#

Junjie

2026-01-14 664d9030efca22edd8e43b4db4b2c0700fff44af

 src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java

@@ -30,6 +30,7 @@
import org.springframework.stereotype.Component;

import java.util.Date;
import java.util.HashMap;
import java.util.List;
import java.util.Map;

@@ -49,8 +50,20 @@
    @Autowired
    private CommonService commonService;

    //入出库  ===>>  堆垛机入出库作业下发
    public synchronized void crnIoExecute() {
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
            if (systemConfigMap.get("crnRunMethod").equals("solver")) {
                plannerExecute();
            }else {
                crnIoExecuteNormal();
            }
        }
    }

    //入出库  ===>>  堆垛机入出库作业下发
    public synchronized void crnIoExecuteNormal() {
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
@@ -162,7 +175,6 @@
            }

            if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
                News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务状态异常", stationProtocol.getTaskNo());
                continue;
            }

@@ -290,6 +302,182 @@
        }
    }

    private synchronized boolean crnExecuteInPlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
        CrnProtocol crnProtocol = crnThread.getStatus();
        if (crnProtocol == null) {
            return false;
        }

        if (!basCrnp.getInEnable().equals("Y")) {
            News.info("堆垛机:{} 可入信号不满足", basCrnp.getCrnNo());
            return false;
        }

        List<StationObjModel> inStationList = basCrnp.getInStationList$();
        if (inStationList.isEmpty()) {
            News.info("堆垛机:{} 入库站点未设置", basCrnp.getCrnNo());
            return false;
        }

        Integer crnNo = basCrnp.getCrnNo();

        for (StationObjModel stationObjModel : inStationList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
            StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
            if (stationProtocol == null) {
                continue;
            }

            if (!stationProtocol.isAutoing()) {
                continue;
            }

            if (!stationProtocol.isLoading()) {
                continue;
            }

            if (stationProtocol.getTaskNo() <= 0) {
                continue;
            }

            if (!stationProtocol.isInEnable()) {
                News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
                continue;
            }

            if (!wrkMast.getWrkNo().equals(stationProtocol.getTaskNo())) {
                continue;
            }

            if (wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts) {
                continue;
            }

            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 信息不存在", wrkMast.getLocNo());
                continue;
            }

            if (!locMast.getLocSts().equals("S")) {
                News.taskInfo(wrkMast.getWrkNo(), "目标库位:{} 状态异常", wrkMast.getLocNo());
                continue;
            }

            //检测浅库位状态
            boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
            if (!checkStatus) {
                News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
                continue;
            }

            String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());

            CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);

            wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
            wrkMast.setCrnNo(crnNo);
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
                return true;
            }
        }
        return false;
    }

    private synchronized boolean crnExecuteOutPlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
        CrnProtocol crnProtocol = crnThread.getStatus();
        if (crnProtocol == null) {
            return false;
        }

        if (!basCrnp.getOutEnable().equals("Y")) {
            News.info("堆垛机:{} 可出信号不满足", basCrnp.getCrnNo());
            return false;
        }

        List<StationObjModel> outStationList = basCrnp.getOutStationList$();
        if (outStationList.isEmpty()) {
            News.info("堆垛机:{} 出库站点未设置", basCrnp.getCrnNo());
            return false;
        }

        Integer crnNo = basCrnp.getCrnNo();

        for (StationObjModel stationObjModel : outStationList) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
            if (stationThread == null) {
                continue;
            }

            Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
            StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
            if (stationProtocol == null) {
                continue;
            }

            if (!stationProtocol.isAutoing()) {
                continue;
            }

            if (stationProtocol.isLoading()) {
                continue;
            }

            if (stationProtocol.getTaskNo() != 0) {
                continue;
            }

            if (!stationProtocol.isOutEnable()) {
                News.info("放货站点:{} 没有可出信号", stationObjModel.getStationId());
                continue;
            }

            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
            if (locMast == null) {
                News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
                continue;
            }

            if (!locMast.getLocSts().equals("R")) {
                News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常", wrkMast.getSourceLocNo());
                continue;
            }

            //检测浅库位状态
            boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
            if (!checkStatus) {
                News.taskInfo(wrkMast.getWrkNo(), "因浅库位堵塞无法执行");
                continue;
            }

            String targetLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());

            CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), targetLocNo, wrkMast.getWrkNo(), crnNo);

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
            wrkMast.setCrnNo(crnNo);
            wrkMast.setSystemMsg("");
            wrkMast.setIoTime(new Date());
            if (wrkMastService.updateById(wrkMast)) {
                MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
                News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
                return true;
            }
        }
        return false;
    }

    private synchronized void crnExecuteLocTransfer(BasCrnp basCrnp, CrnThread crnThread) {
        CrnProtocol crnProtocol = crnThread.getStatus();
        if(crnProtocol == null){
@@ -398,8 +586,166 @@
        }
    }

    public synchronized void plannerExecute() {
        int nowSec = (int) (System.currentTimeMillis() / 1000);
        List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
        for (BasCrnp basCrnp : basCrnps) {
            String key = RedisKeyType.PLANNER_SCHEDULE.key + "CRN-" + basCrnp.getCrnNo();
            List<Object> items = redisUtil.lGet(key, 0, -1);
            if (items == null || items.isEmpty()) {
                continue;
            }

            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }
            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }
            List<WrkMast> running = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("crn_no", basCrnp.getCrnNo())
                    .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts)
            );
            if (!running.isEmpty()) {
                continue;
            }
            if (!(crnProtocol.getMode() == CrnModeType.AUTO.id
                    && crnProtocol.getTaskNo() == 0
                    && crnProtocol.getStatus() == CrnStatusType.IDLE.id
                    && crnProtocol.getLoaded() == 0
                    && crnProtocol.getForkPos() == 0
                    && crnProtocol.getAlarm() == 0)) {
                continue;
            }

            for (Object v : items) {
                String s = String.valueOf(v);
                JSONObject obj = null;
                try { obj = JSON.parseObject(s); } catch (Exception ignore) {}
                if (obj == null) {
                    continue;
                }
                Integer startEpochSec = obj.getInteger("startEpochSec");
                Integer endEpochSec = obj.getInteger("endEpochSec");
                Integer taskId = obj.getInteger("taskId");
                String taskType = obj.getString("taskType");
                if (startEpochSec == null || taskId == null || taskType == null) {
                    continue;
                }
                int earlySlackSec = 5;
                int lateSlackSec = 10;
                Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
                if (systemConfigMapObj != null) {
                    try {
                        HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
                        String es = systemConfigMap.getOrDefault("plannerEarlySlackSec", "60");
                        String ls = systemConfigMap.getOrDefault("plannerLateSlackSec", "10");
                        earlySlackSec = Integer.parseInt(es);
                        lateSlackSec = Integer.parseInt(ls);
                    } catch (Exception ignore) {}
                }
                if (nowSec < startEpochSec - earlySlackSec) {
                    continue;
                }
                if (endEpochSec != null && nowSec > endEpochSec + lateSlackSec) {
                    redisUtil.lRemove(key, 1, s);
                    continue;
                }

                WrkMast wrkMast = wrkMastService.selectByWorkNo(taskId);
                if (wrkMast == null) {
                    redisUtil.lRemove(key, 1, s);
                    continue;
                }

                if ("IN".equalsIgnoreCase(taskType)) {
                    boolean result = this.crnExecuteInPlanner(basCrnp, crnThread, wrkMast);//入库
                    if (result) {
                        redisUtil.lRemove(key, 1, s);
                        break;
                    }
                } else if ("OUT".equalsIgnoreCase(taskType)) {
                    boolean result = this.crnExecuteOutPlanner(basCrnp, crnThread, wrkMast);//出库
                    if (result) {
                        redisUtil.lRemove(key, 1, s);
                        break;
                    }
                } else if ("MOVE".equalsIgnoreCase(taskType)) {
                    boolean result = this.crnExecuteMovePlanner(basCrnp, crnThread, wrkMast);//移库
                    if (result) {
                        redisUtil.lRemove(key, 1, s);
                        break;
                    }
                }
            }
        }
    }

    private synchronized boolean crnExecuteMovePlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
        CrnProtocol crnProtocol = crnThread.getStatus();
        if (crnProtocol == null) {
            return false;
        }

        Integer crnNo = basCrnp.getCrnNo();

        if (!wrkMast.getWrkSts().equals(WrkStsType.NEW_LOC_MOVE.sts)) {
            return false;
        }

        // 获取源库位信息
        LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
        if (sourceLocMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 信息不存在", wrkMast.getSourceLocNo());
            return false;
        }

        if(!sourceLocMast.getLocSts().equals("R")){
            News.taskInfo(wrkMast.getWrkNo(), "源库位:{} 状态异常，不属于出库预约状态", wrkMast.getSourceLocNo());
            return false;
        }

        // 获取库位信息
        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
        if (locMast == null) {
            News.taskInfo(wrkMast.getWrkNo(), "库位:{} 信息不存在", wrkMast.getLocNo());
            return false;
        }

        if (!locMast.getLocSts().equals("S")) {
            News.taskInfo(wrkMast.getWrkNo(), "库位:{} 状态异常，不属于入库预约状态", wrkMast.getLocNo());
            return false;
        }

        CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);

        wrkMast.setWrkSts(WrkStsType.LOC_MOVE_RUN.sts);
        wrkMast.setCrnNo(crnNo);
        wrkMast.setSystemMsg("");
        wrkMast.setIoTime(new Date());
        if (wrkMastService.updateById(wrkMast)) {
            MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
            News.info("堆垛机命令下发成功，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(command));
            return true;
        }
        return false;
    }

    //检测浅库位状态
    public synchronized boolean checkShallowLocStatus(String locNo, Integer taskNo) {
        String checkDeepLocOutTaskBlockReport = "Y";
        Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
        if (systemConfigMapObj != null) {
            HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
            checkDeepLocOutTaskBlockReport = systemConfigMap.get("checkDeepLocOutTaskBlockReport");
        }

        if (!checkDeepLocOutTaskBlockReport.equals("Y")) {
            return true;
        }

        Object lock = redisUtil.get(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo);
        if (lock != null) {
            return false;