#

Junjie

2025-03-14 84f45fcd6c1221b19bcd2a03bf306f74a223c8c7

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

@@ -26,7 +26,6 @@
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;

import java.util.*;
@@ -39,8 +38,6 @@
@Service("mainService")
public class MainServiceImpl {

    @Value("${wms.url}")
    private String wmsUrl;
    @Autowired
    private SlaveProperties slaveProperties;
    @Autowired
@@ -77,36 +74,35 @@
    private ForkLiftAction forkLiftAction;
    @Autowired
    private NotifyUtils notifyUtils;
    @Autowired
    private BasShuttleChargeService basShuttleChargeService;

    /**
     * 初始化实时地图
     */
    public synchronized void initRealtimeBasMap() {
        try {
            for (int i = 1; i <= 4; i++) {//总共四层楼
                Object data = redisUtil.get(RedisKeyType.MAP.key + i);
                if (data == null) {//redis地图数据为空，从数据库中获取
                    BasMap basMap = basMapService.selectLatestMap(i);
                    if (basMap == null) {
                        //数据库中也不存在地图数据，从地图文件中获取
                        //载入地图
                        List<List<MapNode>> lists = navigateMapData.getJsonData(i, -1, null, null);//获取完整地图(包括入库出库)

                        //存入数据库
                        basMap = new BasMap();
                        basMap.setData(JSON.toJSONString(lists));
                        basMap.setCreateTime(new Date());
                        basMap.setUpdateTime(new Date());
                        basMap.setLev(i);
            List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
            for (BasMap basMap : basMaps) {
                Integer lev = basMap.getLev();
                Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
                if (data == null) {//redis地图数据为空
                    //载入地图
                    List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库)

                        if (!basMapService.insert(basMap)) {
                            log.info("地图数据存储失败");
                        }
                    //存入数据库
                    basMap.setData(JSON.toJSONString(lists));
                    basMap.setCreateTime(new Date());
                    basMap.setUpdateTime(new Date());
                    if (!basMapService.updateById(basMap)) {
                        log.info("地图数据存储失败");
                    }

                    //将数据库地图数据存入redis
                    redisUtil.set(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap));
                    redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap));
                }

            }
        } catch (Exception e) {
            e.printStackTrace();
@@ -1088,6 +1084,12 @@
     */
    public synchronized void loopShuttleCharge() {
        try {

            List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
            if (charges.isEmpty()) {
                return;//无充电桩
            }

            for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
                //获取四向穿梭车线程
                ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
@@ -1108,17 +1110,17 @@

                //小车所在楼层
                int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
                ShuttleChargeType shuttleCharge = null;
                BasShuttleCharge shuttleCharge = null;

                //搜索小车所在楼层有没有充电桩
                for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                    if (lev != Utils.getLev(chargeType.locNo)) {
                for (BasShuttleCharge charge : charges) {
                    if (lev != Utils.getLev(charge.getLocNo())) {
                        continue;//小车和充电桩不在同一层
                    }

                    //小车和充电桩在同一层
                    if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
                        shuttleCharge = chargeType;
                    if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
                        shuttleCharge = charge;
                        break;
                    }
                }
@@ -1126,17 +1128,17 @@
                if (shuttleCharge == null) {
                    //同楼层没有找到充电桩，找可用充电桩
                    //小车同楼层没有充电桩，只要充电桩可用就生成充电任务
                    for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
                        if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) {
                    for (BasShuttleCharge charge : charges) {
                        if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
                            //判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩
                            int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层
                            int chargeLev = Utils.getLev(charge.getLocNo());//充电桩楼层
                            boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车
                            if (checkLevHasShuttle) {
                                //当前充电桩楼层有穿梭车，不分配该充电桩
                                continue;
                            }

                            shuttleCharge = chargeType;
                            shuttleCharge = charge;
                            break;
                        }
                    }
@@ -1146,9 +1148,9 @@
                    continue;
                }

                String chargeLocNo = shuttleCharge.locNo;
                String chargeLocNo = shuttleCharge.getLocNo();
                wrkMast = new WrkMast();
                wrkMast.setMk(String.valueOf(shuttleCharge.id));
                wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
                wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
                wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
                wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电
@@ -1363,13 +1365,13 @@
                return false;
            }

            ShuttleChargeType chargeType = ShuttleChargeType.get(Integer.parseInt(wrkMast.getMk()));
            if(chargeType == null) {
            BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
            if(basShuttleCharge == null) {
                return false;
            }

            //调度小车去待机位
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo());
            boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
            if (!dispatched) {
                return false;
            }