充电任务，出入库bug

Junjie

2023-06-26 5589dd50d57175ca231827be7bb2a9fb18875c7f

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

@@ -1079,7 +1079,7 @@
                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                            String disLocNo = "2000202" + Utils.getLev(liftSiteLocNo);//避让位置
                            String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
                            LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                            if (locMast1 == null) {
                                continue;//找不到库位
@@ -1155,22 +1155,11 @@
                        assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
                        assignCommand.setSourceLocNo(liftSiteLocNo);

                        List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
                        if (commands == null) {
                            continue;//未找到路径
                        }
                        //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
                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
                        //获取移动命令
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //获取当前小车所在楼层的站点信息
                        BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                        Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

                        String disLocNo = "2000202" + Utils.getLev(liftSiteLocNo);//避让位置
                        String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//避让位置
                        LocMast locMast1 = locMastService.queryByLoc(disLocNo);
                        if (locMast1 == null) {
                            continue;//找不到库位
@@ -1178,8 +1167,19 @@
                        short disCode = Short.parseShort(locMast1.getQrCodeValue());
                        //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                        ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
                        commands.add(moveCommand2);

                        List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
                        if (commands == null) {
                            continue;//未找到路径
                        }
                        commands.add(moveCommand2);//任务执行完后，小车进入移开提升机口站点位置，以免坠落

                        //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
                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
                        //获取移动命令
                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位
                        shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
@@ -1336,6 +1336,9 @@
                    && shuttleProtocol.getTaskNo() != 0
                    && shuttleProtocol.getBusyStatus() == 0
            ) {
                //标记复位
                shuttleProtocol.setPakMk(true);

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
@@ -1364,8 +1367,6 @@
                        shuttleProtocol.setSourceLocNo(null);
                        //目标库位清零
                        shuttleProtocol.setLocNo(null);
                        //标记复位
                        shuttleProtocol.setPakMk(true);
                        //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());
@@ -2470,7 +2471,7 @@
                continue;
            }

            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue(), WrkChargeType.charge);
            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
            if (wrkCharge != null) {//已有充电任务
                continue;
            }
@@ -2512,7 +2513,7 @@
     */
    public synchronized void executeShuttleCharge() {
        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
            WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
            if (wrkCharge == null) {
                continue;
            }
@@ -2735,8 +2736,12 @@
                    assignCommand.setCommands(commands);

                    shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);

                    wrkCharge.setWrkSts(60L);//60.充电任务完成
                    if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                    //下发任务
                    MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                    }
                }

                if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
@@ -2745,222 +2750,6 @@
            }
        }

    }

    /**
     * 轮询充电桩是否有空闲小车
     */
    @Deprecated
    public synchronized void queryChargeLocOfComplete() {
        // 与充电任务不同步进行
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
        if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        // 检索充电桩
        for (SteChargeType value : SteChargeType.values()) {
            Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
            if (steNo != null) {
                SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                SteProtocol steProtocol = steThread.getSteProtocol();
                BasSte basSte = basSteService.selectById(steNo);
                if (Cools.isEmpty(steProtocol, basSte)) {
                    continue;
                }
                if (steProtocol.getCharge() < 99) {
                    continue;
                }
                if (steProtocol.getMode() == 0) {
                    continue;
                }
                if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
                    continue;
                }
//                // 1号充电桩
//                if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
//                    continue;
//                }
//                // 2号充电桩
//                if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
//                    continue;
//                }
//                // 3号充电桩
//                if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
//                    continue;
//                }
//                // 小车是否处于充电状态
//                if (steProtocol.getChargeStatus() == 1) {
//                    continue;
//                }
                // case 1 : 自动充电开   馈电      ×
                // case 2 : 自动充电开   满电      ✔
                // case 3 : 自动充电关   馈电      ✔
                // case 4 : 自动充电关   满电      ✔
                if (basSte.getAutoCharge().equals("Y")
                        && steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
                    continue;
                }

                WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);

                if (wrkCharge == null) {
                    // 开始穿梭车复位任务
                    wrkCharge = new WrkCharge();
                    wrkCharge.setSteNo(steNo);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
                    wrkCharge.setWrkSts(41L);   // 41.小车准备复位
                    wrkCharge.setCrnNo(2);  // 固定2号堆垛机
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setSourceLocNo(value.locNo);
                    wrkCharge.setLocNo(basSte.getIdleLoc());
                    wrkCharge.setMemo("reset");
                    wrkCharge.setAppeTime(new Date());
                    if (!wrkChargeService.insert(wrkCharge)) {
                        News.error("保存{}号穿梭车复位任务失败!!!", steNo);
                    } else {
                        break;
                    }
                }
            }
        }
    }

    /**
     * 小车从充电桩 至 待机库位
     */
    @Deprecated
    public synchronized void steFromChargeToIdleLoc() {
        WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
        if (wrkCharge == null) { return; }
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
        if (Cools.isEmpty(steProtocol, basSte)) {
            return;
        }
        // 搬运至固定通道
        if (wrkCharge.getWrkSts() == 41L) {
            // 搬小车至小车走向通道
            List<String> channel = slaveProperties.getChannel();
            for (String channelLocNo : channel) {
                Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                if (null != otherSte) {
                    News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                } else {
                    // 固定堆垛机
                    int crnNo = 1;
                    if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
                        return;
                    }

                    LocMast channelLoc = locMastService.selectById(channelLocNo);

                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                    if (crnProtocol == null) { continue; }
                    // 只有当堆垛机空闲 并且 无任务时才继续执行
                    if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                        // 堆垛机命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(crnNo); // 堆垛机编号
                        crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                        crnCommand.setSourcePosX(steProtocol.getRow());     // 源库位排
                        crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                        crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                        crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改穿梭车运行中排列层
                            steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
                            // 修改工作档状态 41.小车准备复位 => 42.吊车搬运
                            Date now = new Date();
                            wrkCharge.setWrkSts(42L);
                            wrkCharge.setCrnStrTime(now);
                            wrkCharge.setModiTime(now);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                            }
                        }
                        break;
                    }

                }
            }
        } else if (wrkCharge.getWrkSts() == 43L) {
            // 小车行驶通道
            if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN);  // 去左端

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());
                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 43.小车到达 ===> 44.小车走行
                    wrkCharge.setWrkSts(44L);
                    Date now = new Date();
                    wrkCharge.setCrnEndTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                    }
                }
            }
        } else if (wrkCharge.getWrkSts() == 45L) {
            if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
                return;
            }

            LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

            Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
            if (null != otherSte) {
                News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
            } else {
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) { return; }
                // 只有当堆垛机空闲 并且 无任务时才继续执行
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
                        // 修改工作档状态 45.小车待搬 => 46.放至待机位
                        Date now = new Date();
                        wrkCharge.setWrkSts(46L);
                        wrkCharge.setCrnStrTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            News.error("修改工作档状态 45.小车待搬 => 46.放至待机位 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }

            }
        }
    }

    public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";