#

Junjie

2024-06-08 3ce75be2e677235149e6d9b2f3141bfde7395dbd

#

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java

@@ -48,9 +48,11 @@
                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                    mainService.generateInboundWrk(); // 组托
                    // 解析出库工作档
                    mainService.generateOutboundWrkMast();
                    mainService.analyzeOutBoundTask();
                    // 解析入库工作档
                    mainService.analyzeInBoundTask();
                    // 解析小车移动工作档
                    mainService.analyzeMoveTask();
                    // 出库  ===>> 工作档信息写入led显示器
                    mainService.ledExecute();
                    // 其他  ===>> LED显示器复位，显示默认信息

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/controller/OpenController.java

New file
@@ -0,0 +1,173 @@
package com.zy.asrs.wcs.core.controller;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.wcs.core.domain.param.CreateManualTakeTaskParam;
import com.zy.asrs.wcs.core.domain.param.CreateMoveTaskParam;
import com.zy.asrs.wcs.core.domain.param.CreateOutTaskParam;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskCtg;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.TaskCtgService;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.core.utils.Utils;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
import com.zy.asrs.wcs.system.controller.BaseController;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;

import java.util.Date;

/**
 * 对外暴露接口
 * 提供任务生成、设备运动等接口
 */
@RestController
@RequestMapping("/openapi")
public class OpenController extends BaseController {

    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private TaskCtgService taskCtgService;
    @Autowired
    private TaskService taskService;
    @Autowired
    private DeviceService deviceService;

    //生成出库任务
    @PostMapping("/createOutTask")
    public R createOutTask(@RequestBody CreateOutTaskParam param) {
        //获取出库任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "OUT")
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return R.error("任务类型异常");
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
        task.setTaskSts(TaskStsType.NEW_OUTBOUND.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(param.getOriginSite());
        task.setOriginLoc(param.getOriginLoc());
        task.setDestSite(param.getDestSite());
        task.setDestLoc(null);
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("");
        task.setShuttleNo(null);//等待主线程分配小车
        task.setRecordLoc("Y");//记录库存信息
        task.setHostId(1L);//临时控制只允许host为1

        boolean result = taskService.save(task);
        if (!result) {
            return R.error("生成出库任务失败！");
        }
        return R.ok();
    }

    //生成手动取放货任务
    @PostMapping("/createManualTakeTask")
    public R createManualTakeTask(@RequestBody CreateManualTakeTaskParam param) {
        //获取手动任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MANUAL")
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return R.error("任务类型异常");
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
        task.setTaskSts(TaskStsType.NEW_MANUAL.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(param.getOriginLoc());//源库位
        task.setDestSite(null);
        task.setDestLoc(param.getDestLoc());//目标库位
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("");
        task.setShuttleNo(null);//等待主线程分配小车
        task.setRecordLoc(param.getRecord() ? "Y" : "N");//记录库存信息
        task.setHostId(1L);//临时控制只允许host为1

        boolean result = taskService.save(task);
        if (!result) {
            return R.error("生成手动取放货任务失败！");
        }
        return R.ok();
    }

    //生成小车移动任务
    @PostMapping("/createMoveTask")
    public R createMoveTask(@RequestBody CreateMoveTaskParam param) {
        //获取出库任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MOVE")
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return R.error("任务类型异常");
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
                .eq(Device::getDeviceNo, param.getShuttleNo())
                .eq(Device::getHostId, 1)
                .eq(Device::getStatus, 1));
        if (device == null) {
            return R.error("穿梭车不存在");
        }
        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return R.error("穿梭车不在线");
        }
        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(param.getDestSite())) {
            return R.error("穿梭车和目标位置不在同一楼层");
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("OUT")));
        task.setTaskSts(TaskStsType.NEW_MOVE.sts);
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(null);
        task.setDestSite(param.getDestSite());
        task.setDestLoc(null);
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("");
        task.setShuttleNo(param.getShuttleNo());
        task.setRecordLoc("N");//不记录库存信息
        task.setHostId(1L);//临时控制只允许host为1

        boolean result = taskService.save(task);
        if (!result) {
            return R.error("生成小车移动任务失败！");
        }
        return R.ok();
    }

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/CreateManualTakeTaskParam.java

New file
@@ -0,0 +1,17 @@
package com.zy.asrs.wcs.core.domain.param;

import lombok.Data;

@Data
public class CreateManualTakeTaskParam {

    //源库位
    private String originLoc;

    //目标库位
    private String destLoc;

    //是否记录库存信息
    private Boolean record;

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/CreateMoveTaskParam.java

New file
@@ -0,0 +1,14 @@
package com.zy.asrs.wcs.core.domain.param;

import lombok.Data;

@Data
public class CreateMoveTaskParam {

    //小车号
    private Integer shuttleNo;

    //目标库位
    private String destSite;

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/domain/param/CreateOutTaskParam.java

New file
@@ -0,0 +1,17 @@
package com.zy.asrs.wcs.core.domain.param;

import lombok.Data;

@Data
public class CreateOutTaskParam {

    //出库库位
    private String originLoc;

    //源站
    private String originSite;

    //目标站
    private String destSite;

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/mapper/TaskMapper.java

@@ -34,6 +34,8 @@

    List<Task> selectPakOut();

    List<Task> selectWaitAnalyzeMoveTask();

    List<Task> hasChargeInLoc(String locNo);

    Task selectMoveWorking(Integer shuttleNo);

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/TaskService.java

@@ -32,6 +32,8 @@

    List<Task> selectPakOut();

    List<Task> selectWaitAnalyzeMoveTask();

    List<Task> hasChargeInLoc(String locNo);

    Task selectMoveWorking(Integer shuttleNo);

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java

@@ -9,6 +9,7 @@
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.domain.dto.MatDto;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.domain.dto.StaDto;
@@ -440,7 +441,7 @@
    /**
     * 出库 ====>> 同一时间一台穿梭车只能有一个出库任务
     */
    public synchronized void generateOutboundWrkMast() {
    public synchronized void analyzeOutBoundTask() {
        List<Task> tasks = taskService.selectPakOut();
        if (tasks.isEmpty()) {
            return;
@@ -476,6 +477,23 @@
//                    continue;//浅库位存在未执行任务
//                }

                if (Cools.isEmpty(task.getShuttleNo())) {
                    //分配小车
                    //搜索空闲车
                    ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
                    if (shuttleThread == null) {
                        News.info("{}任务未找到空闲穿梭车", task.getTaskNo());
                        continue;
                    }

                    task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//保存穿梭车号
                    task.setUpdateTime(new Date());
                    if (!taskService.updateById(task)) {
                        News.info("{}任务更新穿梭车号失败", task.getTaskNo());
                    }
                    continue;
                }

                // generate motion list
                List<Motion> motionList = analyzeService.generateMotion(task);
                if (Cools.isEmpty(motionList)) {
@@ -495,6 +513,25 @@
        }
    }

    // 解析小车移动工作档
    public synchronized void analyzeMoveTask() {
        for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
            // generate motion list
            List<Motion> motionList = analyzeService.generateMotion(task);
            if (motionList.isEmpty()) {
                continue;
            }
            motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));

            // 更新工作主档
            task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts); // 工作状态
            task.setUpdateTime(new Date());
            if (!taskService.updateById(task)) {
                News.error("更新工作档失败！！！ [工作号：{}]", task.getTaskNo());
            }
        }
    }

    /**
     * 四向穿梭车电量检测 ===>> 发起充电
     */

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/TaskServiceImpl.java

@@ -107,6 +107,11 @@
    }

    @Override
    public List<Task> selectWaitAnalyzeMoveTask() {
        return this.baseMapper.selectWaitAnalyzeMoveTask();
    }

    @Override
    public List<Task> hasChargeInLoc(String locNo) {
        return this.baseMapper.hasChargeInLoc(locNo);
    }

 zy-asrs-wcs/src/main/resources/mapper/core/TaskMapper.xml

@@ -78,6 +78,11 @@
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectWaitAnalyzeMoveTask" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task where task_sts = 301
        order by priority desc,start_time,task_no asc
    </select>

    <select id="hasChargeInLoc" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where task_sts in (201,202,203,204)