#

zwl

2025-04-17 f53a21bd8bf2dec64175ea833d05bc8b49b9a8e6

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

@@ -120,6 +120,7 @@
                    ));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中
                Thread.sleep(100);
                if (!step1) {
                    continue;
                }
@@ -134,7 +135,7 @@
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    public boolean shuttleInExecuteStep1(WrkMast wrkMast) {
    public synchronized boolean shuttleInExecuteStep1(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
            //获取目标站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
@@ -233,6 +234,7 @@
                    ));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
                Thread.sleep(100);
                if (!step1) {
                    continue;
                }
@@ -247,7 +249,7 @@
     * 如需主方法执行continue，请返回false
     * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue
     */
    public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
    public synchronized boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
        //101.生成出库任务 => 102.小车搬运中
        if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
            Integer liftNo = wrkMast.getLiftNo();
@@ -263,7 +265,7 @@
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
                if (liftWrkMast != null) {
                    if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                        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(), wrkMast.getLiftNo());
                        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(), liftNo);
                        return false;
                    }
                }
@@ -271,7 +273,6 @@
                wrkMast.setLiftNo(liftNo);
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
@@ -432,6 +433,9 @@
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
                            //308.小车迁出提升机中 ==> 309.小车迁出提升机完成
                            if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                                continue;//小车未到达目标层
                            }
                            wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
                            shuttleThread.setSyncTaskNo(0);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
@@ -590,59 +594,6 @@
            }

            for (WrkMast wrkMast : wrkMasts) {
                Integer liftNo = wrkMast.getLiftNo();
                if (liftNo == null) {
                    //未分配提升机
                    Integer staNo = wrkMast.getIoType() == WrkIoType.IN.id ? wrkMast.getSourceStaNo() : wrkMast.getStaNo();
                    liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
                    if(liftNo == null) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                        continue;
                    }

                    ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
                    if (forkLiftThread == null) {
                        continue;
                    }
                    ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
                    if (forkLiftProtocol == null) {
                        continue;
                    }

                    if (!forkLiftThread.isIdle()) {
                        News.info("{}号提升机，忙碌中", liftNo);
                        continue;
                    }

                    //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.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(), wrkMast.getLiftNo());
                            continue;//当前提升机存在未完成任务，等待下一次轮询
                        }
                    }

                    wrkMast.setLiftNo(liftNo);
                    wrkMast.setModiTime(new Date());
                    wrkMastService.updateById(wrkMast);
                    continue;
                }

                ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
                if (forkLiftThread == null) {
                    continue;
                }
                ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
                if (forkLiftProtocol == null) {
                    continue;
                }

                if (!forkLiftThread.isIdle()) {
                    News.info("{}号提升机，忙碌中", liftNo);
                    continue;
                }

                boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
                if (!stepIn) {
                    continue;
@@ -685,7 +636,18 @@
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
            Integer liftNo = wrkMast.getLiftNo();
            if (liftNo == null) {
                //未分配提升机
                Integer staNo = wrkMast.getSourceStaNo();
                liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
                if(liftNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
                return false;
            }
@@ -713,7 +675,7 @@
                }
            }

            //检测楼层是否有穿梭车
            //检测楼层是否有可用穿梭车
            boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
            if (!checkLevHasShuttle) {
                if (wrkMast.getShuttleNo() != null) {
@@ -736,6 +698,13 @@
                return false;
            }

            //请求上级系统，是否允许入库
            boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
            if (!inMission) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo());
                return false;
            }

            //获取提升机命令
            List<ForkLiftCommand> liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
            ArrayList<ForkLiftCommand> commands = new ArrayList<>();
@@ -744,11 +713,12 @@
            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
            assignCommand.setLiftNo(liftNo.shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中  1.生成入库任务 ==> 3.提升机搬运中
            wrkMast.setLiftNo(liftNo);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
@@ -811,7 +781,18 @@
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftSta.getLiftNo());
            Integer liftNo = wrkMast.getLiftNo();
            if (liftNo == null) {
                //未分配提升机
                Integer staNo = wrkMast.getStaNo();
                liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
                if(liftNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
                return false;
            }
@@ -854,11 +835,12 @@
            //提交到线程去工作
            LiftAssignCommand assignCommand = new LiftAssignCommand();
            assignCommand.setCommands(commands);
            assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
            assignCommand.setLiftNo(liftNo.shortValue());
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中  103.生成入库任务 ==> 104.提升机搬运中
            wrkMast.setLiftNo(liftNo);
            wrkMast.setShuttleNo(null);//释放小车
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(new Date());
@@ -901,12 +883,12 @@
                            wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                            wrkMast.setLiftNo(null);//释放提升机
                            forkLiftThread.setSyncTaskNo(0);
                            redisUtil.set(RedisKeyType.FORK_LIFT_PUT_COMPLETE.key + forkLiftProtocol.getLiftNo(), wrkMast.getWmsWrkNo(), 60 * 3);
                        } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
                            //306.提升机搬运中 ==> 307.提升机搬运完成
                            wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
                            forkLiftThread.setSyncTaskNo(0);
                        }

                        wrkMast.setModiTime(new Date());
                        if (wrkMastService.updateById(wrkMast)) {
                            forkLiftThread.reset();
@@ -1118,6 +1100,10 @@
                        continue;//小车和充电桩不在同一层
                    }

                    if (charge.getStatus() == 0) {
                        continue;//充电桩被禁用
                    }

                    //小车和充电桩在同一层
                    if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
                        shuttleCharge = charge;
@@ -1130,12 +1116,17 @@
                    //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 (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(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
                            //判断当前充电桩是否有小车，如有小车，不分配该充电桩
                            ArrayList<String> locs = new ArrayList<>();
                            locs.add(charge.getLocNo());
                            Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
                            if(checkHasShuttle != null) {
                                //当前充电桩有穿梭车，不分配该充电桩
                                continue;
                            }

                            if (charge.getStatus() == 0) {
                                continue;//充电桩被禁用
                            }

                            shuttleCharge = charge;
@@ -1464,11 +1455,45 @@
                return false;//找不到站点
            }

            //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(liftSta.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(), liftSta.getLiftNo());
                return false;//当前提升机存在未完成任务，等待下一次轮询
            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo());
                return false;
            }

            if (liftSta.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在小车", wrkMast.getWrkNo());
                return false;
            }

            //获取目标输送站
            ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
            if (liftStaTarget == null) {
                return false;//找不到站点
            }

            if (liftStaTarget.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo());
                return false;
            }

            if (liftStaTarget.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo());
                return false;
            }

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

                wrkMast.setModiTime(now);
                wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
                wrkMast.setSystemMsg("");//清空消息
                wrkMastService.updateById(wrkMast);
                return false;
            }

            //*************尝试锁定目标站路径***************
@@ -1509,9 +1534,7 @@

            wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中  301.生成小车移库任务 ==> 302.小车移动至站点
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机
            wrkMast.setSystemMsg("");//清空消息
//            shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
@@ -1695,6 +1718,10 @@
            List<ShuttleCommand> commands = null;
            //跨楼层移动任务
            if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
                    return false;//小车未到达目标层
                }

                //需要将前两个节点作为白名单节点传入
                List<NavigateNode> targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo());
                if (targetNodes == null) {
@@ -1745,9 +1772,14 @@
                continue;
            }

            List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo);
            if (liftAllStaNo.isEmpty()) {
                continue;
            }

            //获取入库任务
            List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .eq("lift_no", liftNo)
                    .in("sta_no", liftAllStaNo)
                    .in("wrk_sts"
                            , WrkStsType.NEW_INBOUND.sts
                            , WrkStsType.INBOUND_DEVICE_RUN.sts