#堆垛机

Junjie

5 小时以前 0184621163cf793c78ea90deccb21badec87a3e3

#堆垛机

 src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java

@@ -101,80 +101,65 @@

    //入出库  ===>>  堆垛机入出库作业下发
    private void crnIoExecuteNormal(BasCrnp currentCrn, Set<Integer> crnMoveBlockedCrnNos) {
        Map<Integer, BasCrnp> dispatchCrnMap = new HashMap<>();
        Map<Integer, CrnThread> dispatchThreadMap = new HashMap<>();
        Map<Integer, CrnProtocol> dispatchProtocolMap = new HashMap<>();
        for (BasCrnp basCrnp : java.util.Collections.singletonList(currentCrn)) {
            if (basCrnp == null || basCrnp.getCrnNo() == null || crnMoveBlockedCrnNos.contains(basCrnp.getCrnNo())) {
                continue;
            }
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
            if (crnThread == null) {
                continue;
            }

            CrnProtocol crnProtocol = crnThread.getStatus();
            if (crnProtocol == null) {
                continue;
            }

            long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
                    .eq("crn_no", basCrnp.getCrnNo())
                    .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts, WrkStsType.CRN_MOVE_RUN.sts));
            if (runningCount > 0) {
                continue;
            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getMode() == CrnModeType.AUTO.id
                    && crnProtocol.getTaskNo() == 0
                    && crnProtocol.getStatus() == CrnStatusType.IDLE.id
                    && crnProtocol.getLoaded() == 0
                    && crnProtocol.getForkPos() == 0
                    && crnProtocol.getAlarm() == 0
            ) {
                Object clearLock = redisUtil.get(RedisKeyType.CLEAR_CRN_TASK_LIMIT.key + basCrnp.getCrnNo());
                if (clearLock != null) {
                    continue;
                }
                dispatchCrnMap.put(basCrnp.getCrnNo(), basCrnp);
                dispatchThreadMap.put(basCrnp.getCrnNo(), crnThread);
                dispatchProtocolMap.put(basCrnp.getCrnNo(), crnProtocol);
            }
        }

        if (dispatchCrnMap.isEmpty()) {
        if (currentCrn == null || currentCrn.getCrnNo() == null || crnMoveBlockedCrnNos.contains(currentCrn.getCrnNo())) {
            return;
        }

        Integer crnNo = currentCrn.getCrnNo();
        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
        if (crnThread == null) {
            return;
        }

        CrnProtocol crnProtocol = crnThread.getStatus();
        if (crnProtocol == null) {
            return;
        }

        long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
                .eq("crn_no", crnNo)
                .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts, WrkStsType.CRN_MOVE_RUN.sts));
        if (runningCount > 0) {
            return;
        }

        // 只有当堆垛机空闲 并且 无任务时才继续执行
        if (crnProtocol.getMode() != CrnModeType.AUTO.id
                || crnProtocol.getTaskNo() != 0
                || crnProtocol.getStatus() != CrnStatusType.IDLE.id
                || crnProtocol.getLoaded() != 0
                || crnProtocol.getForkPos() != 0
                || crnProtocol.getAlarm() != 0) {
            return;
        }

        Object clearLock = redisUtil.get(RedisKeyType.CLEAR_CRN_TASK_LIMIT.key + crnNo);
        if (clearLock != null) {
            return;
        }

        String lastIo = resolveCrnLastIo(crnProtocol);

        List<WrkMast> taskQueue = wrkMastService.list(new QueryWrapper<WrkMast>()
                .in("crn_no", new ArrayList<>(dispatchCrnMap.keySet()))
                .eq("crn_no", crnNo)
                .in("wrk_sts",
                        WrkStsType.INBOUND_STATION_RUN_COMPLETE.sts,
                        WrkStsType.NEW_OUTBOUND.sts,
                        WrkStsType.NEW_LOC_MOVE.sts));
        taskQueue.sort(Comparator
                .comparingInt(this::resolveBatchOutboundRank)
        taskQueue.sort(Comparator.comparingInt((WrkMast wrkMast) -> resolveTaskTypeRank(wrkMast, lastIo))
                .thenComparingInt(this::resolveBatchOutboundRank)
                .thenComparingInt(this::resolveBatchSeqOrder)
                .thenComparingDouble(this::resolveTaskIoPri)
                .thenComparingLong(this::resolveTaskQueueTime)
                .thenComparingInt(this::resolveTaskQueueNo));

        for (WrkMast wrkMast : taskQueue) {
            if (wrkMast == null || wrkMast.getCrnNo() == null) {
                continue;
            }

            Integer crnNo = wrkMast.getCrnNo();
            BasCrnp basCrnp = dispatchCrnMap.get(crnNo);
            CrnThread crnThread = dispatchThreadMap.get(crnNo);
            CrnProtocol crnProtocol = dispatchProtocolMap.get(crnNo);
            if (basCrnp == null || crnThread == null || crnProtocol == null) {
            if (wrkMast == null || wrkMast.getCrnNo() == null || !Objects.equals(wrkMast.getCrnNo(), crnNo)) {
                continue;
            }

            if (wrkMast.getWrkSts() != null && wrkMast.getWrkSts() == WrkStsType.INBOUND_STATION_RUN_COMPLETE.sts) {
                boolean result = this.crnExecuteInPlanner(basCrnp, crnThread, wrkMast);
                boolean result = this.crnExecuteInPlanner(currentCrn, crnThread, wrkMast);
                if (result) {
                    crnProtocol.setLastIo("O");
                    return;
@@ -183,7 +168,7 @@
            }

            if (wrkMast.getWrkSts() != null && wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
                boolean result = this.crnExecuteOutPlanner(basCrnp, crnThread, wrkMast);
                boolean result = this.crnExecuteOutPlanner(currentCrn, crnThread, wrkMast);
                if (result) {
                    crnProtocol.setLastIo("I");
                    return;
@@ -192,7 +177,7 @@
            }

            if (wrkMast.getWrkSts() != null && wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
                boolean transfer = this.crnExecuteMovePlanner(basCrnp, crnThread, wrkMast);
                boolean transfer = this.crnExecuteMovePlanner(currentCrn, crnThread, wrkMast);
                if (transfer) {
                    return;
                }
@@ -204,6 +189,44 @@
        return isBatchOutboundTask(wrkMast) ? 0 : 1;
    }

    private String resolveCrnLastIo(CrnProtocol crnProtocol) {
        if (crnProtocol == null) {
            return "I";
        }
        if (Cools.isEmpty(crnProtocol.getLastIo())) {
            return "I";
        }
        return crnProtocol.getLastIo();
    }

    private int resolveTaskTypeRank(WrkMast wrkMast, String lastIo) {
        if (wrkMast == null || wrkMast.getWrkSts() == null) {
            return Integer.MAX_VALUE;
        }

        if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.NEW_LOC_MOVE.sts)) {
            return 0;
        }

        if (Objects.equals("O", lastIo)) {
            if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN_COMPLETE.sts)) {
                return 1;
            }
            if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.NEW_OUTBOUND.sts)) {
                return 2;
            }
            return 3;
        }

        if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.NEW_OUTBOUND.sts)) {
            return 1;
        }
        if (Objects.equals(wrkMast.getWrkSts(), WrkStsType.INBOUND_STATION_RUN_COMPLETE.sts)) {
            return 2;
        }
        return 3;
    }

    private int resolveBatchSeqOrder(WrkMast wrkMast) {
        if (!isBatchOutboundTask(wrkMast) || wrkMast.getBatchSeq() == null) {
            return Integer.MAX_VALUE;