#

Junjie

2025-04-22 3009c8b166815ef1ca58d43643e6d1f9f3a57747

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

@@ -120,6 +120,7 @@
                    ));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
                Thread.sleep(100);
                if (!step1) {
                    continue;
                }
@@ -134,7 +135,7 @@
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    public boolean shuttleInExecuteStep1(WrkMast wrkMast) {
    public synchronized boolean shuttleInExecuteStep1(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
            //获取目标站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
@@ -177,6 +178,15 @@
                News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
@@ -233,6 +243,7 @@
                    ));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
                Thread.sleep(100);
                if (!step1) {
                    continue;
                }
@@ -247,7 +258,7 @@
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
    public synchronized boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
        //101.生成出库任务 => 102.小车搬运中
        if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
            Integer liftNo = wrkMast.getLiftNo();
@@ -258,20 +269,6 @@
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }

                //判断提升机是否有其他任务
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
                if (liftWrkMast != null) {
                    if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo);
                        return false;
                    }
                }

                wrkMast.setLiftNo(liftNo);
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
@@ -352,6 +349,15 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(liftSta.getLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
@@ -593,59 +599,6 @@
            }

            for (WrkMast wrkMast : wrkMasts) {
                Integer liftNo = wrkMast.getLiftNo();
                if (liftNo == null) {
                    //未分配提升机
                    Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
                    liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
                    if(liftNo == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                        continue;
                    }

                    ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
                    if (forkLiftThread == null) {
                        continue;
                    }
                    ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
                    if (forkLiftProtocol == null) {
                        continue;
                    }

                    if (!forkLiftThread.isIdle()) {
                        News.info("{}号提升机，忙碌中", liftNo);
                        continue;
                    }

                    //判断提升机是否有其他任务
                    WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
                    if (liftWrkMast != null) {
                        if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                            News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                            continue;//当前提升机存在未完成任务，等待下一次轮询
                        }
                    }

                    wrkMast.setLiftNo(liftNo);
                    wrkMast.setModiTime(new Date());
                    wrkMastService.updateById(wrkMast);
                    continue;
                }

                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
                if (forkLiftThread == null) {
                    continue;
                }
                ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
                if (forkLiftProtocol == null) {
                    continue;
                }

                if (!forkLiftThread.isIdle()) {
                    News.info("{}号提升机，忙碌中", liftNo);
                    continue;
                }

                boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
                if (!stepIn) {
                    continue;
@@ -688,7 +641,18 @@
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
            Integer liftNo = wrkMast.getLiftNo();
            if (liftNo == null) {
                //未分配提升机
                Integer staNo = wrkMast.getSourceStaNo();
                liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
                if(liftNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
                return false;
            }
@@ -754,11 +718,12 @@
            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
            assignCommand.setLiftNo(liftNo.shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中  1.生成入库任务 ==> 3.提升机搬运中
            wrkMast.setLiftNo(liftNo);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
@@ -779,15 +744,6 @@
        //--------------------------------------提升机出库-----------------------------------------//
        //103.小车搬运完成 ==> 104.提升机搬运中
        if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if(shuttleProtocol == null) {
                return false;
            }

            //获取源站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            if (liftSta == null) {
@@ -795,20 +751,38 @@
                return false;//找不到站点
            }

            if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
                //小车还在输送站点
                //获取小车待机位
                String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
                if(standbyLocNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
            if(wrkMast.getShuttleNo() != null) {
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                if (shuttleThread == null) {
                    return false;
                }
                //调度小车去待机位
                boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
                if (!dispatchShuttle) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo());
                ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                if(shuttleProtocol == null) {
                    return false;
                }

                if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
                    //小车还在输送站点
                    //获取小车待机位
                    String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
                    if (standbyLocNo == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo());
                        return false;
                    }
                    //调度小车去待机位
                    boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo());
                    if (!dispatchShuttle) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo());
                        return false;
                    }
                } else {
                    //小车已不在输送站点位置，释放小车
                    wrkMast.setShuttleNo(null);//释放小车
                    wrkMast.setModiTime(new Date());
                    wrkMastService.updateById(wrkMast);
                    return false;
                }
                return false;
            }

            if (liftSta.getHasCar()) {
@@ -821,7 +795,18 @@
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
            Integer liftNo = wrkMast.getLiftNo();
            if (liftNo == null) {
                //未分配提升机
                Integer staNo = wrkMast.getStaNo();
                liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
                if(liftNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
                return false;
            }
@@ -864,11 +849,12 @@
            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
            assignCommand.setLiftNo(liftNo.shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中  103.生成入库任务 ==> 104.提升机搬运中
            wrkMast.setLiftNo(liftNo);
            wrkMast.setShuttleNo(null);//释放小车
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(new Date());
@@ -911,12 +897,12 @@
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                            wrkMast.setLiftNo(null);//释放提升机
                            forkLiftThread.setSyncTaskNo(0);
                            redisUtil.set(RedisKeyType.FORK_LIFT_PUT_COMPLETE.key + forkLiftProtocol.getLiftNo(), wrkMast.getWmsWrkNo(), 60 * 3);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
                            //306.提升机搬运中 ==> 307.提升机搬运完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
                            forkLiftThread.setSyncTaskNo(0);
                        }

                        wrkMast.setModiTime(new Date());
                        if (wrkMastService.updateById(wrkMast)) {
                            forkLiftThread.reset();
@@ -1389,6 +1375,15 @@
                return false;
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            //调度小车去待机位
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
            if (!dispatched) {
@@ -1481,6 +1476,32 @@
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
            if (liftSta == null) {
                return false;//找不到站点
            }

            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo());
                return false;
            }

            if (liftSta.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在小车", wrkMast.getWrkNo());
                return false;
            }

            //获取目标输送站
            ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            if (liftStaTarget == null) {
                return false;//找不到站点
            }

            if (liftStaTarget.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
                return false;
            }

            if (liftStaTarget.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
                return false;
            }

            if (wrkMast.getLiftNo() == null) {
@@ -1746,6 +1767,15 @@
                return false;//路径计算失败
            }

//            //检测障碍物车
//            boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
//                add(shuttleProtocol.getShuttleNo());
//            }});
//            if (checkObstacle) {
//                News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo());
//                return false;
//            }

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中  309.小车迁出提升机完成 ==> 310.小车移动中
@@ -1774,9 +1804,19 @@
                continue;
            }

            List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo);
            if (liftAllStaNo.isEmpty()) {
                continue;
            }

            List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo);
            if (conveyorBindLiftAllStaNo.isEmpty()) {
                continue;
            }

            //获取入库任务
            List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("lift_no", liftNo)
                    .in("sta_no", liftAllStaNo)
                    .in("wrk_sts"
                            , WrkStsType.NEW_INBOUND.sts
                            , WrkStsType.INBOUND_DEVICE_RUN.sts
@@ -1788,7 +1828,7 @@

            //获取出库任务
            List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("lift_no", liftNo)
                    .eq("sta_no", conveyorBindLiftAllStaNo)
                    .in("wrk_sts"
                            , WrkStsType.NEW_OUTBOUND.sts
                            , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts