#

Junjie

2025-02-10 5bf2b51ec743cd422a0eb3277b9c93a08c700315

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

@@ -839,32 +839,51 @@
                    //将任务档标记为完成
                    WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
                    if (wrkMast != null) {
                        switch (wrkMast.getWrkSts().intValue()) {
//                            case 5://5.小车搬运中 ==> 9.入库完成
//                                wrkMast.setWrkSts(9L);
//                                shuttleProtocol.setTaskNo(0);
//                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
//                                    //释放小车令牌
//                                    shuttleProtocol.setToken(0);
//                                }
//                                break;
//                            case 22://22.小车搬运中 ==> 23.小车搬运完成
//                                wrkMast.setWrkSts(23L);
//                                shuttleProtocol.setTaskNo(0);
//                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
//                                    //释放小车令牌
//                                    shuttleProtocol.setToken(0);
//                                }
//                                break;
                            case 302://302.小车移动至站点 ==> 303.小车移动至站点完成
                                wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
                                break;
                            case 110://310.小车移动中 ==> 311.小车移动完成
                                wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
                                shuttleThread.setTaskNo(0);
                                break;
                            default:
                        if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) {
                            //302.小车移动至站点 ==> 303.小车移动至站点完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
                            //308.小车迁出提升机中 ==> 309.小车迁出提升机完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
                            //310.小车移动中 ==> 311.小车移动完成
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
                            //204.小车充电中 ==> 205.小车充电完成
                            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        }else {
                            continue;
                        }
//                        switch (wrkMast.getWrkSts().intValue()) {
////                            case 5://5.小车搬运中 ==> 9.入库完成
////                                wrkMast.setWrkSts(9L);
////                                shuttleProtocol.setTaskNo(0);
////                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
////                                    //释放小车令牌
////                                    shuttleProtocol.setToken(0);
////                                }
////                                break;
////                            case 22://22.小车搬运中 ==> 23.小车搬运完成
////                                wrkMast.setWrkSts(23L);
////                                shuttleProtocol.setTaskNo(0);
////                                if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
////                                    //释放小车令牌
////                                    shuttleProtocol.setToken(0);
////                                }
////                                break;
//                            case 302:
//                                wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts);
//                                break;
//                            case WrkStsType.MOVE_SHUTTLE.sts:
//                                wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
//                                shuttleThread.setSyncTaskNo(0);
//                                break;
//                            default:
//                        }

                        if (wrkMastService.updateById(wrkMast)) {
                            //设置四向穿梭车为空闲状态
@@ -1263,8 +1282,7 @@
//                                break;
                            case 306://306.提升机搬运中 ==> 307.提升机搬运完成
                                wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
                                //货叉提升机需要跳过迁出提升机流程
                                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                                forkLiftThread.setSyncTaskNo(0);
                                break;
                            default:
                        }
@@ -1833,7 +1851,7 @@
     */
    public synchronized void executeShuttleCharge() {
        try {
            //查询小车移库任务
            //查询小车充电任务
            for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
                WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
                if(wrkMast == null) {
@@ -2001,12 +2019,6 @@
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
            assignCommand.setCommands(commands);//运行命令

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
            wrkMast.setModiTime(new Date());
            if (!wrkMastService.updateById(wrkMast)) {
                return false;
            }

            //下发任务
            shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
            return false;
@@ -2026,22 +2038,22 @@
                return false;
            }

            ShuttleChargeType chargeType = ShuttleChargeType.get(wrkMast.getMk());
            ShuttleChargeType chargeType = ShuttleChargeType.get(Integer.parseInt(wrkMast.getMk()));
            if(chargeType == null) {
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
            wrkMast.setModiTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                //调度小车去待机位
                boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
                if (!dispatched) {
                    return false;
                }
            //调度小车去待机位
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
            if (!dispatched) {
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
            wrkMast.setModiTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                return false;
            }
            return false;
        }
        return true;
@@ -2062,6 +2074,11 @@

                boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中
                if (!stepLiftMove) {
                    continue;
                }

                boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标
                if (!updateShuttleLocation) {
                    continue;
                }

@@ -2099,7 +2116,7 @@

            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
                News.info("{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -2123,24 +2140,9 @@
            //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(liftSta.getLiftNo());
            if (liftWrkMast != null) {
                News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo());
                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(), liftSta.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setAuto(true);//自动模式

            //获取小车到输送站点行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            if (commands == null) {
                News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败
            }

            assignCommand.setCommands(commands);

            //*************尝试锁定目标站路径***************
            List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
@@ -2160,9 +2162,28 @@
            }
            //*************尝试锁定目标站路径***************

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setAuto(true);//自动模式

            //获取小车到输送站点行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());

                //所使用的路径进行锁定禁用
                navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false);
                return false;//路径解锁失败
            }

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至站点
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
//            shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
@@ -2194,14 +2215,14 @@
                return false;
            }
            if (!forkLiftThread.isIdle()) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                return false;
            }
            //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.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                    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());
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            }
@@ -2211,10 +2232,14 @@
            //获取目标站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            if (sourceLiftSta == null || liftSta == null) {
                News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
                return false;//缺少站点信息
            }

            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘，禁止派发", wrkMast.getWrkNo());
                return false;//有托盘跳过
            }

            //获取提升机命令
            List<ForkLiftCommand> liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
@@ -2229,10 +2254,65 @@
            assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中  303.小车移动至站点完成 ==> 306.提升机搬运中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
            }
        }
        return true;
    }

    /**
     * 小车迁移-提升机搬运完成更新小车坐标
     * 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
     */
    private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
        //--------------------------------------提升机搬运中-----------------------------------------//
        Date now = new Date();

        //提升机搬运中  307.提升机搬运完成 ==> 308.小车迁出提升机中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                return false;
            }

            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setAuto(true);//自动模式
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位
            assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

            //更新小车坐标
            ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
            ArrayList<ShuttleCommand> commands = new ArrayList<>();
            commands.add(command);

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);

            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
            }
        }
        return true;
@@ -2262,7 +2342,7 @@

            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
                News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

@@ -2286,51 +2366,33 @@
            List<ShuttleCommand> commands = null;
            //跨楼层移动任务
            if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
//                //需要将前两个节点作为白名单节点传入
//                //获取目标站
//                LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
//                if (liftSta == null) {
//                    return false;//找不到站点
//                }
//
//                List<NavigateNode> targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo());
//                if (targetNodes == null) {
//                    return false;//未获取到节点
//                }
//
//                //设置计算节点的白名单
//                ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
//                for (NavigateNode node : targetNodes) {
//                    whiteList.add(new int[]{node.getX(), node.getY()});
//                }
//                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread, whiteList);
                //需要将前两个节点作为白名单节点传入
                List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
                if (targetNodes == null) {
                    return false;//未获取到节点
                }

                //设置计算节点的白名单
                ArrayList<int[]> whiteList = new ArrayList<>();//设置计算节点的白名单
                for (NavigateNode node : targetNodes) {
                    whiteList.add(new int[]{node.getX(), node.getY()});
                }
                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread);
            }else {
                //获取小车到目标库位命令
                commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
            }

            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径计算失败
            }

            assignCommand.setCommands(commands);

//            if (wrkMast.getLiftNo() != null) {
//                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
//                if (liftThread == null) {
//                    return false;
//                }
//                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
//                if (liftProtocol == null) {
//                    return false;
//                }
//                if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo())) {
//                    liftProtocol.setToken(0);//释放提升机令牌
//                }
//            }

            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
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);

            if (wrkMastService.updateById(wrkMast)) {