*

hmpc

2024-10-22 2752662df7213c0432cc276cc3b5948faffe6ddd

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

@@ -3,42 +3,27 @@
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.entity.BasCircularShuttle;
import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasSte;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.BasCircularShuttleService;
import com.zy.asrs.service.BasDevpPositionService;
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.SortTheExecutionOfTheCarUtil;
import com.zy.asrs.utils.Utils;
import com.zy.core.DevpThread;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.SteCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.core.thread.SteThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;

import java.util.Arrays;
import java.util.Date;
import java.util.List;
import java.util.Map;
import java.util.*;

/**
 * 立体仓库WCS系统主流程业务
@@ -59,8 +44,10 @@
    private BasDevpPositionService basDevpPositionService;
    @Autowired
    private BasCircularShuttleService basCircularShuttleService;
    @Autowired
    private WrkMastService wrkMastService;
    /**
     * 站点任务检测  下发小车取放任务
     * 站点任务检测  更新小车位置信息
     */
    public synchronized void updateStePosition() {
        try{
@@ -70,7 +57,9 @@
            for (BasCircularShuttle basCircularShuttle : basCircularShuttleList){
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.SOS1001) ){
                if (rgvProtocol == null) {
                    sign = true;
                } else if (rgvProtocol.modeType != RgvModeType.AUTO || (rgvProtocol.getStatusType() != RgvStatusType.IDLE && rgvProtocol.getStatusType() != RgvStatusType.ROAM) ){
                    sign = true;
                } else {
                    rgvNo = basCircularShuttle.getRgvNo();
@@ -108,39 +97,157 @@
     * 站点任务检测  下发小车取放任务
     */
    public synchronized void DevpTaskNoRun() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta sta : devp.getInSta()) {
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
                if (staProtocol == null) {
                    continue;
        try{
            BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1));
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return;
            }
            List<BasDevpPosition> basDevpPositions = basDevpPositionService.selectList(new EntityWrapper<BasDevpPosition>().orderBy("plc_position",false));
            Integer devNo = SortTheExecutionOfTheCarUtil.LatelyAndLessThan(basDevpPositions, rgvProtocol.getRgvPos());
            BasDevpPosition[] basDevpPositionsList = SortTheExecutionOfTheCarUtil.devpNoSort(basDevpPositions, devNo);
            BasDevpPosition[] basDevpPositionsListUN = SortTheExecutionOfTheCarUtil.devpNoSortUN(basDevpPositionsList);
            List<List<WrkMast>> wrkMastLists = getWrkMastLists(basDevpPositionsListUN);
            //下发任务
            taskDown(wrkMastLists);
        } catch (Exception e){
            log.error("自动下发小车取放任务失败，异常："+e);
        }
    }

    //获取小车取放任务列表失败
    public synchronized List<List<WrkMast>> getWrkMastLists(BasDevpPosition[] basDevpPositionsListUN) {
        List<List<WrkMast>> wrkMastLists = new ArrayList<>();
        try{
            List<WrkMast> wrkMastlistA = new ArrayList<>();
            List<WrkMast> wrkMastlistB = new ArrayList<>();
            for (BasDevpPosition basDevpPosition : basDevpPositionsListUN){
                WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("sta_no", basDevpPosition.getDevNo()).eq("wrk_sts",1L));
                if (!Cools.isEmpty(wrkMast)){
                    if (SortTheExecutionOfTheCarUtil.devpNoSortbj(basDevpPositionsListUN,wrkMast.getSourceStaNo(),wrkMast.getStaNo())){
                        wrkMastlistA.add(wrkMast);
                    } else {
                        wrkMastlistB.add(wrkMast);
                    }
                }
            }
            wrkMastLists.add(wrkMastlistA);
            wrkMastLists.add(wrkMastlistB);
            return wrkMastLists;
        } catch (Exception e){
            log.error("获取小车取放任务列表失败，异常："+e);
            return wrkMastLists;
        }
    }

    public synchronized void taskDown(List<List<WrkMast>> wrkMastLists) {
        long rgvId = 0;
        runRgv:
        for (List<WrkMast> wrkMastList : wrkMastLists){
            for (WrkMast wrkMast: wrkMastList){
                log.error("存在任务，RGV号={}，任务数据={}", rgvId, JSON.toJSON(wrkMast));

                rgvId++;
                BasCircularShuttle basCircularShuttle = basCircularShuttleService.selectOne(new EntityWrapper<BasCircularShuttle>().eq("rgv_id", 1L));
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol != null
                        && rgvProtocol.modeType == RgvModeType.AUTO
                        && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getAlarm() == 0){
                    RgvCommand rgvCommand = new RgvCommand();
                    rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
                    rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                    rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                    rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                    rgvCommand.setSourceStaNo1(wrkMast.getSourceStaNo().shortValue());   //工位1起点
                    rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
                    rgvCommand.setCommand((short) 1);   //工位1任务确认
                    if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                        //
                        log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                        break runRgv;
                    }
                    log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));

                    wrkMast.setWrkSts(2L);
                    wrkMast.setRgvNo(rgvProtocol.getRgvNo());
                    wrkMast.setAppeTime(new Date());
                    try{
                        wrkMastService.updateById(wrkMast);
                        continue ;
                    }catch (Exception e){
                        log.error("更新小车任务失败,任务号："+wrkMast.getWrkNo());
                    }
                    break runRgv;
                } else {
                    staProtocol = staProtocol.clone();
                    break runRgv;
                }
            }
        }
    }

    public synchronized void loopSteCharge() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (Cools.isEmpty(rgvProtocol, basRgv)) { continue; }
            try {
                // 在线 空闲   无作业标记   不在充电
                if (rgvProtocol.getMode() == 0
                        || !rgvProtocol.statusType.equals(RgvStatusType.IDLE)
                        || basRgv.getPakMk().equals("Y")
//                        || steProtocol.getChargeStatus() == 1
                ) {
    //任务完成
    public synchronized void rgvCompleteWrkMastSta() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
            } catch (Exception e) {
                News.error("fail", e);
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                }
                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getTaskNo1()!=0
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
                    if (Cools.isEmpty(wrkMast) || !wrkMast.getWrkSts().equals(2L)){
                        log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMast);
                        continue;
                    }
                    boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                    if (!rgvComplete){
                        log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                        break;
                    }
                    wrkMast.setWrkSts(3L);
                    wrkMast.setAppeTime(new Date());
                    wrkMastService.updateById(wrkMast);
                }
            }
        } catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }

    /*
     * 小车复位
     * */
    public synchronized boolean rgvComplete(Integer rgvId){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
                log.error("RGV命令下发失败，RGV号={}",rgvId);
                return false;
            } else {
                log.info("RGV命令下发成功，RGV号={}",rgvId);
                return true;
            }
        }catch (Exception e){
            log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
            return false;
        }
    }
}