Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master in...

luxiaotao1123

2024-04-08 9d0acfb65c80c4948c305ca01338f894b87346a0

Merge branch 'Four-Way-Rack' of http://47.97.1.152:5880/r/zy-asrs-master into Four-Way-Rack

 zy-asrs-flow/src/pages/device/shuttle/index.jsx

@@ -1,66 +1,18 @@
import React, { useEffect, useRef, useState } from "react";
import { getToken } from '@/utils/token-util'
import { Badge, Descriptions } from 'antd';
import Http from '@/utils/http';
import { Badge, Button, Descriptions, Drawer, Input, Card, Select, message } from 'antd';
import {
    PageContainer,
} from '@ant-design/pro-components';

let items = [
    {
        key: '1',
        label: '任务号',
        children: '1',
    },
    {
        key: '2',
        label: '工作状态',
        children: <Badge status="processing" text="Running" />,
    },
    {
        key: '3',
        label: '设备状态',
        children: <Badge status="processing" text="Running" />,
    },
    {
        key: '4',
        label: '坐标码',
        children: '1,2,3',
    },
    {
        key: '5',
        label: '电量',
        children: '50%',
    },
    {
        key: '6',
        label: '错误码',
        children: '0',
    },
    {
        key: '7',
        label: '顶升状态',
        children: 'Y',
    },
    {
        key: '8',
        label: '充电状态',
        children: 'Y',
    },
    {
        key: '9',
        label: '作业标记',
        children: 'Y',
    },
    {
        key: '10',
        label: '跑库开关',
        children: 'Y',
    },
];
import './index.less'

const Main = () => {
    const [deviceInfos, setDeviceInfos] = useState([]);
    const [ws, setWs] = useState(null);
    const [openOpera, setOpenOpera] = useState(false);
    const [currentData, setCurrentData] = useState(null);
    const [targetLoc, setTargetLoc] = useState("");

    useEffect(() => {
        var newWs = new WebSocket("ws://127.0.0.1:9090/wcs/ws/shuttle/websocket");
@@ -74,7 +26,6 @@
    }, [])

    useEffect(() => {

        if (ws) {
            ws.onopen = function () {
                console.log("open");
@@ -122,87 +73,184 @@
        }))
    }

    return (
        <PageContainer
            header={{
                breadcrumb: {},
            }}
        >
            <div style={{ display: 'flex', flexWrap: 'wrap', justifyContent: 'space-around' }}>
                {deviceInfos.map(item => {
                    if(item == null) {
                        return;
                    }
                    let tmpTitle = item.shuttleNo + "号四向车"
                    let tmpData = [
                        {
                            key: '1',
                            label: '任务号',
                            children: item.taskNo,
                        },
                        {
                            key: '2',
                            label: '工作状态',
                            children: <Badge status="processing" text={item.protocolStatusType} />,
                        },
                        {
                            key: '3',
                            label: '设备状态',
                            children: <Badge status="processing" text={item.deviceStatus$} />,
                        },
                        {
                            key: '4',
                            label: '坐标码',
                            children: item.currentCode,
                        },
                        {
                            key: '5',
                            label: '电量',
                            children: item.batteryPower,
                        },
                        {
                            key: '6',
                            label: '错误码',
                            children: '0',
                        },
                        {
                            key: '7',
                            label: '顶升状态',
                            children: item.hasLift ? 'Y' : 'N',
                        },
                        {
                            key: '8',
                            label: '充电状态',
                            children: item.hasCharge ? 'Y' : 'N',
                        },
                        {
                            key: '9',
                            label: '作业标记',
                            children: item.pakMk ? 'Y' : 'N',
                        },
                        {
                            key: '10',
                            label: '跑库开关',
                            children: item.moveLoc ? 'Y' : 'N',
                        },
                        {
                            key: '11',
                            label: '运行方向',
                            children: item.runDirection,
                        },
                        {
                            key: '12',
                            label: '是否有托盘',
                            children: item.hasPallet ? 'Y' : 'N',
                        },
                    ];
                    return <div key={item.id} style={{ width: '45%' }}>
                        <Descriptions size="small" title={tmpTitle} bordered items={tmpData} />
    const showOpera = (data) => {
        setOpenOpera(true);
        console.log(data);
        setCurrentData(data);
    };

    const closeOpera = () => {
        setOpenOpera(false);
    };

    const targetLocChange = (e) => {
        setTargetLoc(e.target.value)
    }

    const shuttleOperator = async (type) => {
        if (type == 'moveLoc') {
            if (targetLoc == '') {
                message.warning('请输入目标位置');
                return;
            }
        }

        try {
            const resp = await Http.doPost('api/basShuttle/operator/shuttle', {
                shuttleNo: currentData.shuttleNo,
                shuttleTaskMode: type,
                targetLocNo: targetLoc
            });
            if (resp.code === 200) {
                message.success("请求成功");
                return true;
            } else {
                message.warning(resp.msg);
                return false;
            }
        } catch (error) {
            message.warning("请求失败");
            return false;
        }
    }

    let codeContent = (<PageContainer
        header={{
            breadcrumb: {},
        }}
    >
        <div style={{ display: 'flex', flexWrap: 'wrap', justifyContent: 'space-around' }}>
            {deviceInfos.map(item => {
                if (item == null) {
                    return;
                }
                let tmpTitle = item.shuttleNo + "号四向车"
                let tmpData = [
                    {
                        key: '1',
                        label: '任务号',
                        children: item.taskNo,
                    },
                    {
                        key: '2',
                        label: '工作状态',
                        children: <Badge status="processing" text={item.protocolStatusType} />,
                    },
                    {
                        key: '3',
                        label: '设备状态',
                        children: <Badge status="processing" text={item.deviceStatus$} />,
                    },
                    {
                        key: '4',
                        label: '坐标码',
                        children: item.currentCode,
                    },
                    {
                        key: '5',
                        label: '电量',
                        children: item.batteryPower,
                    },
                    {
                        key: '6',
                        label: '错误码',
                        children: '0',
                    },
                    {
                        key: '7',
                        label: '顶升状态',
                        children: item.hasLift ? 'Y' : 'N',
                    },
                    {
                        key: '8',
                        label: '充电状态',
                        children: item.hasCharge ? 'Y' : 'N',
                    },
                    {
                        key: '9',
                        label: '作业标记',
                        children: item.pakMk ? 'Y' : 'N',
                    },
                    {
                        key: '10',
                        label: '跑库开关',
                        children: item.moveLoc ? 'Y' : 'N',
                    },
                    {
                        key: '11',
                        label: '运行方向',
                        children: item.runDirection,
                    },
                    {
                        key: '12',
                        label: '是否有托盘',
                        children: item.hasPallet ? 'Y' : 'N',
                    },
                ];
                return <div key={item.id} style={{ width: '45%' }}>
                    <div style={{ marginBottom: '10px' }}>
                        <span style={{ marginRight: '10px' }}>{tmpTitle}</span>
                        <Button type="primary" onClick={() => showOpera(item)}>操作</Button>
                    </div>
                })}
            </div>
        </PageContainer>
    )
                    <Descriptions size="small" bordered items={tmpData} />
                </div>
            })}
        </div>
    </PageContainer>);

    if (currentData) {
        codeContent = (
            <>
                {codeContent}
                <Drawer title="操作面板" onClose={closeOpera} open={openOpera}>
                    <h2 style={{ marginBottom: '15px' }}>{currentData.shuttleNo}号四向车</h2>
                    <div style={{ marginBottom: '15px' }}>
                        <Card title="移动指令" style={{ width: 300 }}>
                            <p>
                                <Input addonBefore="目标位置" defaultValue="1-1-1" onChange={targetLocChange} />
                            </p>
                            <p>
                                <Button onClick={() => shuttleOperator('moveLoc')}>移动到目标位置</Button>
                            </p>
                        </Card>
                    </div>

                    <div style={{ marginBottom: '15px' }}>
                        <Card title="相关指令" style={{ width: 300 }}>
                            <div className="commandItem">
                                <Button onClick={() => shuttleOperator('palletLift')}>托盘顶升</Button>
                                <Button onClick={() => shuttleOperator('palletDown')}>托盘下降</Button>
                                <Button onClick={() => shuttleOperator('chargeOpen')}>充电开</Button>
                                <Button onClick={() => shuttleOperator('chargeClose')}>充电关</Button>
                                <Button onClick={() => shuttleOperator('reset')}>复位</Button>
                            </div>
                        </Card>
                    </div>

                    <div style={{ marginBottom: '15px' }}>
                        <Card title="跑库系统" style={{ width: 300 }}>
                            <div className="commandItem">
                                <div><Input addonBefore="X起点" defaultValue="1" /></div>
                                <div><Input addonBefore="X终点" defaultValue="1" /></div>
                                <div><Input addonBefore="Y起点" defaultValue="1" /></div>
                                <div><Input addonBefore="Y终点" defaultValue="1" /></div>
                                <div>
                                    <Select
                                        defaultValue="0"
                                        style={{ width: 120 }}
                                        options={[{ value: '0', label: '跑轨道' }, { value: '1', label: '跑库位' }, { value: '2', label: '母轨道循环跑' }, { value: '3', label: '子轨道循环跑' }]}
                                    />
                                </div>
                                <Button>跑库</Button>
                            </div>
                        </Card>
                    </div>
                </Drawer>
            </>
        )
    }

    return (codeContent);
}

export default Main;

 zy-asrs-flow/src/pages/device/shuttle/index.less

New file
@@ -0,0 +1,15 @@
.commandItem {
    display: flex;
    justify-content: space-between;
    flex-wrap: wrap;
}

.commandItem > Button {
    width: 120px;
    margin-bottom: 10px;
}

.commandItem > div {
    width: 120px;
    margin-bottom: 10px;
}

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

@@ -2,25 +2,36 @@

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
import com.zy.asrs.framework.common.BaseRes;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
import com.zy.asrs.wcs.common.annotation.OperationLog;
import com.zy.asrs.wcs.common.domain.BaseParam;
import com.zy.asrs.wcs.common.domain.KeyValVo;
import com.zy.asrs.wcs.common.domain.PageParam;
import com.zy.asrs.wcs.core.domain.param.ShuttleOperatorParam;
import com.zy.asrs.wcs.core.entity.BasShuttle;
import com.zy.asrs.wcs.core.entity.Motion;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.entity.TaskCtg;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.BasShuttleService;
import com.zy.asrs.wcs.core.service.MotionService;
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.News;
import com.zy.asrs.wcs.system.controller.BaseController;
import com.zy.asrs.wcs.utils.ExcelUtil;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.web.bind.annotation.*;

import javax.servlet.http.HttpServletResponse;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Map;
import java.util.*;

@RestController
@RequestMapping("/api")
@@ -28,6 +39,16 @@

    @Autowired
    private BasShuttleService basShuttleService;
    @Autowired
    private TaskCtgService taskCtgService;
    @Autowired
    private SnowflakeIdWorker snowflakeIdWorker;
    @Autowired
    private TaskService taskService;
    @Autowired
    private AnalyzeService analyzeService;
    @Autowired
    private MotionService motionService;

    @PreAuthorize("hasAuthority('core:basShuttle:list')")
    @PostMapping("/basShuttle/page")
@@ -99,4 +120,65 @@
        ExcelUtil.build(ExcelUtil.create(basShuttleService.list(), BasShuttle.class), response);
    }

    @PreAuthorize("hasAuthority('core:basShuttle:operator')")
    @PostMapping("/basShuttle/operator/shuttle")
    @Transactional
    public R shuttleOperator(@RequestBody ShuttleOperatorParam param) {
        if (Cools.isEmpty(param.getShuttleNo(), param.getShuttleTaskMode())) {
            return R.error("参数为空");
        }

        Integer shuttleNo = param.getShuttleNo();

        //获取迁移任务类型
        TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
                .eq(TaskCtg::getFlag, "MANUAL")
                .eq(TaskCtg::getStatus, 1));
        if (taskCtg == null) {
            return R.error();
        }

        String targetLoc = null;//任务目标(借用字段)
        String targetSite = param.getShuttleTaskMode();//任务类型(借用字段)
        if (param.getShuttleTaskMode().equals("moveLoc")) {
            //迁移任务
            targetLoc = param.getTargetLocNo();
        }

        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MANUAL")));
        task.setTaskSts(TaskStsType.NEW_MANUAL.getId());
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);
        task.setOriginLoc(null);
        task.setDestSite(targetSite);
        task.setDestLoc(targetLoc);
        task.setIoTime(new Date());
        task.setStartTime(new Date());
        task.setStatus(1);
        task.setMemo("manual");
        task.setShuttleNo(param.getShuttleNo());
        boolean result = taskService.save(task);
        if (!result) {
            return R.error();
        }

        // generate motion list
        List<Motion> motionList = analyzeService.generateShuttleManualMotion(task);
        if (Cools.isEmpty(motionList)) {
            News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo);
            return R.error();
        }
        motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));

        task.setTaskSts(TaskStsType.ANALYZE_MANUAL.getId());
        if (!taskService.updateById(task)) {
            News.error("保存{}号四向穿梭车手动任务失败!!!", shuttleNo);
            return R.error();
        }
        return R.ok();
    }

}

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

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

import lombok.Data;

@Data
public class ShuttleOperatorParam {

    // 四向穿梭车号
    private Integer shuttleNo;

    // 命令类型
    private String shuttleTaskMode;

    // 目标库位
    private String targetLocNo;

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java

@@ -4,6 +4,7 @@
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.model.enums.WorkZoneType;
@@ -982,6 +983,98 @@
        return motionList;
    }

    /**
     * 生成小车手动动作
     */
    public List<Motion> generateShuttleManualMotion(Task task) {
        List<Motion> motionList = new ArrayList<>();
        if (task.getTaskSts() != TaskStsType.NEW_MOVE.getId()) {
            return motionList;
        }

        String targetLoc = task.getDestLoc();//任务目标(借用字段)
        String targetSite = task.getDestSite();//任务类型(借用字段)

        //获取穿梭车类型
        DeviceType deviceType = deviceTypeService.getOne(new LambdaQueryWrapper<DeviceType>()
                .eq(DeviceType::getFlag, String.valueOf(SlaveType.Shuttle))
                .eq(DeviceType::getStatus, 1));
        if (deviceType == null) {
            return motionList;
        }

        Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
                .eq(Device::getDeviceNo, task.getShuttleNo())
                .eq(Device::getDeviceType, deviceType.getId())
                .eq(Device::getHostId, task.getHostId())
                .eq(Device::getStatus, 1));
        if (device == null) {
            return motionList;
        }

        ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
        if (shuttleThread == null) {
            return motionList;
        }

        ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
        if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
            return motionList;
        }

        if (targetSite.equals("moveLoc")) {//移动
            String shuttleLocNo = shuttleProtocol.getCurrentLocNo();

            // 判断穿梭车是否在目标层
            if (Utils.getLev(shuttleLocNo) == Utils.getLev(targetLoc)) {

                // 穿梭车走行至目标库位
                motionList.addAll(kernelService.shuttleMove(
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                            dto.setLocNo(shuttleLocNo);
                        })),
                        MotionDto.build((dto -> {
                            dto.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());
                            dto.setLocNo(targetLoc);
                        })),
                        MotionCtgType.SHUTTLE_MOVE
                ));

            }
        } else if (targetSite.equals("palletLift")) {
            //托盘顶升
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(task.getShuttleNo()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_LIFT.val());
            }));
        } else if (targetSite.equals("palletDown")) {
            //托盘下降
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(task.getShuttleNo()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_PALLET_DOWN.val());
            }));
        } else if (targetSite.equals("chargeOpen")) {
            //充电开
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(task.getShuttleNo()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_ON.val());
            }));
        } else if (targetSite.equals("chargeClose")) {
            //充电关
            motionList.add(Motion.build(motion -> {
                motion.setDeviceCtg(DeviceCtgType.SHUTTLE.val());
                motion.setDevice(String.valueOf(task.getShuttleNo()));
                motion.setMotionCtg(MotionCtgType.SHUTTLE_CHARGE_OFF.val());
            }));
        } else if (targetSite.equals("reset")) {
            //复位
        }

        return motionList;
    }

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/command/ShuttleCommandService.java

@@ -203,164 +203,24 @@
                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
                break;
//            case SHUTTLE_MOVE_FROM_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_MOVE_TO_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR://穿梭车出提升机去输送线
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//
//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    return false;//等待下一次轮询
//                }
//
//                //判断提升机工作号是否和当前任务相同
//                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO;
//                break;
//            case SHUTTLE_TRANSPORT:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_FROM_LIFT://穿梭车载货出提升机
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//
//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    return false;//等待下一次轮询
//                }
//
//                //判断提升机工作号是否和当前任务相同
//                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
////                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_TO_LIFT://穿梭车载货进提升机
//                // 判断提升机状态
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//                // 判断提升机是否自动、空闲、准备就绪、链条没有转动、没有未就绪报错
//                if (!liftProtocol.getMode()
//                        || liftProtocol.getRunning()
//                        || !liftProtocol.getReady()
//                        || liftProtocol.getForwardRotationFeedback()
//                        || liftProtocol.getReverseFeedback()
//                        || liftProtocol.getNotReady().intValue() != 0
//                ) {
//                    return false;
//                }
//
//                if (liftProtocol.getLev().intValue() != Utils.getLev(motion.getTarget())) {//判断提升机是否达到目标层
//                    return false;
//                }
//
//                //判断提升机是否被锁定
//                if (!liftProtocol.getLiftLock()) {
//                    //锁定提升机
//                    LiftCommand lockCommand = liftThread.getLockCommand(true);//获取提升机锁定命令
//                    lockCommand.setLiftNo(liftProtocol.getLiftNo());
//                    lockCommand.setTaskNo(motion.getWrkNo().shortValue());//获取任务号
//                    liftThread.assignWork(lockCommand);
//                    return false;//等待下一次轮询
//                }
//
//                //判断提升机工作号是否和当前任务相同
//                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
//                    return false;
//                }
//
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
////                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_FROM_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_TRANSPORT_TO_CONVEYOR:
//                shuttleCommands = this.shuttleAssignCommand(motion.getOrigin(), motion.getTarget(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//                shuttleTaskModeType = ShuttleTaskModeType.PAK_IN;
//
//                shuttleCommands.add(0, shuttleThread.getPalletCommand((short) 1));
//                shuttleCommands.add(shuttleCommands.size(), shuttleThread.getPalletCommand((short) 2));
//                break;
//            case SHUTTLE_CHARGE_ON:
//                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
//                shuttleCommands.add(shuttleThread.getChargeSwitchCommand((short) 1));
//                assignCommand.setCharge(Boolean.TRUE);
//                break;
            case SHUTTLE_CHARGE_ON://充电开
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), true));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_CHARGE_OFF://充电关
                shuttleTaskModeType = ShuttleTaskModeType.CHARGE;
                shuttleCommands.add(shuttleThread.getChargeCommand(motion.getWrkNo(), false));
                assignCommand.setCharge(Boolean.TRUE);
                break;
            case SHUTTLE_PALLET_LIFT://托盘顶升
                shuttleTaskModeType = ShuttleTaskModeType.PALLET_LIFT;
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), true));
                break;
            case SHUTTLE_PALLET_DOWN://托盘下降
                shuttleTaskModeType = ShuttleTaskModeType.PALLET_DOWN;
                shuttleCommands.add(shuttleThread.getLiftCommand(motion.getWrkNo(), false));
                break;
            default:
                throw new CoolException(motion.getMotionCtgEl() + "没有指定任务作业流程！！！");
        }
@@ -417,8 +277,8 @@
            return false;
        }

//        SiemensLiftThread liftThread = null;
//        LiftProtocol liftProtocol = null;
        LiftThread liftThread = null;
        LiftProtocol liftProtocol = null;

        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl()))){
            case SHUTTLE_MOVE:
@@ -430,21 +290,21 @@
                    return false;
                }
                break;
//            case SHUTTLE_MOVE_TO_LIFT:
//            case SHUTTLE_MOVE_FROM_LIFT:
//            case SHUTTLE_TRANSPORT_FROM_LIFT:
//            case SHUTTLE_TRANSPORT_TO_LIFT:
//            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
//                liftThread = (SiemensLiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
//                if (liftThread == null) {
//                    return false;
//                }
//                liftProtocol = liftThread.getLiftProtocol();
//
//                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
//                    return false;
//                }
//
            case SHUTTLE_MOVE_TO_LIFT:
            case SHUTTLE_MOVE_FROM_LIFT:
            case SHUTTLE_TRANSPORT_FROM_LIFT:
            case SHUTTLE_TRANSPORT_TO_LIFT:
            case SHUTTLE_MOVE_FROM_LIFT_TO_CONVEYOR:
                liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, Integer.parseInt(motion.getTemp()));
                if (liftThread == null) {
                    return false;
                }
                liftProtocol = liftThread.getStatus();

                if (!shuttleProtocol.getCurrentLocNo().equals(motion.getTarget())) {
                    return false;
                }

//                //判断提升机是否被锁定
//                if (liftProtocol.getLiftLock()) {
//                    //解锁提升机
@@ -454,18 +314,18 @@
//                    liftThread.assignWork(lockCommand);
//                    return false;
//                }
//
//                //判断提升机工作号是否和当前任务相同
//                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
//                    return false;
//                }
//
//                if (liftProtocol.getTaskNo().intValue() != 0) {

                //判断提升机工作号是否和当前任务相同
                if (liftProtocol.getTaskNo().intValue() != motion.getWrkNo()) {
                    return false;
                }

//                if (liftProtocol.getTaskNo() != 0) {
//                    //清空提升机号
//                    liftThread.setTaskNo(0);
//                }
//
//                break;

                break;
            default:
                break;
        }

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

@@ -18,6 +18,10 @@

    List<Task> selectByExecuteSts();

    List<Task> selectManualByAnalyzeSts();

    List<Task> selectManualByExecuteSts();

    List<Task> selectWaitAnalyzeInBoundTask();

    List<Task> selectPakOut();

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/MotionCtgType.java

@@ -51,6 +51,9 @@
    SHUTTLE_CHARGE_ON(SHUTTLE),
    SHUTTLE_CHARGE_OFF(SHUTTLE),

    SHUTTLE_PALLET_LIFT(SHUTTLE),//托盘顶升
    SHUTTLE_PALLET_DOWN(SHUTTLE),//托盘下降

    // AGV ----------------------------------------------
    AGV_TRANSPORT(AGV),


 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/model/enums/TaskStsType.java

@@ -1,6 +1,10 @@
package com.zy.asrs.wcs.core.model.enums;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.SpringUtils;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.TaskSts;
import com.zy.asrs.wcs.core.service.TaskStsService;

public enum TaskStsType {

@@ -51,4 +55,24 @@
        throw new CoolException("TaskStsType Error!!!");
    }

    public static TaskStsType queryById(Long id) {
        TaskStsService taskStsService = SpringUtils.getBean(TaskStsService.class);
        TaskSts taskSts = taskStsService.getById(id);
        if (taskSts == null) {
            throw new CoolException("TaskStsType Error!!!");
        }
        return query(Long.valueOf(taskSts.getUuid()));
    }

    public Long getId() {
        TaskStsService taskStsService = SpringUtils.getBean(TaskStsService.class);
        TaskSts taskSts = taskStsService.getOne(new LambdaQueryWrapper<TaskSts>()
                .eq(TaskSts::getUuid, sts)
                .eq(TaskSts::getStatus, 1));
        if (taskSts == null) {
            throw new CoolException("TaskStsType Error!!!");
        }
        return taskSts.getId();
    }

}

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

@@ -16,6 +16,10 @@

    List<Task> selectByExecuteSts();

    List<Task> selectManualByAnalyzeSts();

    List<Task> selectManualByExecuteSts();

    List<Task> selectWaitAnalyzeInBoundTask();

    List<Task> selectPakOut();

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

@@ -268,7 +268,7 @@
            Task task = new Task();
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            task.setTaskNo(String.valueOf(Utils.getTaskNo("CHARGE")));
            task.setTaskSts(TaskStsType.NEW_CHARGE.sts);
            task.setTaskSts(TaskStsType.NEW_CHARGE.getId());
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(10);
            task.setOriginSite(null);
@@ -365,7 +365,7 @@
            Task task = new Task();
            task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
            task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
            task.setTaskSts(TaskStsType.NEW_MOVE.sts);
            task.setTaskSts(TaskStsType.NEW_MOVE.getId());
            task.setTaskCtg(taskCtg.getId());
            task.setPriority(10);
            task.setOriginSite(null);

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

@@ -66,6 +66,16 @@
    }

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

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

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

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java

@@ -45,7 +45,7 @@
    private ShuttleCommandService shuttleCommandService;

//    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeWrkMast() {
    public synchronized void executeTask() {
        Date now = new Date();
        // ANALYZE_INBOUND
        for (Task task : taskService.selectByAnalyzeSts()) {
@@ -61,13 +61,13 @@
                    continue;
                }

                // 更新wrkMast
                switch (TaskStsType.query(task.getTaskSts())) {
                // 更新Task
                switch (TaskStsType.queryById(task.getTaskSts())) {
                    case ANALYZE_INBOUND:
                        task.setTaskSts(TaskStsType.EXECUTE_INBOUND.sts);
                        task.setTaskSts(TaskStsType.EXECUTE_INBOUND.getId());
                        break;
                    case ANALYZE_OUTBOUND:
                        task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.sts);
                        task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.getId());
                        break;
                }
                task.setUpdateTime(now);
@@ -90,13 +90,13 @@
                        continue;
                    }

                    // 更新wrkMast
                    switch (TaskStsType.query(task.getTaskSts())) {
                    // 更新Task
                    switch (TaskStsType.queryById(task.getTaskSts())) {
                        case EXECUTE_INBOUND:
                            task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts);
                            task.setTaskSts(TaskStsType.COMPLETE_INBOUND.getId());
                            break;
                        case EXECUTE_OUTBOUND:
                            task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.sts);
                            task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.getId());
                            break;
                    }
                    task.setUpdateTime(now);
@@ -171,6 +171,63 @@
//        }
//    }

//    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeManualTask() {
        Date now = new Date();
        // ANALYZE_MANUAL
        for (Task task : taskService.selectByAnalyzeSts()) {
            Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
            if (executingMotion != null) {//存在正在执行的motion
                continue;
            }

            Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
            if (null != motion) {
                boolean result = this.executeMotion(motion);
                if (!result) {
                    continue;
                }
                // 更新Task
                switch (TaskStsType.queryById(task.getTaskSts())) {
                    case ANALYZE_MANUAL:
                        task.setTaskSts(TaskStsType.EXECUTE_MANUAL.getId());
                        break;
                }
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    log.error("{}其他工作档更新状态失败！", task.getTaskNo());
                }
            }
        }
        // EXECUTE_MANUAL
        for (Task task : taskService.selectManualByExecuteSts()) {
            if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
                Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
                if (null != motion) {
                    boolean result = this.executeMotion(motion);
                    if (!result) {
                        continue;
                    }
                } else {
                    if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
                        continue;
                    }

                    // 更新Task
                    switch (TaskStsType.queryById(task.getTaskSts())) {
                        case EXECUTE_MANUAL:
                            task.setTaskSts(TaskStsType.COMPLETE_MANUAL.getId());
                            break;
                    }
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        log.error("{}他工作档更新状态失败！", task.getTaskNo());
                    }
                }
            }
        }
    }

    @Scheduled(cron = "0/1 * * * * ? ")
    public void scanMotionByExecuting() {
        List<Motion> motionList = motionService.selectBySts(MotionStsType.EXECUTING.val());

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java

@@ -177,7 +177,7 @@
        Task task = new Task();
        task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
        task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
        task.setTaskSts(TaskStsType.NEW_MOVE.sts);
        task.setTaskSts(TaskStsType.NEW_MOVE.getId());
        task.setTaskCtg(taskCtg.getId());
        task.setPriority(10);
        task.setOriginSite(null);

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

@@ -13,14 +13,28 @@
    <select id="selectByAnalyzeSts" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where 1=1
        and task_sts in (2, 102, 202, 302)
        and task_sts in (2, 102)
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectByExecuteSts" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where 1=1
        and task_sts in (3, 103, 203, 303)
        and task_sts in (3, 103)
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectManualByAnalyzeSts" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where 1=1
          and task_sts in (402)
        order by priority desc,start_time,task_no asc
    </select>

    <select id="selectManualByExecuteSts" resultType="com.zy.asrs.wcs.core.entity.Task">
        select * from wcs_task
        where 1=1
          and task_sts in (403)
        order by priority desc,start_time,task_no asc
    </select>