#

Junjie

昨天 98e6dd8f3597a36512699151a7f74b6cf733268f

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

@@ -2,6 +2,7 @@

import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.SpringUtils;
import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
@@ -75,6 +76,8 @@
    private DeviceConfigService deviceConfigService;
    @Autowired
    private LiftDispatchUtils liftDispatchUtils;
    @Autowired
    private BasShuttleService basShuttleService;

    /**
     * 初始化实时地图
@@ -99,7 +102,7 @@
                    }

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

            }
@@ -299,12 +302,12 @@
            }

            if (liftSta.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
                return false;
            }

            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
                return false;
            }

@@ -424,7 +427,7 @@
            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中  101.生成出库任务 ==> 102.小车搬运中
            wrkMast.setSourceStaNo(liftSta.getStaNo());
            wrkMast.setSourceStaNo(liftSta.getSiteId());
            wrkMast.setModiTime(new Date());
            wrkMast.setSystemMsg("");//清空消息
            if (wrkMastService.updateById(wrkMast)) {
@@ -501,6 +504,12 @@

            //判断小车是否到达货物库位
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //任务被避障取消
                Object cancelLock = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK_LOCK.key + wrkMast.getShuttleNo());
                if(cancelLock != null) {
                    return false;
                }

                //小车未到达取货位置
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
@@ -766,12 +775,12 @@
            }

            if (liftSta.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
                return false;
            }

            if (!liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getSiteId());
                return false;
            }

@@ -1094,8 +1103,26 @@
                }

                //判断当前小车是否满足需要充电要求
                if (!shuttleThread.isRequireCharge()) {
                    continue;
                if (shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.NONE)) {
                    continue;//无需充电
                }

                boolean forceCharge = true;
                if (shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.SUGGEST_CHARGE)) {
                    BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", device.getDeviceNo()));
                    if (basShuttle != null) {
                        Integer suggestChargeLine = basShuttle.getSuggestChargeLine();
                        boolean chargeSuggestResult = Integer.parseInt(shuttleProtocol.getBatteryPower()) < suggestChargeLine;
                        if (chargeSuggestResult) {
                            //检测系统是否有任务
                            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type", 1, 101, 201));
                            if (wrkMasts.isEmpty()) {
                                forceCharge = false;
                            }else {
                                continue;
                            }
                        }
                    }
                }

                WrkMast wrkMast1 = wrkMastService.selectShuttleWorking(shuttleProtocol.getShuttleNo());
@@ -1171,7 +1198,7 @@
                wrkMast.setIoPri((double) 999);
                wrkMast.setLocNo(chargeLocNo);
                wrkMast.setShuttleNo(device.getDeviceNo());
                wrkMast.setMemo("charge");
                wrkMast.setMemo(forceCharge ? "forceCharge" : "suggestCharge");
                wrkMast.setAppeTime(new Date());
                if (!wrkMastService.insert(wrkMast)) {
                    News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo());
@@ -1321,7 +1348,7 @@
            List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
            assignCommand.setCommands(commands);//运行命令

            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts);
            wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_START_CHARGING.sts);
            wrkMast.setModiTime(new Date());
            if (!wrkMastService.updateById(wrkMast)) {
                return false;
@@ -1338,7 +1365,7 @@

    //小车停止充电
    private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING.sts) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
@@ -1348,7 +1375,16 @@
                return false;
            }

            if (!shuttleThread.isChargingCompleted()) {
            boolean stopCharge = false;
            if (wrkMast.getMemo().equals("suggestChargeTaskStop")) {
                stopCharge = true;
            }else {
                if (shuttleThread.isChargingCompleted()) {
                    stopCharge = true;
                }
            }

            if (!stopCharge) {
                return false;
            }

@@ -1371,7 +1407,7 @@

    //小车离开充电桩
    private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING_COMPLETE.sts) {
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
@@ -1510,8 +1546,8 @@
            //小车已在近点位置无需前往
            if (shuttleProtocol.getCurrentLocNo().equals(endLocation)) {
                wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 303.小车移动至近点完成
                wrkMast.setSourceStaNo(recentLiftStation.getStaNo());
                wrkMast.setStaNo(targetLiftSta.getStaNo());
                wrkMast.setSourceStaNo(recentLiftStation.getSiteId());
                wrkMast.setStaNo(targetLiftSta.getSiteId());
                wrkMast.setModiTime(now);
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
@@ -1536,8 +1572,8 @@
            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至近点中
            wrkMast.setSourceStaNo(recentLiftStation.getStaNo());
            wrkMast.setStaNo(targetLiftSta.getStaNo());
            wrkMast.setSourceStaNo(recentLiftStation.getSiteId());
            wrkMast.setStaNo(targetLiftSta.getSiteId());
            wrkMast.setModiTime(now);
            wrkMast.setSystemMsg("");//清空消息
            if (wrkMastService.updateById(wrkMast)) {
@@ -1658,7 +1694,7 @@
            assignCommand.setAuto(true);//自动模式

            //获取小车到提升机行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftLocNo, NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread, "inLift");
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftLocNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread, "inLift");
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;//路径解锁失败
@@ -1795,7 +1831,14 @@
                return false;
            }

            String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 5);
            //小车出提升机近点距离
            int shuttleOutLiftLocationDistance = 2;
            Config shuttleOutLiftLocationDistanceConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleOutLiftLocationDistance"));
            if (shuttleOutLiftLocationDistanceConfig != null) {
                shuttleOutLiftLocationDistance = Integer.parseInt(shuttleOutLiftLocationDistanceConfig.getValue());
            }

            String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, shuttleOutLiftLocationDistance);
            if (targetLocNo == null) {//出提升机近点计算失败
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，出提升机近点计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;