#

Junjie

2023-09-20 fb8419ef141e16b8ec8b1d9802fa0d5a46768794

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

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

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
@@ -98,6 +99,9 @@
    private ShuttleDispatchUtils shuttleDispatchUtils;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private WrkMastLocMapper wrkMastLocMapper;


    /**
     * 组托
@@ -783,6 +787,45 @@
    public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
        //21.生成出库任务 => 22.小车搬运中
        if (wrkMast.getWrkSts() == 21) {
            EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
            wrapper.eq("type_no", wrkMast.getIoType());//路径类型
            wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号
            StaDesc staDesc = staDescService.selectOne(wrapper);
            if (staDesc == null) {
                return false;//出库路径不存在
            }

            //获取出库站点
            BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (basDevp == null) {
                return false;//出库站点不存在
            }

            if (!basDevp.getOutEnable().equals("Y")) {
                return false;//出库站点不可出
            }

            //判断各楼层内部输送站点是否空闲无物
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
            if (liftThread == null) {
                return false;
            }
            //获取提升机站点list
            List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols();
            if (liftStaProtocols.isEmpty()) {
                return false;
            }

            for (LiftStaProtocol liftStaProtocol : liftStaProtocols) {
                //判断当前出库任务对应楼层的提升机站点状态
                if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getSourceLocNo())) {
                    if (liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray()) {
                        return false;//站点必须自动、空闲、没有托盘
                    }
                }
            }


            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                return false;
@@ -805,12 +848,6 @@
                return false;//小车已被独占，禁止再派发任务
            }

            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getLiftNo());
            if (targetBasDevp == null) {
                return false;//缺少站点信息
            }

            //判断小车是否到达货物库位
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车不在输送站点位置
@@ -819,7 +856,7 @@
            }

            //小车已抵达货物位置，进行搬运货物
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), targetBasDevp.getLocNo());
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), null);
            if (result == null) {//出库路径计算失败
                return false;
            }
@@ -896,6 +933,16 @@
                                shuttleProtocol.setToken(0);
                            }
                            break;
                        case 111:
                            // 保存工作主档历史档
                            if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
                                log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
                            }
                            // 删除工作主档
                            if (!wrkMastService.deleteById(wrkMast)) {
                                log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
                            }
                            break;
                        default:
                    }

@@ -934,6 +981,11 @@
            }

            if (!liftProtocol.isIdle()) {
                continue;
            }

            //判断提升机令牌是否被占用
            if (liftProtocol.getToken() != 0) {
                continue;
            }

@@ -998,15 +1050,25 @@

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            if (sourceBasDevp == null) {
                return false;//站点不存在
            }
            //获取源站对应的牛眼提升机站点编号(起点编号)
            Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
            Integer targetSta = null;
            //获取牛眼提升机站点编号(目标编号)
            for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
                    targetSta = liftStaProtocol.getStaNo();
                }
            }

            if (targetSta == null) {
                return false;//站点编号不存在
            }

            //获取提升机命令
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());

            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
            ArrayList<NyLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);

@@ -1063,16 +1125,28 @@
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            //获取源站对应的牛眼提升机站点编号(起点编号)
            Integer startSta = null;
            for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
                if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
                    startSta = liftStaProtocol.getStaNo();
                }
            }

            if (startSta == null) {
                return false;//站点编号不存在
            }

            //获目标站源站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (targetBasDevp == null) {
                return false;//站点不存在
            }
            //获取牛眼提升机站点编号(目标编号)
            Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());

            //获取提升机命令
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());

            ArrayList<NyLiftCommand> commands = new ArrayList<>();
            commands.add(liftCommand);
@@ -1996,6 +2070,10 @@
            }

            if (wrkCharge.getWrkSts() == 51) {
                if (!shuttleProtocol.isIdleNoCharge()) {
                    continue;
                }

                if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
                    //小车不在充电桩位置
                    shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩
@@ -2091,6 +2169,8 @@
                continue;
            }

//            this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//清理111.小车移动完成

        }
    }

@@ -2116,7 +2196,7 @@
            }

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge()) {
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                return false;
            }

@@ -2293,6 +2373,8 @@

            wrkMast.setWrkSts(104L);//小车移动到提升机中  103.小车移动至站点完成 ==> 104.小车迁入提升机中
            wrkMast.setModiTime(now);
            wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用
            liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
@@ -2487,15 +2569,6 @@
        //小车移动到目标库位中  109.小车迁出提升机完成 ==> 110.小车移动中
        if (wrkMast.getWrkSts() == 109) {

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                return false;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return false;
            }

            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -2507,34 +2580,34 @@
            }

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge()) {
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                return false;
            }

            //判断小车令牌是否为当前任务
            if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
            if (shuttleProtocol.getToken() != 0 && shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
                return false;
            }

            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
            if (targetBasDevp == null) {
                return false;//缺少站点信息
            }
//            //获取目标站对应的输送站点
//            BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
//            if (targetBasDevp == null) {
//                return false;//缺少站点信息
//            }
//
//            //获取提升机数据
//            BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
//            if (basLift == null) {
//                return false;//没有提升机数据
//            }
//            if (basLift.getPoint() == null) {
//                return false;//没有设置提升机点位坐标
//            }
//            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
//            liftNode.setZ(basLift.getPoint$().getZ());

            //获取提升机数据
            BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
            if (basLift == null) {
                return false;//没有提升机数据
            }
            if (basLift.getPoint() == null) {
                return false;//没有设置提升机点位坐标
            }
            NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
            liftNode.setZ(basLift.getPoint$().getZ());

            //获取小车从输送站到目标库位命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
            //获取小车到目标库位命令
            NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
            if (result == null) {
                return false;//路径计算失败
            }
@@ -2551,7 +2624,20 @@
            wrkMast.setWrkSts(110L);//小车移动到目标库位中  109.小车迁出提升机完成 ==> 110.小车移动中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setModiTime(now);
            liftProtocol.setToken(0);//释放提升机令牌

            if (wrkMast.getLiftNo() != null) {
                LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
                if (liftThread == null) {
                    return false;
                }
                LiftProtocol liftProtocol = liftThread.getLiftProtocol();
                if (liftProtocol == null) {
                    return false;
                }
                if (liftProtocol.getToken() == shuttleProtocol.getShuttleNo().intValue()) {
                    liftProtocol.setToken(0);//释放提升机令牌
                }
            }
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
@@ -2561,6 +2647,69 @@
    }

    /**
     * 小车迁移-清理111.小车移动完成
     */
    private boolean shuttleMoveExecuteStepClearWrkMast(WrkMast wrkMast) {
        if (wrkMast.getWrkSts() == 111) {
            //获取四向穿梭车线程
            NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                return false;
            }
            NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
            if (shuttleProtocol == null) {
                return false;
            }

            //小车处于空闲状态
            if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
                return false;
            }

            Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
            if (o != null) {
                ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
                ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
                int size = assignCommand.getCommands().size();
                NyShuttleHttpCommand command = assignCommand.getCommands().get(size - 1);//获取最后一段命令
                if (!command.getComplete()) {
                    return false;//最后一段命令还未完成，不做操作
                }
                NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
                navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//解锁路径

                //删除redis
                redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
            }

            // 保存工作主档历史档
            if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
                log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo());
            }
            // 删除工作主档
            if (!wrkMastService.deleteById(wrkMast)) {
                log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo());
            }

            //设置四向穿梭车为空闲状态
            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
            //源库位清零
            shuttleProtocol.setSourceLocNo(null);
            //目标库位清零
            shuttleProtocol.setLocNo(null);
            //任务指令清零
            shuttleProtocol.setAssignCommand(null);
            //工作号清零
            shuttleProtocol.setTaskNo(0);
            //清除令牌
            shuttleProtocol.setToken(0);
            News.info("四向穿梭车已确认且移动任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
        }

        return true;
    }

    /**
     * 出入库模式切换
     */
    public synchronized void outAndIn() {