1

zhangc

2025-04-11 7aceb7f1be45ad110ff57cb89faecafe1754f205

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

@@ -5,7 +5,6 @@
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.LiftUtils;
@@ -137,7 +136,7 @@

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_1.sts);//小车移动到输送线  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_1.sts);//小车移动到输送线  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
@@ -150,7 +149,7 @@
                return false;
            }

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_1.sts);//小车移动到输送线  301.生成小车移库任务 ==> 呼叫小车至取货点
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_1.sts);//小车移动到输送线  301.生成小车移库任务 ==> 呼叫小车至取货点
            wrkMast.setModiTime(now);
            wrkMast.setSystemMsg("");//清空消息
            wrkMastService.updateById(wrkMast);
@@ -170,7 +169,7 @@
        Date now = new Date();

        //小车移动至站点  301.生成小车移库任务 ==> 302.小车移动至站点中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_2.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_2.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -223,9 +222,16 @@
                commands.addAll(moveCommands);
            }

            List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            if (liftCommand == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            commands.addAll(0, liftCommand);

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_3.sts);//小车移动到待机点
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_3.sts);//小车移动到待机点
            wrkMast.setModiTime(now);
            wrkMast.setSystemMsg("");//清空消息
            if (wrkMastService.updateById(wrkMast)) {
@@ -250,7 +256,7 @@
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_4.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_4.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -335,7 +341,7 @@
            //判断提升机楼层
            if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                //提升机在小车楼层
                wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_6.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层完成
                wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层完成
                wrkMast.setModiTime(now);
                wrkMastService.updateById(wrkMast);
                return false;
@@ -359,7 +365,7 @@
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_5.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_5.sts);//小车移动到提升机中  小车移动至站点完成 ==> 提升机至小车层
            wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
@@ -386,7 +392,7 @@
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  提升机至小车层完成 ==> 小车迁入提升机中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_6.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_6.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -471,7 +477,7 @@

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_7.sts);//小车移动到提升机中  提升机至小车层完成 ==> 小车迁入提升机中
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_7.sts);//小车移动到提升机中  提升机至小车层完成 ==> 小车迁入提升机中
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
@@ -496,7 +502,7 @@
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  小车迁入提升机完成 ==> 提升机至放货层
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_8.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_8.sts) {
            if (wrkMast.getLiftNo() == null) {
                News.info("{}任务未绑定提升机", wrkMast.getWrkNo());
                return false;
@@ -559,7 +565,7 @@
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_9.sts);//小车移动到提升机中  小车迁入提升机完成 ==> 提升机至放货层
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_9.sts);//小车移动到提升机中  小车迁入提升机完成 ==> 提升机至放货层
            wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
@@ -586,7 +592,7 @@
        //--------------------------------------小车迁入提升机-----------------------------------------//
        Date now = new Date();
        //小车移动到提升机中  提升机至放货层完成 ==> 小车迁出提升机中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_10.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_10.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -691,15 +697,10 @@
                return false;
            }

            List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            if (liftCommand == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            commands.addAll(0, liftCommand);

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_11.sts);//小车移动到提升机中  提升机至放货层完成 ==> 小车迁出提升机中
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_11.sts);//小车移动到提升机中  提升机至放货层完成 ==> 小车迁出提升机中
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
@@ -725,7 +726,7 @@
        Date now = new Date();

        //小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_12.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_12.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -769,7 +770,7 @@

            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_13.sts);//小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_13.sts);//小车移动到目标库位中  小车迁出提升机完成 ==> 小车放货中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
@@ -792,35 +793,8 @@
        Date now = new Date();

        //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
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_2.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {

            List<NavigateNode> targetNodes = null;
            if (wrkMast.getLiftNo() != null) {
                //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());
                        return false;//当前提升机存在未完成任务，等待下一次轮询
                    }
                }

                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
                if (liftThread == null) {
                    News.info("{}任务，{}号提升机，提升机线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                    return false;
                }

                //小车目标就是提升机位置，直接认定小车移动任务完成
                if (liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo())).equals(wrkMast.getLocNo())) {
                    wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
                    wrkMast.setLiftNo(null);//释放提升机
                    wrkMast.setModiTime(now);
                    wrkMastService.updateById(wrkMast);
                    return false;
                }

            }

            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
@@ -838,14 +812,6 @@
                return false;
            }

            //小车已经在目标库位，直接认定小车移动任务完成
            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
                wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成
                wrkMast.setLiftNo(null);//释放提升机
                wrkMast.setModiTime(now);
                wrkMastService.updateById(wrkMast);
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
@@ -856,7 +822,6 @@
            assignCommand.setLocNo(wrkMast.getLocNo());//目标库位

            List<ShuttleCommand> commands = new ArrayList<>();
            List<ShuttleCommand> liftCommand = null;
            Integer mapType = NavigationMapType.NORMAL.id;

            List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
@@ -867,10 +832,22 @@

            commands.addAll(moveCommands);

            List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            if (liftCommand == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            commands.addAll(0, liftCommand);

            List<ShuttleCommand> liftCommandDown = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
            if (liftCommandDown == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            commands.addAll(liftCommandDown);
            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_13.sts);//小车移动到目标库位中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_13.sts);//小车移动到目标库位中
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);