999

zhangc

2025-04-18 855ae16895a43bf56ecb22436204c18fbe466980

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

@@ -23,6 +23,8 @@
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -65,7 +67,7 @@
     */
    public void shuttleMoveExecute(WrkMast wrkMast) {
        //判断目标库位是否在1层或5层
        if (Utils.getLev(wrkMast.getLocNo()) == 1 || Utils.getLev(wrkMast.getLocNo()) == 5) {
        if (Utils.getLev(wrkMast.getSourceLocNo()) == 1 || Utils.getLev(wrkMast.getSourceLocNo()) == 5) {
            boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle2(wrkMast);//呼叫小车至取货点
            if (!stepMoveSta) {
                return;
@@ -136,9 +138,29 @@
                return false;
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);

            if (!staProtocol2.isOutEnable()) {
                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                return false;
            }

            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车在取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_2.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 呼叫小车至取货点
                wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//小车移动到提升机中  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);
@@ -195,7 +217,7 @@
            //获取穿梭车最近且空闲的提升机
            LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
            if (liftThread == null) {
                News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
                News.info("{}号小车，{}小车库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
                return false;//没有可用且空闲的提升机
            }

@@ -272,54 +294,28 @@

            LiftThread liftThread = null;
            LiftProtocol liftProtocol = null;
            if (wrkMast.getLiftNo() == null) {
                //获取穿梭车最近且空闲的提升机
                liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
                if (liftThread == null) {
                    News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
                    return false;//没有可用且空闲的提升机
                }

                liftProtocol = liftThread.getStatus();
                if (liftProtocol == null) {
                    News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
                    return false;
                }

                //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(liftProtocol.getLiftNo());
                if (liftWrkMast != null) {
                    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(), liftProtocol.getLiftNo());
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            //获取穿梭车最近且空闲的提升机
            liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
            if (liftThread == null) {
                News.info("{}号小车，{}目标库位，没有可用空闲提升机", shuttleProtocol.getShuttleNo(), shuttleProtocol.getCurrentLocNo());
                return false;//没有可用且空闲的提升机
            }

                wrkMast.setModiTime(now);
                wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
            liftProtocol = liftThread.getStatus();
            //判断提升机内是否有小车
            if (liftProtocol.getHasCar()) {
                News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            } else {
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
                if (liftThread == null) {
                    News.info("{}号提升机不存在", wrkMast.getLiftNo());
                    return false;
                }

                liftProtocol = liftThread.getStatus();
                if (liftProtocol == null) {
                    News.info("{}号提升机对象不存在", 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());
                    return false;//当前提升机存在未完成任务，等待下一次轮询
                }
            //判断提升机内是否有托盘
            if (liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;
            }


            if (!liftThread.isIdle()) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
@@ -361,9 +357,17 @@
            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
            assignCommand.setLiftNo((short) 1);
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());


            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(wrkMast.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            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(), wrkMast.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_4.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
@@ -421,12 +425,10 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(wrkMast.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            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
                }
                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
            }

            if (!liftThread.isIdle()) {
@@ -459,6 +461,13 @@
                return false;//等待提升机到小车楼层
            }

            //判断提升机是否有其他任务
            WrkMast w = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (w != null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在别的绑定任务out，禁止派发", wrkMast.getWrkNo(), 1);
                return false;
            }

            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
@@ -476,6 +485,7 @@

            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_6.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);
            wrkMast.setLiftNo(1);
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
@@ -516,12 +526,10 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(wrkMast.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            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
                }
                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
            }

            if (!liftThread.isIdle()) {
@@ -607,12 +615,10 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(wrkMast.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            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
                }
                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());
@@ -648,6 +654,25 @@
            if (!liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//提升机内无小车
            }

            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                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);
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -703,6 +728,26 @@
                return false;
            }

//            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
//                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);
//                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
//                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());
@@ -744,6 +789,14 @@
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
            }
            WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
            if (wrkMast1 != null) {
                wrkMast.setLiftNo(null);//释放提升机
                wrkMast.setModiTime(now);
                if (!wrkMastService.updateById(wrkMast1)) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}解锁提升机", wrkMast1.getWrkNo());
                }
            }
        }
        return true;
    }
@@ -771,6 +824,24 @@
            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);

            if (!staProtocol2.isOutEnable()) {
                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

@@ -826,6 +897,10 @@
                return false;
            }

            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                return false;
            }

            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