#

Junjie

2025-04-12 3be5c88fbc583d17a932ca937d8e293d28b5c974

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

@@ -13,6 +13,7 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -22,11 +23,14 @@
import com.zy.core.model.LiftSlave;
import com.zy.core.model.ShuttleSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.LiftAssignCommand;
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
import com.zy.core.thread.impl.FyDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
@@ -36,6 +40,7 @@
import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Map;

/**
 * 立体仓库WCS系统主流程业务
@@ -87,6 +92,8 @@
    private NoLiftInServiceImpl noLiftInService;
    @Autowired
    private NoLiftOutServiceImpl noLiftOutService;
    @Autowired
    private LiftAction liftAction;


    public static List<Integer> staNosIn = new ArrayList<Integer>() {{
@@ -449,7 +456,7 @@
            }

            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//调度小车到货物所在输送站点进行取货
                boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, liftSta.getLocNo(), null);//调度小车到货物所在输送站点进行取货
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");
                return false;
            }
@@ -628,7 +635,7 @@
                        return false;
                    }
                }
                boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
                return false;
            }
@@ -697,6 +704,390 @@
            }
            return false;
        }
        return true;
    }

    public synchronized void liftInExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts)
                    .in("source_sta_no", 1012, 1022)
            );
            for (WrkMast wrkMast : wrkMasts) {
                boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
                if (!step0) {
                    return;
                }

                boolean step1 = this.liftInExecuteStep1(wrkMast);//提升机搬运
                if (!step1) {
                    return;
                }

                boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务
                if (!step2) {
                    return;
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    private boolean liftInExecuteStep0(WrkMast wrkMast) {
        Date now = new Date();
        if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
                return false;
            }

            Map<Integer, StaProtocol> station = devpThread.getStation();
            StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo());
            if (staProtocol == null) {
                return false;
            }

            if (!staProtocol.isAutoing()) {
                News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            if (!staProtocol.isLoading()) {
                News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
                News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                return false;
            }

            short staNo = 1012;
            if (wrkMast.getSourceStaNo() == 1022) {
                staNo = 1023;
            }

            staProtocol = staProtocol.clone();
            staProtocol.setStaNo(staNo);
            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
            boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));

            wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                return false;
            }
            return false;
        }

        return true;
    }

    private boolean liftInExecuteStep1(WrkMast wrkMast) {
        Date now = new Date();
        if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
            //获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
            if (liftThread == null) {
                return false;
            }

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                return false;
            }

            if (!liftThread.isIdle()) {
                return false;
            }

            //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
            if (liftWrkMast != null) {
                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(), liftProtocol.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //判断提升机内是否有小车
            if (liftProtocol.getHasCar()) {
                News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

            //判断提升机内是否有托盘
            if (liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
                return false;
            }

            Map<Integer, StaProtocol> station = devpThread.getStation();

            Integer sourceStaNo = wrkMast.getSourceStaNo();
            if (wrkMast.getSourceStaNo() == 1022) {
                sourceStaNo = 1023;
            }

            StaProtocol staProtocol = station.get(sourceStaNo);
            if (staProtocol == null) {
                return false;
            }

            if (!staProtocol.isAutoing()) {
                News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            if (!staProtocol.isLoading()) {
                News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
                News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                return false;
            }

            //获取提升机命令
            List<LiftCommand> liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), 101);
            LiftCommand liftCommand = liftCommands.get(0);

            int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
            liftCommand.setTaskNo(deviceWrk);//更换随机任务号

            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);
            wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
                return false;
            }
            return false;
        }

        return true;
    }

    private boolean liftInExecuteStep2(WrkMast wrkMast) {
        Date now = new Date();
        if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
            //获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
            if (liftThread == null) {
                return false;
            }

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                return false;
            }

            if (!liftThread.isIdle()) {
                return false;
            }

            //判断提升机内是否有小车
            if (liftProtocol.getHasCar()) {
                News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

            //判断提升机内是否有托盘
            if (!liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), "0200301", wrkMast.getLocNo(), "TRANSPORT_LIFT");
            if(!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
            wrkMast.setLiftNo(null);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                return false;
            }
            return false;
        }

        return true;
    }

    public synchronized void liftOutExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts)
                    .in("sta_no", 1011, 1021)
            );
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
                if (!step1) {
                    return;
                }

                boolean step2 = this.liftOutExecuteStep2(wrkMast);//提升机搬运
                if (!step2) {
                    return;
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    private boolean liftOutExecuteStep1(WrkMast wrkMast) {
        Date now = new Date();
        if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
                return false;
            }

            Map<Integer, StaProtocol> station = devpThread.getStation();
            StaProtocol staProtocol = station.get(wrkMast.getStaNo());
            if (staProtocol == null) {
                return false;
            }

            if (!staProtocol.isAutoing()) {
                News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            if (!staProtocol.isOutEnable()) {
                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }


            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), "0200301", "TRANSPORT_LIFT");
            if(!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                return false;
            }
            return false;
        }
        return true;
    }

    private boolean liftOutExecuteStep2(WrkMast wrkMast) {
        Date now = new Date();
        if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
            //获取提升机信息
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
            if (liftThread == null) {
                return false;
            }

            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                return false;
            }

            if (!liftThread.isIdle()) {
                return false;
            }

            //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftProtocol.getLiftNo());
            if (liftWrkMast != null) {
                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(), liftProtocol.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //判断提升机内是否有小车
            if (liftProtocol.getHasCar()) {
                News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

            //判断提升机内是否有托盘
            if (!liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }

            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
                return false;
            }

            Map<Integer, StaProtocol> station = devpThread.getStation();
            StaProtocol staProtocol = station.get(wrkMast.getStaNo());
            if (staProtocol == null) {
                return false;
            }

            if (!staProtocol.isAutoing()) {
                News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return false;
            }

            Integer sourceLev = liftThread.getLevToStaNo(Utils.getLev(wrkMast.getSourceLocNo()));

            //获取提升机命令
            List<LiftCommand> liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo());
            LiftCommand liftCommand = liftCommands.get(0);

            int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号
            liftCommand.setTaskNo(deviceWrk);//更换随机任务号

            ArrayList<LiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(liftProtocol.getLiftNo().shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(LiftCommandModeType.PALLET_OUT.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);
            wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
                return false;
            }
            return false;
        }

        return true;
    }

@@ -900,7 +1291,7 @@
        //小车移动至站点  501.生成移库任务 ==> 502.小车取货中
        if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货
                boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货
                News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败");

                if (result) {