提升机、穿梭车finished方法

Junjie

2023-07-31 5a552bd8462b50b11ffd6730e456657366f37484

提升机、穿梭车finished方法

 src/main/java/com/zy/asrs/mapper/WrkMastMapper.java

@@ -50,7 +50,7 @@

    List<WrkMast> selectLiftStep262327();

    WrkMast selectByWorkNo372428(Integer workNo);
    WrkMast selectByWorkNo324104(Integer workNo);

    List<WrkMast> selectBy2125();


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

@@ -1480,40 +1480,26 @@
                    && shuttleProtocol.getTaskNo() != 0
                    && shuttleProtocol.getBusyStatus() == 0
            ) {
                //标记复位
                shuttleProtocol.setPakMk(true);

                ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                ShuttleAssignCommand moveAssignCommand = null;//避让命令
                if (wrkMast != null) {
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 9://9.小车入库搬运中 ==> 14.入库完成
                            wrkMast.setWrkSts(14L);
                        case 5://5.小车搬运中 ==> 9.入库完成
                            wrkMast.setWrkSts(9L);
                            //任务号清零
                            shuttleProtocol.setTaskNo((short) 0);
                            break;
                        case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成
                            wrkMast.setWrkSts(6L);
                            break;
                        case 22://22.迁移小车至提升机口 ==> 23.迁移小车至提升机口完成
                        case 22://22.小车搬运中 ==> 23.小车搬运完成
                            wrkMast.setWrkSts(23L);
                            break;
                        case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成
                            //任务执行完后，小车进入移开提升机口站点位置，以免坠落
                            //搜索一条没有小车的空巷道，并调度小车
                            int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层
                            String startLocNo = "180020" + distLev;
                            moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
                            if (moveAssignCommand == null) {//调度小车命令为空
                                continue;
                            }

                            wrkMast.setWrkSts(27L);
                            //任务号清零
                            shuttleProtocol.setTaskNo((short) 0);
                        case 102://102.小车到提升机中 ==> 103.小车到提升机完成
                            wrkMast.setWrkSts(103L);
                            break;
                        case 106://106.小车迁出提升机中 ==> 107.小车迁出提升机完成
                            wrkMast.setWrkSts(107L);
                            break;
                        case 108://108.小车移动中 ==> 109.小车移动完成
                            wrkMast.setWrkSts(109L);
                            break;
                        default:
                    }
@@ -1528,83 +1514,11 @@
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                        News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());

                        if (wrkMast.getWrkSts() == 27) {
                            if (moveAssignCommand != null) {
                                try {
                                    Thread.sleep(4000);
                                    //下发任务
                                    shuttleProtocol.setPakMk(true);
                                    MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
                                } catch (InterruptedException e) {
                                    throw new RuntimeException(e);
                                }
                            }
                        }

                    } else {
                        News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                    }
                }

                if (assignCommand != null) {
                    if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
                        //避让任务
                        //设置四向穿梭车为空闲状态
                        shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        //任务号清零
                        shuttleProtocol.setTaskNo((short) 0);
                        //源库位清零
                        shuttleProtocol.setSourceLocNo(null);
                        //目标库位清零
                        shuttleProtocol.setLocNo(null);
                        //任务指令清零
                        shuttleProtocol.setAssignCommand(null);
                        News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
                    }
                }

            }

            //四向穿梭车状态为充电状态
            if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id  //充电标识
                    && shuttleProtocol.getTaskNo() != 0) {
                //查询是否有充电任务
                WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
                if (wrkCharge != null) {
                    switch (wrkCharge.getWrkSts().intValue()) {
                        case 52://四向穿梭车迁移到提升机口
                            wrkCharge.setWrkSts(53L);//迁移完成
                            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
                            break;
                        case 56://小车去充电桩中
                            wrkCharge.setWrkSts(57L);//到达充电桩
                            break;
                        default:
                    }

                    if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                        if (wrkCharge.getWrkSts() == 60) {
                            //设置四向穿梭车为空闲状态
                            shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
                        }
                        if (wrkCharge.getWrkSts() != 57) {
                            //任务号清零
                            shuttleProtocol.setTaskNo((short) 0);
                            //源库位清零
                            shuttleProtocol.setSourceLocNo(null);
                            //目标库位清零
                            shuttleProtocol.setLocNo(null);
                            //标记复位
                            shuttleProtocol.setPakMk(true);
                            //任务指令清零
                            shuttleProtocol.setAssignCommand(null);
                        }
                        News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
                    } else {
                        News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
                    }
                }
            }

        }
@@ -1904,63 +1818,18 @@
                    && !liftProtocol.getBusy()
            ) {

                DevpThread devpThread = null;
                Integer devpId = null;
                for (DevpSlave devp : slaveProperties.getDevp()){
                    // 获取入库站信息
                    devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    devpId = devp.getId();
                }

                //将任务档标记为完成
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
                WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
                if (wrkMast != null) {
                    //判断提升机是否到达任务楼层
                    String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
                    int lev = Utils.getLev(locNo);//任务目标楼层

                    //标记复位
                    liftProtocol.setPakMk(true);

                    switch (wrkMast.getWrkSts().intValue()) {
                        case 3://3.提升机搬运中 ==> 4.提升机搬运完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            //给目标站设置工作号
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                            wrkMast.setWrkSts(4L);
                            //任务号清零
                            liftProtocol.setTaskNo((short) 0);
                            wrkMast.setLiftNo(null);//提升机解锁
                            break;
                        case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                            wrkMast.setWrkSts(8L);
                            break;
                        case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成
                            if (liftProtocol.getLev().intValue() != lev) {
                                continue;//提升机没有到达目标
                            }
                        case 24://24.提升机搬运中 ==> 25.提升机搬运完成
                            wrkMast.setWrkSts(25L);
                            break;
                        case 28://28.提升机搬运中 ==> 29.提升机搬运完成
//                            if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
//                                continue;//提升机是否达到输送线楼层
//                            }
                            wrkMast.setWrkSts(29L);
                            wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态
                            //任务号清零
                            liftProtocol.setTaskNo((short) 0);
                            wrkMast.setLiftNo(null);//提升机解锁
                        case 104://104.提升机搬运中 ==> 105.提升机搬运完成
                            wrkMast.setWrkSts(105L);
                            break;
                        default:
                    }
@@ -1974,50 +1843,6 @@
                    } else {
                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
                    }
                }

                //查询是否有充电任务
                WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
                if (wrkCharge != null) {
                    //标记复位
                    liftProtocol.setPakMk(true);
                    
                    switch (wrkCharge.getWrkSts().intValue()) {
                        case 54://提升机搬运中
                            wrkCharge.setWrkSts(55L);//提升机搬运完成
                            break;
                        default:
                    }

                    if (wrkChargeMapper.updateById(wrkCharge) > 0) {
                        //设置提升机为空闲状态
                        liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                        //任务号清零
                        liftProtocol.setTaskNo((short) 0);
                        //标记复位
                        liftProtocol.setPakMk(true);
                        //任务指令清零
                        liftProtocol.setAssignCommand(null);
                        News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
                    } else {
                        News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
                    }
                }

                //不是入出库调度任务、工作档任务，进行提升机的复位
                if (liftProtocol.getAssignCommand() != null) {
                    //设置提升机为空闲状态
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
                    //判断是否为四向穿梭车调度提升机，如是则无需清理任务号
//                    if (!liftProtocol.getSecurityMk()) {
//                        //任务号清零
//                        liftProtocol.setTaskNo((short) 0);
//                    }
                    //标记复位
                    liftProtocol.setPakMk(true);
                    //任务指令清零
                    liftProtocol.setAssignCommand(null);
                    News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
                }

            }
@@ -3209,6 +3034,11 @@
            if (basLift.getPoint() == null) {
                return false;//没有设置提升机点位坐标
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
            if (liftWrkMast != null) {
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }
            NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
            liftNode.setZ(basLift.getPoint().getZ());

@@ -3231,7 +3061,7 @@
            assignCommand.setNodes(result.getNodes());

            wrkMast.setWrkSts(102L);//小车移动到提升机中  101.生成小车移库任务 ==> 102.小车到提升机中
            wrkMast.setLiftNo(basLift.getLiftNo());//提升机号
            wrkMast.setLiftNo(basLift.getLiftNo());//提升机号(锁定提升机防止被其他任务抢占)
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
@@ -3451,6 +3281,7 @@
            assignCommand.setNodes(result.getNodes());

            wrkMast.setWrkSts(108L);//小车移动到目标库位中  107.小车迁出提升机完成 ==> 108.小车移动中
            wrkMast.setLiftNo(null);//释放提升机
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务

 src/main/java/com/zy/core/MainProcess.java

@@ -61,8 +61,8 @@
//                    mainService.shuttleIoInExecute();
//                    // 出库  ===>>  四向穿梭车出库作业下发
//                    mainService.shuttleIoOutExecute();
//                    //四向穿梭车任务完成
//                    mainService.shuttleFinished();
                    //四向穿梭车任务完成
                    mainService.shuttleFinished();
                    //提升机任务
                    mainService.liftIoExecute();
                    //提升机任务完成

 src/main/resources/mapper/WrkMastMapper.xml

@@ -132,10 +132,10 @@
        order by io_pri desc,wrk_sts desc
    </select>

    <select id="selectByWorkNo372428" resultMap="BaseResultMap">
    <select id="selectByWorkNo324104" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast
        where wrk_no=#{workNo}
        and wrk_sts in (3,7,24,28)
        and wrk_sts in (3,24,104)
    </select>

    <select id="selectBy2125" resultMap="BaseResultMap">