1

zhangc

2025-04-15 ff9ae5d1f76bb0dfde67fc2bc1141ce61f704692

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

@@ -24,6 +24,8 @@
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;
@@ -117,7 +119,7 @@
    private boolean shuttleMoveExecuteTransportLiftStepCallShuttle(WrkMast wrkMast) {
        Date now = new Date();
        //小车移动至站点  301.生成小车移库任务 ==> 呼叫小车至取货点
        if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
        if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -127,7 +129,22 @@
            if (shuttleProtocol == null) {
                return false;
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(Utils.getLev(wrkMast.getSourceLocNo()) == 1 ? 1015 : 1026);
            if (!staProtocol.isLoading() || !staProtocol.isAutoing()) {
                log.info("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                return false;
            }
            //TODO
//            if (!staProtocol.getFinishWorkNo().equals(wrkMast.getWrkNo())) {
//                            log.info( "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                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", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
@@ -169,7 +186,7 @@
        Date now = new Date();

        //小车移动至站点  301.生成小车移库任务 ==> 302.小车移动至站点中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_2.sts) {
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
@@ -185,7 +202,9 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

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

            //获取穿梭车最近且空闲的提升机
            LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
@@ -212,15 +231,14 @@
            List<ShuttleCommand> commands = new ArrayList<>();
            Integer mapType = NavigationMapType.NORMAL.id;

            if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
                //获取小车到提升机待机位行走命令
                List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
                if (moveCommands == 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
                }
                commands.addAll(moveCommands);

            //获取小车到提升机待机位行走命令
            List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
            if (moveCommands == 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
            }
            commands.addAll(moveCommands);

            List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            if (liftCommand == null) {
@@ -287,10 +305,12 @@
                }

                //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());
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(),wrkMast.getWrkNo(),wrkMast.getMainWrkNo());
                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
                    if (liftWrkMast != null && !wrkMast.getMainWrkNo().equals(liftWrkMast.getWrkNo())) {
                        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
                    }
                }

                wrkMast.setModiTime(now);
@@ -313,7 +333,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.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());
@@ -332,11 +352,6 @@
                return false;//提升机内无小车
            }

            //判断提升机内是否有托盘
            if (!liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//提升机内无小车
            }

            //判断提升机楼层
            if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
@@ -424,7 +439,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.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());
@@ -449,17 +464,21 @@
                return false;//提升机内无小车
            }

            //判断提升机内是否有托盘
            if (!liftProtocol.getHasTray()) {
                News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                return false;//提升机内无小车
            }

            //判断提升机楼层
            if (liftProtocol.getLev() != Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
                //提升机不在小车楼层
                News.info("{}任务，{}号提升机，提升机与小车不在同一层，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
                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.selectLiftWrkMast(1);
            if (w != null) {
                if (!w.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，提升机存在别的绑定任务ru，禁止派发", wrkMast.getWrkNo(), 1);
                    return false;
                }
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
@@ -479,6 +498,7 @@

            wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_7.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);
@@ -521,7 +541,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.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());
@@ -612,7 +632,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1,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());
@@ -793,7 +813,7 @@
        Date now = new Date();

        //小车移动到目标库位中  309.小车迁出提升机完成 ==> 310.小车移动中
        if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {
        if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) {


            //获取四向穿梭车线程
@@ -811,7 +831,26 @@
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if (devpThread == null) {
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(Utils.getLev(wrkMast.getSourceLocNo()) == 1 ? 1015 : 1026);
            if (!staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }
            //TODO
//            if (!staProtocol.getFinishWorkNo().equals(wrkMast.getWrkNo())) {
//                log.error("{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
//                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