#

Junjie

2024-03-26 f97effec07e9ef4ca39d39181487fdabe9c620dc

#

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

New file
@@ -0,0 +1,19 @@
package com.zy.asrs.wcs.core.kernel.command;

import com.zy.asrs.wcs.rcs.entity.Motion;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;

/**
 * Created by vincent on 2023/10/23
 */
@Slf4j
@Service
public class AgvCommandService {

    public Boolean accept(Motion motion) {

        return Boolean.TRUE;
    }

}

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

New file
@@ -0,0 +1,19 @@
package com.zy.asrs.wcs.core.kernel.command;

import com.zy.asrs.wcs.rcs.entity.Motion;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;

/**
 * Created by vincent on 2023/10/23
 */
@Slf4j
@Service
public class CraneCommandService {

    public Boolean accept(Motion motion) {

        return Boolean.TRUE;
    }

}

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

@@ -14,4 +14,8 @@

    List<Task> selectOutboundByShuttleNo(@Param("shuttleNo") Integer shuttleNo);

    List<Task> selectByAnalyzeSts();

    List<Task> selectByExecuteSts();

}

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

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

import com.baomidou.mybatisplus.extension.service.IService;
import com.zy.asrs.wcs.core.entity.Task;
import org.apache.ibatis.annotations.Param;

import java.util.List;

@@ -12,4 +11,8 @@

    Boolean hasBusyOutboundByShuttle(Integer shuttleNo);

    List<Task> selectByAnalyzeSts();

    List<Task> selectByExecuteSts();

}

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

@@ -54,4 +54,14 @@
        }
        return false;
    }

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

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

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

New file
@@ -0,0 +1,248 @@
package com.zy.asrs.wcs.core.timer;

import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.Task;
import com.zy.asrs.wcs.core.kernel.command.AgvCommandService;
import com.zy.asrs.wcs.core.kernel.command.CraneCommandService;
import com.zy.asrs.wcs.core.kernel.command.ShuttleCommandService;
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.MotionStsType;
import com.zy.asrs.wcs.core.model.enums.TaskStsType;
import com.zy.asrs.wcs.core.service.TaskService;
import com.zy.asrs.wcs.rcs.entity.Motion;
import com.zy.asrs.wcs.rcs.service.MotionService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;

import java.util.Date;
import java.util.List;
import java.util.Objects;

/**
 * Created by vincent on 2023/10/10
 */
@Slf4j
@Component
public class MotionTimer {

    @Autowired
    private TaskService taskService;
    @Autowired
    private MotionService motionService;
    @Autowired
    private AgvCommandService agvCommandService;
//    @Autowired
//    private ConveyorCommandService conveyorCommandService;
    @Autowired
    private CraneCommandService craneCommandService;
//    @Autowired
//    private LiftCommandService liftCommandService;
    @Autowired
    private ShuttleCommandService shuttleCommandService;

    @Scheduled(cron = "0/1 * * * * ? ")
    public synchronized void executeWrkMast() {
        Date now = new Date();
        // ANALYZE_INBOUND
        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wrkMast
                switch (TaskStsType.query(task.getTaskSts())) {
                    case ANALYZE_INBOUND:
                        task.setTaskSts(TaskStsType.EXECUTE_INBOUND.sts);
                        break;
                    case ANALYZE_OUTBOUND:
                        task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.sts);
                        break;
                }
                task.setUpdateTime(now);
                if (!taskService.updateById(task)) {
                    log.error("{}工作档更新状态失败！", task.getTaskNo());
                }
            }
        }
        // EXECUTE_INBOUND
        for (Task task : taskService.selectByExecuteSts()) {
            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wrkMast
                    switch (TaskStsType.query(task.getTaskSts())) {
                        case EXECUTE_INBOUND:
                            task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts);
                            break;
                        case EXECUTE_OUTBOUND:
                            task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.sts);
                            break;
                    }
                    task.setUpdateTime(now);
                    if (!taskService.updateById(task)) {
                        log.error("{}工作档更新状态失败！", task.getTaskNo());
                    }
                }
            }
        }
    }

//    @Scheduled(cron = "0/1 * * * * ? ")
//    public synchronized void executeWrkCharge() {
//        Date now = new Date();
//        // ANALYZE_INBOUND
//        for (WrkCharge wrkCharge : wrkChargeMapper.selectByAnalyzeSts()) {
//            Motion executingMotion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val());
//            if (executingMotion != null) {//存在正在执行的motion
//                continue;
//            }
//
//            Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.INIT.val());
//            if (null != motion) {
//                boolean result = this.executeMotion(motion);
//                if (!result) {
//                    continue;
//                }
//                // 更新wrkMast
//                switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
//                    case ANALYZE_CHARGE:
//                        wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_CHARGE.sts);
//                        break;
//                    case ANALYZE_MOVE:
//                        wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_MOVE.sts);
//                        break;
//                }
//                wrkCharge.setModiTime(now);
//                if (wrkChargeMapper.updateById(wrkCharge) == 0) {
//                    log.error("{}其他工作档更新状态失败！", wrkCharge.getWrkNo());
//                }
//            }
//        }
//        // EXECUTE_INBOUND
//        for (WrkCharge wrkCharge : wrkChargeMapper.selectByExecuteSts()) {
//            if (!motionService.hasRunningMotion(wrkCharge.getUuid())) {
//                Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.WAITING.val());
//                if (null != motion) {
//                    boolean result = this.executeMotion(motion);
//                    if (!result) {
//                        continue;
//                    }
//                } else {
//                    if (motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val()) != null) {
//                        continue;
//                    }
//
//                    // 更新wrkMast
//                    switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
//                        case EXECUTE_CHARGE:
//                            wrkCharge.setWrkSts(WrkMastStsType.CHARGE_WORKING.sts);
//                            break;
//                        case EXECUTE_MOVE:
//                            wrkCharge.setWrkSts(WrkMastStsType.COMPLETE_MOVE.sts);
//                            break;
//                    }
//                    wrkCharge.setModiTime(now);
//                    if (wrkChargeMapper.updateById(wrkCharge) == 0) {
//                        log.error("{}他工作档更新状态失败！", wrkCharge.getWrkNo());
//                    }
//                }
//            }
//        }
//    }

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

    private synchronized boolean executeMotion(Motion motion) {
        Boolean executeRes = Boolean.FALSE;
        switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).deviceCtg) {
            case CONVEYOR:
//                executeRes = conveyorCommandService.accept(motion);
                break;
            case CRANE:
                executeRes = craneCommandService.accept(motion);
                break;
            case SHUTTLE:
                executeRes = shuttleCommandService.accept(motion);
                break;
            case LIFT:
//                executeRes = liftCommandService.accept(motion);
                break;
            case AGV:
                executeRes = agvCommandService.accept(motion);
                break;
            default:
                break;
        }

        if (executeRes) {
            Date now = new Date();
            motion.setMotionSts(MotionStsType.EXECUTING.val());
            motion.setUpdateTime(now);
            motion.setIoTime(now);
            if (!motionService.updateById(motion)) {
                throw new CoolException(motion.generateFlag() + "动作更新失败状态");
            }
            motionService.theNextBeWaiting(motion.getUuid(), motion);
            return true;
        }

        return false;
    }

    private synchronized void finishMotion(Motion motion) {
        Boolean executeRes = Boolean.FALSE;
        switch (Objects.requireNonNull(DeviceCtgType.get(motion.getDeviceCtgEl()))){
            case AGV:
                break;
            case CRANE:
                break;
            case LIFT:
//                executeRes = liftCommandService.finish(motion);
                break;
            case SHUTTLE:
                executeRes = shuttleCommandService.finish(motion);
                break;
            case CONVEYOR:
//                executeRes = conveyorCommandService.finish(motion);
                break;
            default:
                break;
        }
        if (executeRes) {
            Date now = new Date();
            motion.setMotionSts(MotionStsType.COMPLETE.val());
            motion.setUpdateTime(now);
            if (!motionService.updateById(motion)) {
                throw new CoolException(motion.generateFlag() + "动作更新失败状态");
            }
        }
    }


}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/entity/Motion.java

@@ -468,5 +468,18 @@
        return null;
    }

    public String generateFlag() {
        return this.getUuid() + "【" + this.getPriority() + " - " + this.getMotionCtg$() + "】";
    }

    public String getDeviceCtgEl(){
        DeviceCtgService service = SpringUtils.getBean(DeviceCtgService.class);
        DeviceCtg entity = service.getById(this.deviceCtg);
        if (!Cools.isEmpty(entity)){
            return String.valueOf(entity.getFlag());
        }
        return null;
    }


}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/mapper/MotionMapper.java

@@ -3,10 +3,15 @@
import com.zy.asrs.wcs.rcs.entity.Motion;
import com.baomidou.mybatisplus.core.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface MotionMapper extends BaseMapper<Motion> {

    Motion selectOfTop1(@Param("uuid") String uuid, @Param("motionSts") Long motionSts, @Param("hostId") Long hostId);

    Motion selectOfNext(@Param("uuid") String uuid, @Param("priority") Integer priority, @Param("hostId") Long hostId);

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/MotionService.java

@@ -10,4 +10,14 @@

    List<Motion> selectUnCompleteByUuidAndDeviceCtg(String uuid, DeviceCtgType deviceCtgType);

    Motion selectOfTop1(String uuid, Long motionSts, Long hostId);

    Boolean hasRunningMotion(String uuid, Long hostId);

    List<Motion> selectBySts(Long motionSts);

    Boolean theNextBeWaiting(String uuid, Motion motion);

    Motion selectOfNext(String uuid, Motion motion);

}

 zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/service/impl/MotionServiceImpl.java

@@ -1,6 +1,7 @@
package com.zy.asrs.wcs.rcs.service.impl;

import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
import com.zy.asrs.wcs.core.service.DeviceCtgService;
@@ -12,6 +13,7 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

import java.util.Date;
import java.util.List;

@Service("motionService")
@@ -31,4 +33,45 @@
                .orderByDesc(Motion::getPriority)
        );
    }

    @Override
    public Motion selectOfTop1(String uuid, Long motionSts, Long hostId) {
        return this.baseMapper.selectOfTop1(uuid, motionSts, hostId);
    }

    @Override
    public Boolean hasRunningMotion(String uuid, Long hostId) {
        return null != this.selectOfTop1(uuid, MotionStsType.EXECUTING.val(), hostId)
                || null != this.selectOfTop1(uuid, MotionStsType.ERROR.val(), hostId);
    }

    @Override
    public List<Motion> selectBySts(Long motionSts) {
        return this.list(new LambdaQueryWrapper<Motion>()
                .eq(Motion::getMotionSts, motionSts)
                .orderByDesc(Motion::getPriority));
    }

    @Override
    public Boolean theNextBeWaiting(String uuid, Motion motion) {
        Motion next = null;
        if (null == motion) {
            next = this.baseMapper.selectOfTop1(uuid, MotionStsType.INIT.val(), motion.getHostId());
        } else {
            next = this.selectOfNext(uuid, motion);
        }
        if (null != next) {
            next.setMotionSts(MotionStsType.WAITING.val());
            next.setUpdateTime(new Date());
            if (!this.updateById(next)) {
                throw new CoolException(uuid + " - [" + (motion == null ? 0 : (motion.getPriority() - 1)) + "] 动作更新状态失败");
            }
        }
        return Boolean.TRUE;
    }

    @Override
    public Motion selectOfNext(String uuid, Motion motion) {
        return this.baseMapper.selectOfNext(uuid, motion.getPriority(), motion.getHostId());
    }
}

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

@@ -10,4 +10,18 @@
        order by priority desc,start_time,task_no asc
    </select>

    <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)
        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)
        order by priority desc,start_time,task_no asc
    </select>

</mapper>

 zy-asrs-wcs/src/main/resources/mapper/rcs/MotionMapper.xml

@@ -2,4 +2,20 @@
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.wcs.rcs.mapper.MotionMapper">

    <select id="selectOfTop1" resultType="com.zy.asrs.wcs.rcs.entity.Motion">
        select top 1 * from rcs_motion
        where 1=1
        and uuid = #{uuid}
        and motion_sts = #{motionSts}
        order by priority desc
    </select>

    <select id="selectOfNext" resultType="com.zy.asrs.wcs.rcs.entity.Motion">
        select * from rcs_motion
        where 1=1
        and uuid = #{uuid}
        and priority = #{priority} - 1
        order by priority desc
    </select>

</mapper>