214d1 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java


@@ -53,6 +53,8 @@


    @Autowired


    private WrkMastMapper wrkMastMapper;


    @Autowired


    private WrkMastService wrkMastService;


    @Autowired


    private WrkDetlService wrkDetlService;


    @Autowired


    private LocMastService locMastService;


@@ -1086,26 +1088,6 @@


                                //未找到路径，等待下一次


                                continue;


                            }


                            //所使用的路径进行临时解锁，用于后续计算


                            NavigateMapData navigateMapData = new NavigateMapData(currentLev);


                            navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁




                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落


                            //搜索一条没有小车的空巷道，并调度小车


                            int distLev = Utils.getLev(liftSiteLocNo);//避让楼层


                            String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);


                            ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);


                            if (moveAssignCommand == null) {//调度小车命令为空


                                continue;


                            }


                            //所使用的路径进行临时解锁，用于后续计算


                            navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁


                            commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加


                            List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中


                            nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中


                            assignCommand.setNodes(nodes);


                            navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定






                            //分配目标库位


                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());


@@ -1177,26 +1159,6 @@


                        if (commands == null) {


                            continue;//未找到路径


                        }


                        //所使用的路径进行临时解锁，用于后续计算


                        NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(liftSiteLocNo));


                        navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//所使用的路径进行临时解锁




                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落


                        //搜索一条没有小车的空巷道，并调度小车


                        int distLev = Utils.getLev(liftSiteLocNo);//避让楼层


                        String startLocNo = "180020" + Utils.getLev(liftSiteLocNo);


                        ShuttleAssignCommand moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);


                        if (moveAssignCommand == null) {//调度小车命令为空


                            continue;


                        }


                        //所使用的路径进行临时解锁，用于后续计算


                        navigateMapData.writeNavigateNodeToRedisMap(moveAssignCommand.getNodes(), false);//所使用的路径进行临时解锁


                        commands.addAll(moveAssignCommand.getCommands());//将避让小车的命令添加


                        List<NavigateNode> nodes = assignCommand.getNodes();//将避让路径添加进节点路径中


                        nodes.addAll(moveAssignCommand.getNodes());//将避让路径添加进节点路径中


                        assignCommand.setNodes(nodes);


                        navigateMapData.writeNavigateNodeToRedisMap(nodes, true);//所使用的路径进行锁定






                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口


                        short startCode = liftProtocol.getBarcode();//提升机内部二维码


@@ -1318,16 +1280,23 @@


            //同一楼层，没有空闲穿梭车，只能从其他楼层调度


            //寻找离任务最近的穿梭车


            for (ShuttleThread shuttleThread : diffLev) {


                if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车


                    recentShuttle = shuttleThread;


                }




                //当前穿梭车库位号


                String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();


                int currentLev = Utils.getLev(currentLocNo);


                List<LocMast> locMasts = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车


                if (locMasts.size() > 0) {


                    //存在其他任务，跳过这辆车


                    continue;


                }




                if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车


                    recentShuttle = shuttleThread;


                }


                //目前最近穿梭车库位号


                String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();


                int recentLev = Utils.getLev(recentLocNo);






                //当前最近四向穿梭车到当前车子所在楼层的提升机口距离


                List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), recentLev));//搜索空闲穿梭车，使用正常通道地图


@@ -1371,8 +1340,11 @@


                //标记复位


                shuttleProtocol.setPakMk(true);




                ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();




                //将任务档标记为完成


                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());


                ShuttleAssignCommand moveAssignCommand = null;//避让命令


                if (wrkMast != null) {


                    switch (wrkMast.getWrkSts().intValue()) {


                        case 9://9.小车入库搬运中 ==> 14.入库完成


@@ -1385,6 +1357,15 @@


                            wrkMast.setWrkSts(23L);


                            break;


                        case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成


                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落


                            //搜索一条没有小车的空巷道，并调度小车


                            int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层


                            String startLocNo = "180020" + distLev;


                            moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);


                            if (moveAssignCommand == null) {//调度小车命令为空


                                continue;


                            }




                            wrkMast.setWrkSts(27L);


                            break;


                        default:


@@ -1402,8 +1383,34 @@


                        //任务指令清零


                        shuttleProtocol.setAssignCommand(null);


                        News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());




                        if (wrkMast.getWrkSts() == 27) {


                            if (moveAssignCommand != null) {


                                //下发任务


                                shuttleProtocol.setPakMk(true);


                                MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));


                            }


                        }




                    } else {


                        News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());


                    }


                }




                if (assignCommand != null) {


                    if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {


                        //避让任务


                        //设置四向穿梭车为空闲状态


                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);


                        //任务号清零


                        shuttleProtocol.setTaskNo((short) 0);


                        //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);


                        News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());


                    }


                }




@@ -1765,6 +1772,8 @@


                                throw new CoolException("更新plc站点信息失败");


                            }


                            wrkMast.setWrkSts(4L);


                            //任务号清零


                            liftProtocol.setTaskNo((short) 0);


                            break;


                        case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成


                            if (liftProtocol.getLev().intValue() != lev) {


@@ -1784,6 +1793,8 @@


                            }


                            wrkMast.setWrkSts(29L);


                            wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态


                            //任务号清零


                            liftProtocol.setTaskNo((short) 0);


                            break;


                        default:


                    }


@@ -1793,8 +1804,6 @@


                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);


                        //任务指令清零


                        liftProtocol.setAssignCommand(null);


                        //任务号清零


                        liftProtocol.setTaskNo((short) 0);


                        News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.getLiftNo());


                    } else {


                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());