src/main/java/com/zy/asrs/controller/ForkLiftController.java
@@ -81,12 +81,12 @@ @PostMapping("/table/lift/msg") @ManagerAuth(memo = "提升机数据表") public R liftMsgTable(){ List<LiftMsgTableVo> list = new ArrayList<>(); List<ForkLiftMsgTableVo> list = new ArrayList<>(); List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { // 表格行 LiftMsgTableVo vo = new LiftMsgTableVo(); ForkLiftMsgTableVo vo = new ForkLiftMsgTableVo(); vo.setLiftNo(device.getDeviceNo()); // 提升机号 list.add(vo); // 获取提升机信息 @@ -186,7 +186,7 @@ if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class); return R.ok().add(redisCommand); } @@ -198,7 +198,7 @@ if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class); redisCommand.setCommandStep(commandStep); redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); @@ -213,8 +213,8 @@ if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); LiftAssignCommand assignCommand = redisCommand.getAssignCommand(); ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class); ForkLiftAssignCommand assignCommand = redisCommand.getAssignCommand(); List<ForkLiftCommand> commands = assignCommand.getCommands(); ForkLiftCommand command = commands.get(commandStep); command.setComplete(complete != 0); @@ -229,9 +229,9 @@ if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); Short liftNo = redisCommand.getLiftNo(); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo.intValue()); ForkLiftRedisCommand redisCommand = JSON.parseObject(o.toString(), ForkLiftRedisCommand.class); Integer liftNo = redisCommand.getLiftNo(); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return R.error(); } @@ -243,7 +243,7 @@ return R.error(); } //提升机处于空闲状态，进行任务的恢复 forkLiftThread.setSyncTaskNo(redisCommand.getWrkNo().intValue());//将提升机线程分配任务号 forkLiftThread.setSyncTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号 return R.ok(); } @@ -291,12 +291,12 @@ commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue()); assignCommand.setTaskNo((short) workNo); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo()); assignCommand.setTaskNo(workNo); assignCommand.setAuto(false);//手动模式 assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id); forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand); return R.ok(); @@ -313,12 +313,12 @@ commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue()); assignCommand.setTaskNo((short) workNo); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo()); assignCommand.setTaskNo(workNo); assignCommand.setAuto(false);//手动模式 assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id); forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand); return R.ok(); @@ -335,12 +335,12 @@ commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue()); assignCommand.setTaskNo((short) workNo); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo()); assignCommand.setTaskNo(workNo); assignCommand.setAuto(false);//手动模式 assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id); forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand); return R.ok(); src/main/java/com/zy/asrs/controller/LiftController.java
New file @@ -0,0 +1,361 @@ package com.zy.asrs.controller; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.annotations.ManagerAuth; import com.core.common.BaseRes; import com.core.common.Cools; import com.core.common.R; import com.core.exception.CoolException; import com.zy.asrs.domain.param.LiftOperatorParam; import com.zy.asrs.domain.vo.LiftDataVo; import com.zy.asrs.domain.vo.LiftMsgTableVo; import com.zy.asrs.domain.vo.LiftSensorDataVo; import com.zy.asrs.entity.BasLift; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.service.BasLiftService; import com.zy.asrs.service.DeviceConfigService; import com.zy.common.service.CommonService; import com.zy.common.utils.RedisUtil; import com.zy.core.action.LiftAction; import com.zy.core.cache.OutputQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.command.LiftAssignCommand; import com.zy.core.model.command.LiftCommand; import com.zy.core.model.command.LiftRedisCommand; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.model.protocol.LiftStaProtocol; import com.zy.core.thread.LiftThread; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.web.bind.annotation.*; import java.util.ArrayList; import java.util.List; /** * 提升机接口 */ @Slf4j @RestController @RequestMapping("/lift") public class LiftController { @Autowired private CommonService commonService; @Autowired private BasLiftService basLiftService; @Autowired private RedisUtil redisUtil; @Autowired private LiftAction liftAction; @Autowired private DeviceConfigService deviceConfigService; @PostMapping("/table/lift/state") @ManagerAuth(memo = "提升机信息表") public R liftStateTable(){ ArrayList<JSONObject> list = new ArrayList<>(); List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Lift))); for (DeviceConfig device : liftList) { // 表格行 JSONObject baseObj = new JSONObject(); baseObj.put("liftNo", device.getDeviceNo()); list.add(baseObj); // 获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo()); if (liftThread == null) { continue; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { continue; } JSONObject data = JSON.parseObject(JSON.toJSONString(liftProtocol)); List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols(); data.put("liftStaProtocols", liftStaProtocols); baseObj.putAll(data); } return R.ok().add(list); } @PostMapping("/table/lift/msg") @ManagerAuth(memo = "提升机数据表") public R liftMsgTable(){ List<LiftMsgTableVo> list = new ArrayList<>(); List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Lift))); for (DeviceConfig device : liftList) { // 表格行 LiftMsgTableVo vo = new LiftMsgTableVo(); vo.setLiftNo(device.getDeviceNo()); // 提升机号 list.add(vo); // 获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo()); if (liftThread == null) { continue; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { continue; } vo.setWorkNo(liftProtocol.getTaskNo());//任务号 vo.setPakMk(liftProtocol.getPakMk()?"Y" : "N"); // 作业标记 vo.setLiftStaProtocols(liftThread.getLiftStaProtocols()); } return R.ok().add(list); } @PostMapping("/output/lift") @ManagerAuth public R liftOutput(){ StringBuilder str = new StringBuilder(); String s; int i = 0; while((s = OutputQueue.LIFT.poll()) != null && i <=10) { str.append("\n").append(s); i++; } return R.ok().add(str.toString()); } @GetMapping("/detl/{liftNo}") public R liftDetl(@PathVariable("liftNo") Integer liftNo){ LiftDataVo vo = new LiftDataVo(); List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Lift))); for (DeviceConfig device : liftList) { if (liftNo.equals(device.getDeviceNo())) { vo.setLiftNo(device.getDeviceNo()); BasLift basLift = basLiftService.selectById(device.getDeviceNo()); if (!Cools.isEmpty(basLift)) { vo.setWorkNo(basLift.getWrkNo()); vo.setPakMk(basLift.getPakMk()); } break; } } return R.ok().add(vo); } @GetMapping("/sensor/detl/{liftNo}") public R liftSensorDetl(@PathVariable("liftNo") Integer liftNo){ LiftSensorDataVo vo = new LiftSensorDataVo(); List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Lift))); for (DeviceConfig device : liftList) { if (liftNo.equals(device.getDeviceNo())) { vo.setLiftNo(device.getDeviceNo()); // 获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo()); if (liftThread == null) { return R.error("设备不在线"); } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return R.error("设备不在线"); } break; } } return R.ok().add(vo); } @PostMapping("/detl/update") @ManagerAuth(memo = "修改数据") public R liftUpdate(@RequestParam Integer liftNo, @RequestParam Integer workNo) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return R.error("plc已掉线"); } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return R.error("plc已掉线"); } if (workNo != null) { liftThread.setSyncTaskNo(workNo); } return R.ok(); } @RequestMapping(value = "/command/query") public R liftCommandQuery(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); return R.ok().add(redisCommand); } //回退命令 @RequestMapping(value = "/command/rollback") public R liftCommandRollback(@RequestParam("wrkNo") Integer wrkNo , @RequestParam("commandStep") Integer commandStep) { Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); redisCommand.setCommandStep(commandStep); redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); } //命令完成状态切换 @RequestMapping(value = "/command/completeSwitch") public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo , @RequestParam("commandStep") Integer commandStep , @RequestParam("complete") Integer complete) { Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); LiftAssignCommand assignCommand = redisCommand.getAssignCommand(); List<LiftCommand> commands = assignCommand.getCommands(); LiftCommand command = commands.get(commandStep); command.setComplete(complete != 0); redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo, JSON.toJSONString(redisCommand)); return R.ok(); } //重启任务(命令) @RequestMapping(value = "/command/restart") public R liftCommandCompleteSwitch(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class); Integer liftNo = redisCommand.getLiftNo(); LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return R.error(); } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return R.error(); } if (!liftThread.isIdle()) { return R.error(); } //提升机处于空闲状态，进行任务的恢复 liftThread.setSyncTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号 return R.ok(); } //删除任务(命令) @RequestMapping(value = "/command/del") public R liftCommandDel(@RequestParam("wrkNo") Integer wrkNo) { Object o = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo); if (o == null) { return R.error(); } redisUtil.del(RedisKeyType.LIFT_WORK_FLAG.key + wrkNo); return R.ok(); } /****************************************************************/ /************************** 手动操作 ******************************/ /****************************************************************/ @ManagerAuth(memo = "手动操作") @PostMapping("/operator/lift") public R liftOperator(LiftOperatorParam param){ if (Cools.isEmpty(param.getLiftNo())) { return R.parse(BaseRes.PARAM); } LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, param.getLiftNo()); if (liftThread == null) { throw new CoolException("提升机不在线"); } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { throw new CoolException("提升机不在线"); } if (param.getLiftTaskMode().equals(LiftTaskModeType.SHUTTLE_SWITCH.id)) { //小车换层 int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号 Integer startSta = param.getSourceStaNo(); Integer targetSta = param.getStaNo(); //获取提升机命令 LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(workNo, startSta, targetSta); ArrayList<LiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftProtocol.getLiftNo()); assignCommand.setTaskNo(workNo); assignCommand.setAuto(false);//手动模式 assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id); liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand); return R.ok(); } else if (param.getLiftTaskMode().equals(LiftTaskModeType.PICK_PUT.id)) { //移动托盘 int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号 Integer startSta = param.getSourceStaNo(); Integer targetSta = param.getStaNo(); //获取提升机命令 LiftCommand liftCommand = liftThread.getPickAndPutCommand(workNo, startSta, targetSta); ArrayList<LiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftProtocol.getLiftNo()); assignCommand.setTaskNo(workNo); assignCommand.setAuto(false);//手动模式 assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id); liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand); return R.ok(); } else if (param.getLiftTaskMode().equals(LiftTaskModeType.MOVE.id)) { //移动 int workNo = commonService.getWorkNo(WrkIoType.MANUAL.id);//获取任务号 Integer startSta = param.getSourceStaNo(); Integer targetSta = param.getStaNo(); //获取提升机命令 LiftCommand liftCommand = liftThread.getMoveCommand(workNo, startSta, targetSta); ArrayList<LiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftProtocol.getLiftNo()); assignCommand.setTaskNo(workNo); assignCommand.setAuto(false);//手动模式 assignCommand.setTaskMode(LiftTaskModeType.MOVE.id); liftAction.assignWork(liftProtocol.getLiftNo(), assignCommand); return R.ok(); } else if (param.getLiftTaskMode().equals(LiftTaskModeType.RESET.id)) { //提升机复位 liftThread.setSyncTaskNo(0); liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE); return R.ok(); } else { throw new CoolException("未知命令"); } } } src/main/java/com/zy/asrs/domain/vo/ForkLiftMsgTableVo.java
New file @@ -0,0 +1,30 @@ package com.zy.asrs.domain.vo; import com.zy.core.model.protocol.ForkLiftStaProtocol; import lombok.Data; import java.util.List; @Data public class ForkLiftMsgTableVo { // 提升机号 private Integer liftNo; // 工作号 private Integer workNo = 0; // 作业标记 private String pakMk = "-"; /** * 站点信息 */ private List<ForkLiftStaProtocol> forkLiftStaProtocols; /** * 穿梭车号 */ private Integer shuttleNo; } src/main/java/com/zy/asrs/domain/vo/LiftMsgTableVo.java
@@ -1,6 +1,6 @@ package com.zy.asrs.domain.vo; import com.zy.core.model.protocol.ForkLiftStaProtocol; import com.zy.core.model.protocol.LiftStaProtocol; import lombok.Data; import java.util.List; @@ -20,7 +20,7 @@ /** * 站点信息 */ private List<ForkLiftStaProtocol> forkLiftStaProtocols; private List<LiftStaProtocol> liftStaProtocols; /** * 穿梭车号 src/main/java/com/zy/asrs/entity/BasLift.java
@@ -8,6 +8,7 @@ import java.util.ArrayList; import java.util.Date; import com.zy.common.model.LiftPointModel; import com.zy.core.model.LiftStation; import org.springframework.format.annotation.DateTimeFormat; import com.core.common.SpringUtils; @@ -137,4 +138,13 @@ return list; } public LiftPointModel getPoint$(){ if (Cools.isEmpty(this.point)){ return null; } LiftPointModel liftPointModel = JSON.parseObject(point, LiftPointModel.class); return liftPointModel; } } src/main/java/com/zy/asrs/service/impl/ForkMainServiceImpl.java
New file @@ -0,0 +1,2023 @@ package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.zy.asrs.domain.enums.NotifyMsgType; import com.zy.asrs.entity.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.NotifyUtils; import com.zy.asrs.utils.Utils; import com.zy.common.model.MapNode; import com.zy.common.model.enums.NavigationMapType; import com.zy.common.service.CommonService; import com.zy.common.utils.*; import com.zy.core.News; import com.zy.core.action.ForkLiftAction; import com.zy.core.action.ShuttleAction; import com.zy.core.cache.SlaveConnection; import com.zy.core.dispatcher.ShuttleDispatchUtils; import com.zy.core.enums.*; import com.zy.core.model.command.*; import com.zy.core.model.protocol.ForkLiftProtocol; import com.zy.core.model.protocol.ForkLiftStaProtocol; import com.zy.core.model.protocol.ShuttleProtocol; import com.zy.core.thread.ForkLiftThread; import com.zy.core.thread.ShuttleThread; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.ArrayList; import java.util.Date; import java.util.List; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("forkMainService") public class ForkMainServiceImpl { @Autowired private WrkMastService wrkMastService; @Autowired private BasShuttleErrLogService basShuttleErrLogService; @Autowired private BasLiftErrLogService basLiftErrLogService; @Autowired private BasShuttleErrService basShuttleErrService; @Autowired private BasLiftErrService basLiftErrService; @Autowired private CommonService commonService; @Autowired private BasMapService basMapService; @Autowired private ShuttleDispatchUtils shuttleDispatchUtils; @Autowired private RedisUtil redisUtil; @Autowired private ConfigService configService; @Autowired private NavigateMapUtils navigateMapUtils; @Autowired private NavigateMapData navigateMapData; @Autowired private NavigateUtils navigateUtils; @Autowired private ShuttleOperaUtils shuttleOperaUtils; @Autowired private ShuttleAction shuttleAction; @Autowired private ForkLiftAction forkLiftAction; @Autowired private NotifyUtils notifyUtils; @Autowired private BasShuttleChargeService basShuttleChargeService; @Autowired private DeviceConfigService deviceConfigService; /** * 初始化实时地图 */ public synchronized void initRealtimeBasMap() { try { List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true)); for (BasMap basMap : basMaps) { Integer lev = basMap.getLev(); Object data = redisUtil.get(RedisKeyType.MAP.key + lev); if (data == null) {//redis地图数据为空 //载入地图 List<List<MapNode>> lists = navigateMapData.getJsonOriginData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//获取完整地图(包括入库出库) //存入数据库 basMap.setData(JSON.toJSONString(lists)); basMap.setCreateTime(new Date()); basMap.setUpdateTime(new Date()); if (!basMapService.updateById(basMap)) { log.info("地图数据存储失败"); } //将数据库地图数据存入redis redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap)); } } } catch (Exception e) { e.printStackTrace(); } } /** * 入库 ===>> 四向穿梭车入库作业下发 */ public synchronized void shuttleInExecute() { try { List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() .in("wrk_sts" , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts ) .orderBy("io_pri", false) .orderBy("appe_time", true) ); for (WrkMast wrkMast : wrkMasts) { boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中 Thread.sleep(100); if (!step1) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 入库-小车搬入库中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ public synchronized boolean shuttleInExecuteStep1(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) { //获取目标站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false; } if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//调度小车到货物所在输送站点进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); return false; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //判断小车是否存在移动任务 WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if (hasMoveWorking != null) { News.taskInfo(wrkMast.getWrkNo(), "{}号小车，存在移动任务，禁止派发任务", wrkMast.getShuttleNo()); return false;//存在移动任务，禁止执行入库任务 } //判断小车是否到达输送站点库位 if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) { //小车不在输送站点位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货 News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{ add(shuttleProtocol.getShuttleNo()); }}, new ArrayList<>()); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); if (liftCommand == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); if (liftCommand2 == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } commands.add(0, liftCommand.get(0)); commands.add(liftCommand2.get(0)); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中 wrkMast.setModiTime(new Date()); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); //触发通知 notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT); return false; } return false; } return true; } /** * 出库 ===>> 四向穿梭车出库作业下发 */ public synchronized void shuttleOutExecute() { try { List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() .in("wrk_sts" , WrkStsType.NEW_OUTBOUND.sts ) .orderBy("io_pri", false) .orderBy("appe_time", true) ); for (WrkMast wrkMast : wrkMasts) { boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中 Thread.sleep(100); if (!step1) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 出库-小车搬出库中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ public synchronized boolean shuttleOutExecuteStep1(WrkMast wrkMast) { //101.生成出库任务 => 102.小车搬运中 if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) { Integer liftNo = wrkMast.getLiftNo(); if (liftNo == null) { //通过输送线站号获取提升机号 liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo()); if (liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); return false; } } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } //判断提升机是否处于出库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo()); return false; } //获取源站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo())); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } List<WrkMast> shuttleMoveList = wrkMastService.selectList(new EntityWrapper<WrkMast>() .eq("io_type", 200) ); for (WrkMast moveWrkMast : shuttleMoveList) { if(Utils.getLev(moveWrkMast.getLocNo()) != Utils.getLev(wrkMast.getSourceLocNo())) { continue; } if(Utils.getLev(moveWrkMast.getLocNo()) == Utils.getLev(moveWrkMast.getSourceLocNo())) { continue; } //存在换层任务，出库任务暂时不执行 News.taskInfo(wrkMast.getWrkNo(), "{}任务，存在换层任务，出库任务等待中", wrkMast.getWrkNo()); return false; } boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), liftSta.getLocNo()); if(!checkLocPathIsAvailable) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未计算到可执行路径，等待中", wrkMast.getWrkNo()); return false; } if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 //强制预留一台小车给入库任务 int lev = Utils.getLev(wrkMast.getSourceLocNo()); //获取当前楼层有几台可用小车 int shuttleCount = shuttleDispatchUtils.getShuttleEnableUseCountByLev(lev); if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车 int shuttleWrkInObligateCount = 1;//预留小车数量 Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1)); if (config != null) { shuttleWrkInObligateCount = Integer.parseInt(config.getValue()); } //可用出库小车数量(给入库任务预留一台车) int useShuttleCount = shuttleCount - shuttleWrkInObligateCount; //查询楼层已分配车辆的出库任务数量 List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev); if (wrkMasts.size() >= useShuttleCount) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size()); return false; } } boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败"); return false; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //判断小车是否到达货物库位 if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{ add(shuttleProtocol.getShuttleNo()); }}, new ArrayList<>()); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } //小车不在输送站点位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //检测是否存在移动任务 WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if (moveWorking != null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车存在移动任务", wrkMast.getWrkNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); if (liftCommand == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); if (liftCommand2 == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } commands.add(0, liftCommand.get(0)); commands.add(liftCommand2.get(0)); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中 wrkMast.setSourceStaNo(liftSta.getStaNo()); wrkMast.setModiTime(new Date()); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); //触发通知 notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT); return false; } return false; } return true; } /** * 执行移库任务 */ public synchronized void shuttleLocMoveExecute() { try { //查询移库任务 List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() .in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts) .orderBy("io_pri", false) .orderBy("appe_time", true) ); for (WrkMast wrkMast : wrkMasts) { boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//移库任务-小车去目标点 if (!stepToTarget) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 移库任务-小车去目标点 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleLocMoveExecuteToTarget(WrkMast wrkMast) { //--------------------------------------小车移动至站点-----------------------------------------// Date now = new Date(); //小车移动至站点 501.生成移库任务 ==> 502.小车搬运中 if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) { boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), wrkMast.getLocNo()); if(!checkLocPathIsAvailable) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未计算到可执行路径，等待中", wrkMast.getWrkNo()); return false; } if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货 News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); return false; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (shuttleProtocol.getCurrentLocNo() == null) { return false; } //判断小车是否到达货物库位 if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { //小车未到达取货位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return false; } //检测是否存在移动任务 WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if (moveWorking != null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车存在移动任务", wrkMast.getWrkNo()); return false; } //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{ add(shuttleProtocol.getShuttleNo()); }}, new ArrayList<>()); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setLocNo(wrkMast.getLocNo()); //获取小车到输送站点行走命令 List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.DFX), assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); if (liftCommand == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); if (liftCommand2 == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } commands.add(0, liftCommand.get(0)); commands.add(liftCommand2.get(0)); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//小车搬运中 501.生成移库任务 ==> 502.小车搬运中 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); //触发通知 notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING); return false; } return false; } return true; } /** * 货叉提升机任务 */ public synchronized void forkLiftIoExecute() { try { //搜索是否有待处理的任务 List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts)); if (wrkMasts.isEmpty()) { return; } for (WrkMast wrkMast : wrkMasts) { boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库 if (!stepIn) { continue; } boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库 if (!stepOut) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 提升机入库 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean liftIoExecuteStepIn(WrkMast wrkMast) { //--------------------------------------提升机入库-----------------------------------------// Date now = new Date(); //1.生成入库任务 ==> 3.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) { //获取目标输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftSta == null) { return false;//找不到站点 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo()); return false; } //检测楼层是否有可用穿梭车 boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev()); if (!checkLevHasShuttle) { if (wrkMast.getShuttleNo() != null) { return false; } //获取小车待机位 String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo()); if (standbyLocNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo()); return false; } //调度小车去待机位 boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo); if (!dispatchShuttle) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo()); return false; } return false; } Integer liftNo = wrkMast.getLiftNo(); if (liftNo == null) { //未分配提升机 Integer staNo = wrkMast.getSourceStaNo(); liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo); if(liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); return false; } //申请提升机资源 boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, wrkMast.getWrkNo()); if(!applyForkLift) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止入库", wrkMast.getWrkNo()); return false; } return false; } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false; } //判断提升机是否处于入库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo()); return false; } //请求上级系统，是否允许入库 boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo()); if (!inMission) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo()); return false; } //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev()); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftNo); assignCommand.setTaskNo(wrkMast.getWrkNo()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id); wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.提升机搬运中 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } return false; } return true; } /** * 提升机出库 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean liftIoExecuteStepOut(WrkMast wrkMast) { //--------------------------------------提升机出库-----------------------------------------// //103.小车搬运完成 ==> 104.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) { //获取源站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo()); return false;//找不到站点 } if(wrkMast.getShuttleNo() != null) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if(shuttleProtocol == null) { return false; } if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) { //小车还在输送站点 //获取小车待机位 String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo()); if (standbyLocNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo()); return false; } //调度小车去待机位 boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo()); if (!dispatchShuttle) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo()); return false; } } else { //小车已不在输送站点位置，释放小车 wrkMast.setShuttleNo(null);//释放小车 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } if (!liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } Integer liftNo = wrkMast.getLiftNo(); if (liftNo == null) { //未分配提升机 Integer staNo = wrkMast.getStaNo(); liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo); if(liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); return false; } //申请提升机资源 boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo()); if(!applyForkLift) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止执行出库", wrkMast.getWrkNo()); return false; } return false; } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false; } //判断提升机是否处于出库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo()); return false; } //请求上级系统，是否允许出库 boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo()); if (!outMission) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo()); return false; } //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo()); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftNo); assignCommand.setTaskNo(wrkMast.getWrkNo()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id); wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中 wrkMast.setShuttleNo(null);//释放小车 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } return false; } return true; } /** * 货叉提升机任务完成 */ public synchronized void forkLiftFinished() { try { List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { //获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if(forkLiftThread == null) { continue; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } //提升机为等待确认且空闲 if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id && forkLiftProtocol.getWrkNo() != 0 ) { //将任务档标记为完成 WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo()); if (wrkMast != null) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) { //3.提升机搬运中 ==> 4.提升机搬运完成 wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts); wrkMast.setLiftNo(null);//释放提升机 forkLiftThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) { //104.提升机搬运中 ==> 109.出库完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts); wrkMast.setLiftNo(null);//释放提升机 forkLiftThread.setSyncTaskNo(0); redisUtil.set(RedisKeyType.FORK_LIFT_PUT_COMPLETE.key + forkLiftProtocol.getLiftNo(), wrkMast.getWmsWrkNo(), 60 * 3); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) { //306.提升机搬运中 ==> 307.提升机搬运完成 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts); forkLiftThread.setSyncTaskNo(0); } wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { forkLiftThread.reset(); News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.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={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo()); } }else { boolean checkPreviewDispatchForkLift = commonService.checkWorkNoContainMk(forkLiftProtocol.getWrkNo(), WrkIoType.FORKLIFT_MOVE.id); if (checkPreviewDispatchForkLift) { //属于提升机预调度移动任务 //无工作档支撑，直接确认完成 forkLiftThread.setSyncTaskNo(0); forkLiftThread.reset(); News.info("已确认提升机预调度移动任务。提升机号={}", forkLiftProtocol.getLiftNo()); } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 异常信息记录 */ public void recErr() { try { this.recShuttleErr(); this.recLiftErr(); } catch (Exception e) { News.error("recErr fail", e); } } /** * 四向穿梭车异常信息记录 */ private void recShuttleErr() { Date now = new Date(); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { // 获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } if (shuttleProtocol.getTaskNo() != 0) { //有任务 BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(device.getDeviceNo(), shuttleProtocol.getTaskNo()); // 有异常 if (latest == null) { if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) { WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo()); if (wrkMast == null) { continue; } int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode()); BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode); String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName(); BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 device.getDeviceNo(), // 四向穿梭车 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 errorCode, // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常", // 备注 JSON.toJSONString(shuttleProtocol) // 系统状态数据 ); if (!basShuttleErrLogService.insert(basShuttleErrLog)) { News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName); } } } else { // 异常修复 if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basShuttleErrLogService.updateById(latest)) { News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId()); } } } } } } /** * 提升机异常信息记录 */ private void recLiftErr() { Date now = new Date(); List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.ForkLift))); for (DeviceConfig device : forkliftList) { // 获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo()); if (forkLiftThread == null) { continue; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } if (forkLiftProtocol.getTaskNo() != 0) { //有任务 BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(device.getDeviceNo(), forkLiftProtocol.getTaskNo()); // 有异常 if (latest == null) { if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) { WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo()); if (wrkMast == null) { continue; } BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.getErrorCode()); String errName = basLiftErr==null? "未知异常":basLiftErr.getErrName(); BasLiftErrLog basLiftErrLog = new BasLiftErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 device.getDeviceNo(), // 提升机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 null, // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常", // 备注 JSON.toJSONString(forkLiftProtocol) // 系统状态数据 ); if (!basLiftErrLogService.insert(basLiftErrLog)) { News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName); } } } else { // 异常修复 if (forkLiftProtocol.getErrorCode() == null || forkLiftProtocol.getErrorCode() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basLiftErrLogService.updateById(latest)) { News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId()); } } } } } } /** * 四向穿梭车电量检测 ===>> 发起充电 */ public synchronized void loopShuttleCharge() { try { List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true)); if (charges.isEmpty()) { return;//无充电桩 } List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } //判断当前小车是否满足需要充电要求 if (!shuttleThread.isRequireCharge()) { continue; } WrkMast wrkMast1 = wrkMastService.selectShuttleWorking(shuttleProtocol.getShuttleNo()); if (wrkMast1 != null) { continue; } WrkMast wrkMast2 = wrkMastService.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo()); if (wrkMast2 != null) { continue; } WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo()); if (wrkMast != null) {//已有充电任务 continue; } //小车所在楼层 int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo()); BasShuttleCharge shuttleCharge = null; //搜索小车所在楼层有没有充电桩 for (BasShuttleCharge charge : charges) { if (lev != Utils.getLev(charge.getLocNo())) { continue;//小车和充电桩不在同一层 } if (charge.getStatus() == 0) { continue;//充电桩被禁用 } //小车和充电桩在同一层 if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) { shuttleCharge = charge; break; } } if (shuttleCharge == null) { //同楼层没有找到充电桩，找可用充电桩 //小车同楼层没有充电桩，只要充电桩可用就生成充电任务 for (BasShuttleCharge charge : charges) { if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) { //判断当前充电桩是否有小车，如有小车，不分配该充电桩 ArrayList<String> locs = new ArrayList<>(); locs.add(charge.getLocNo()); Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs); if(checkHasShuttle != null) { //当前充电桩有穿梭车，不分配该充电桩 continue; } if (charge.getStatus() == 0) { continue;//充电桩被禁用 } shuttleCharge = charge; break; } } } if (shuttleCharge == null) { continue; } String chargeLocNo = shuttleCharge.getLocNo(); wrkMast = new WrkMast(); wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId())); wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id)); wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts); wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电 wrkMast.setIoPri((double) 999); wrkMast.setLocNo(chargeLocNo); wrkMast.setShuttleNo(device.getDeviceNo()); wrkMast.setMemo("charge"); wrkMast.setAppeTime(new Date()); if (!wrkMastService.insert(wrkMast)) { News.error("保存{}号四向穿梭车充电任务失败!!!", device.getDeviceNo()); continue; } News.info("保存{}号四向穿梭车充电任务成功!!!", device.getDeviceNo()); } } catch (Exception e) { e.printStackTrace(); } } /** * 执行四向穿梭车充电任务 */ public synchronized void executeShuttleCharge() { try { //查询小车充电任务 List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); for (DeviceConfig device : shuttleList) { WrkMast wrkMast = wrkMastService.selectChargeWorking(device.getDeviceNo()); if(wrkMast == null) { continue; } boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩 if (!result1) { continue; } boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩 if (!result2) { continue; } boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电 if (!result3) { continue; } boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电 if (!result4) { continue; } boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩 if (!result5) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 小车前往充电桩 */ private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) { //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts); wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } //调度小车去充电桩 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo()); if (!dispatched) { return false; } wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } /** * 小车到达充电桩 */ private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //判断是否存在未完成的移动任务 WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if(moveWrk != null) { return false; } if (!wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) { return false; } //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } //小车开始充电 private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车已经在充电桩位置，下发充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_ON.id);//充电开 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true); assignCommand.setCommands(commands);//运行命令 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts); wrkMast.setModiTime(new Date()); if (!wrkMastService.updateById(wrkMast)) { return false; } //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知 return false; } return true; } //小车停止充电 private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isChargingCompleted()) { return false; } //小车已经在充电桩位置，下发停止充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_OFF.id);//充电关 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false); assignCommand.setCommands(commands);//运行命令 //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); return false; } return true; } //小车离开充电桩 private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk())); if(basShuttleCharge == null) { return false; } //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{ add(shuttleProtocol.getShuttleNo()); }}, new ArrayList<>()); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } //调度小车去待机位 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo()); if (!dispatched) { return false; } wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts); wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { return false; } return false; } return true; } /** * 执行小车移库任务 */ public synchronized void shuttleMoveExecute() { try { //查询小车移库任务 List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk(); for (WrkMast wrkMast : wrkMasts) { boolean stepMoveNearby = this.shuttleMoveExecuteStepMoveNearby(wrkMast);//小车移动到近点 if (!stepMoveNearby) { continue; } boolean stepMoveInLift = this.shuttleMoveExecuteStepMoveInLift(wrkMast);//小车迁入提升机中 if (!stepMoveInLift) { continue; } boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中 if (!stepLiftMove) { continue; } boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标 if (!updateShuttleLocation) { continue; } boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中 if (!stepMoveLoc) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 小车迁移-小车移动到近点中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepMoveNearby(WrkMast wrkMast) { //--------------------------------------小车移动到近点中-----------------------------------------// Date now = new Date(); //小车移动到近点 301.生成小车移库任务 ==> 302.小车移动至站点中 if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) { //目标库位和小车库位处于同一楼层，不需要通过提升机调度 wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中 } return false; } //获取源输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { return false;//找不到站点 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在小车", wrkMast.getWrkNo()); return false; } //获取目标输送站 ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftStaTarget == null) { return false;//找不到站点 } if (liftStaTarget.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo()); return false; } if (liftStaTarget.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //计算近点位置 String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1); if (endLocation == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车近点位置计算失败", wrkMast.getWrkNo()); return false; } //小车已在近点位置无需前往 if (shuttleProtocol.getCurrentLocNo().equals(endLocation)) { wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 303.小车移动至近点完成 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 wrkMastService.updateById(wrkMast); return true; } //获取小车到近点行走命令 List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.SHUTTLE), assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径解锁失败 } assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至近点中 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING); //触发通知 return false; } return false; } return true; } /** * 小车迁移-小车迁入提升机中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepMoveInLift(WrkMast wrkMast) { //--------------------------------------小车迁入提升机中-----------------------------------------// Date now = new Date(); //小车迁入提升机 303.小车移动至近点完成 ==> 304.小车迁入提升机中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY_COMPLETE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //获取源输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { return false;//找不到站点 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在小车", wrkMast.getWrkNo()); return false; } //获取目标输送站 ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftStaTarget == null) { return false;//找不到站点 } if (liftStaTarget.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo()); return false; } if (liftStaTarget.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo()); return false; } List<WrkMast> outWrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>() .eq("io_type", 101) .in("wrk_sts" , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts , WrkStsType.OUTBOUND_LIFT_RUN.sts , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts ) ); for (WrkMast outWrkMast : outWrkMastList) { if(Utils.getLev(outWrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，存在正在执行的小车出库任务，禁止移动至站点", wrkMast.getWrkNo()); return false; } } if (wrkMast.getLiftNo() == null) { //申请提升机资源(该任务需要换层必须提前独占提升机) boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo()); if(!applyForkLift) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止移动至站点", wrkMast.getWrkNo()); return false; } return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到提升机行走命令 List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径解锁失败 } assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//303.小车移动至近点完成 ==> 304.小车迁入提升机中 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING); //触发通知 return false; } return false; } return true; } /** * 小车迁移-提升机搬运中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) { //--------------------------------------提升机搬运中-----------------------------------------// Date now = new Date(); //提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo()); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false; } //获取源站 ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); //获取目标站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (sourceLiftSta == null || liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false;//缺少站点信息 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘，禁止派发", wrkMast.getWrkNo()); return false;//有托盘跳过 } //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev()); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(wrkMast.getLiftNo()); assignCommand.setTaskNo(wrkMast.getWrkNo()); assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id); wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } } return true; } /** * 小车迁移-提升机搬运完成更新小车坐标 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) { //--------------------------------------提升机搬运中-----------------------------------------// Date now = new Date(); //提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位 assignCommand.setLocNo(wrkMast.getLocNo());//目标库位 //更新小车坐标 ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo()); ArrayList<ShuttleCommand> commands = new ArrayList<>(); commands.add(command); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); } } return true; } /** * 小车迁移-小车移动到目标库位中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) { //--------------------------------------小车移动到目标库位中-----------------------------------------// Date now = new Date(); //小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //小车已经在目标库位，直接认定小车移动任务完成 if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setModiTime(now); wrkMastService.updateById(wrkMast); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位 assignCommand.setLocNo(wrkMast.getLocNo());//目标库位 //获取小车到目标库位命令 List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径计算失败 } assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); } } return true; } //自动切换出入库模式 public void autoSwitchForkLiftIOMode() { // List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() // .eq("device_type", String.valueOf(SlaveType.ForkLift))); // for (DeviceConfig device : forkliftList) { // Integer liftNo = device.getDeviceNo(); // ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); // if (forkLiftThread == null) { // continue; // } // ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); // if (forkLiftProtocol == null) { // continue; // } // // List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo); // if (liftAllStaNo.isEmpty()) { // continue; // } // // List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo); // if (conveyorBindLiftAllStaNo.isEmpty()) { // continue; // } // // //获取入库任务 // List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() // .in("sta_no", liftAllStaNo) // .in("wrk_sts" // , WrkStsType.NEW_INBOUND.sts // , WrkStsType.INBOUND_DEVICE_RUN.sts // , WrkStsType.INBOUND_LIFT_RUN.sts // , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts // , WrkStsType.INBOUND_SHUTTLE_RUN.sts // , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts // )); // // //获取出库任务 // List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() // .in("sta_no", conveyorBindLiftAllStaNo) // .in("wrk_sts" // , WrkStsType.NEW_OUTBOUND.sts // , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts // , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts // , WrkStsType.OUTBOUND_LIFT_RUN.sts // , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts // )); // // if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) { // //未知模式 // if (!inWrkMasts.isEmpty()) { // forkLiftThread.switchIOMode(ForkLiftIoModeType.IN); // } else if (!outWrkMasts.isEmpty()) { // forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT); // }else { // forkLiftThread.switchIOMode(ForkLiftIoModeType.IN); // } // } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) { // //入库模式 // if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) { // forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT); // } // } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { // //出库模式 // if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) { // forkLiftThread.switchIOMode(ForkLiftIoModeType.IN); // } // } // } } //出库任务预调度提升机 public void outTaskPreviewDispatchForkLift() { List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() .in("wrk_sts" , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts )); for (WrkMast wrkMast : wrkMasts) { if(wrkMast.getShuttleNo() == null){ continue; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } if(shuttleProtocol.getCurrentLocNo() == null){ continue; } //通过输送线站号获取提升机号 Integer liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo()); if (liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); continue; } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { continue; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } //存在调度锁 Object object = redisUtil.get(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo()); if (object != null) { continue; } //申请提升机资源 boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, null); if(!applyForkLift) { continue;//提升机已被绑定，不再执行预调度任务 } if (!forkLiftThread.isIdle()) { continue; } //提升机不在出库层 if (forkLiftProtocol.getLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) { continue; } //移动 int workNo = commonService.getWorkNo(WrkIoType.FORKLIFT_MOVE.id);//获取任务号 //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo())); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 ForkLiftAssignCommand assignCommand = new ForkLiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo()); assignCommand.setTaskNo(workNo); assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id); forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand); redisUtil.set(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo(), "lock", 30);//30秒不再调度 } } } src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -12,7 +12,7 @@ import com.zy.common.service.CommonService; import com.zy.common.utils.*; import com.zy.core.News; import com.zy.core.action.ForkLiftAction; import com.zy.core.action.LiftAction; import com.zy.core.action.ShuttleAction; import com.zy.core.cache.SlaveConnection; import com.zy.core.dispatcher.ShuttleDispatchUtils; @@ -67,7 +67,7 @@ @Autowired private ShuttleAction shuttleAction; @Autowired private ForkLiftAction forkLiftAction; private LiftAction liftAction; @Autowired private NotifyUtils notifyUtils; @Autowired @@ -649,65 +649,65 @@ if (liftNo == null) { //未分配提升机 Integer staNo = wrkMast.getSourceStaNo(); liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo); liftNo = LiftUtils.getConveyorBindLiftNo(staNo); if(liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); return false; } //申请提升机资源 boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, wrkMast.getWrkNo()); if(!applyForkLift) { boolean applyLift = liftAction.applyLift(liftNo, wrkMast.getWrkNo()); if(!applyLift) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止入库", wrkMast.getWrkNo()); return false; } return false; } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { if (!liftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false; } //判断提升机是否处于入库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) { if (!liftProtocol.getIOModeType().equals(LiftIoModeType.IN)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo()); return false; } //请求上级系统，是否允许入库 boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo()); boolean inMission = LiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo()); if (!inMission) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo()); return false; } //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev()); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev()); ArrayList<LiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftNo.shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue()); assignCommand.setLiftNo(liftNo); assignCommand.setTaskNo(wrkMast.getWrkNo()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id); wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.提升机搬运中 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); liftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } return false; } @@ -724,7 +724,7 @@ //103.小车搬运完成 ==> 104.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) { //获取源站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo()); return false;//找不到站点 @@ -784,51 +784,51 @@ return false; } //申请提升机资源 boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo()); if(!applyForkLift) { boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo()); if(!applyLift) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止执行出库", wrkMast.getWrkNo()); return false; } return false; } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { if (!liftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false; } //判断提升机是否处于出库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { if (!liftProtocol.getIOModeType().equals(LiftIoModeType.OUT)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo()); return false; } //请求上级系统，是否允许出库 boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo()); boolean outMission = LiftUtils.queryOutMission(wrkMast.getStaNo()); if (!outMission) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo()); return false; } //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo()); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo()); ArrayList<LiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftNo.shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue()); assignCommand.setLiftNo(liftNo); assignCommand.setTaskNo(wrkMast.getWrkNo()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id); wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中 wrkMast.setShuttleNo(null);//释放小车 @@ -836,7 +836,7 @@ wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); liftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } return false; } @@ -1486,14 +1486,9 @@ } //获取源输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { return false;//找不到站点 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { @@ -1502,14 +1497,9 @@ } //获取目标输送站 ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); LiftStaProtocol liftStaTarget = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftStaTarget == null) { return false;//找不到站点 } if (liftStaTarget.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo()); return false; } if (liftStaTarget.getHasCar()) { @@ -1524,7 +1514,7 @@ assignCommand.setAuto(true);//自动模式 //计算近点位置 String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.PATH_LOCK), null, null, 1); String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1); if (endLocation == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车近点位置计算失败", wrkMast.getWrkNo()); return false; @@ -1591,14 +1581,9 @@ } //获取源输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { return false;//找不到站点 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { @@ -1607,14 +1592,9 @@ } //获取目标输送站 ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); LiftStaProtocol liftStaTarget = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftStaTarget == null) { return false;//找不到站点 } if (liftStaTarget.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo()); return false; } if (liftStaTarget.getHasCar()) { @@ -1622,29 +1602,47 @@ return false; } List<WrkMast> outWrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>() .eq("io_type", 101) .in("wrk_sts" , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts , WrkStsType.OUTBOUND_LIFT_RUN.sts , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts ) ); for (WrkMast outWrkMast : outWrkMastList) { if(Utils.getLev(outWrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，存在正在执行的小车出库任务，禁止移动至站点", wrkMast.getWrkNo()); if (wrkMast.getLiftNo() == null) { //申请提升机资源 boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo()); if(!applyLift) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止移动", wrkMast.getWrkNo()); return false; } return false; } if (wrkMast.getLiftNo() == null) { //申请提升机资源(该任务需要换层必须提前独占提升机) boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo()); if(!applyForkLift) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，申请提升机资源失败，禁止移动至站点", wrkMast.getWrkNo()); LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo()); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!liftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false; } int targetLev = Utils.getLev(wrkMast.getLocNo()); if (liftProtocol.getLev() != targetLev) { //获取提升机命令 LiftCommand liftCommand = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), targetLev); ArrayList<LiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(wrkMast.getLiftNo()); assignCommand.setTaskNo(wrkMast.getWrkNo()); assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id); //下发任务 liftAction.assignWork(wrkMast.getLiftNo(), assignCommand); News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机在{}层，提升机不在小车层，调度移动中", wrkMast.getWrkNo(), liftProtocol.getLev(), wrkMast.getLiftNo()); return false; } @@ -1655,7 +1653,7 @@ assignCommand.setAuto(true);//自动模式 //获取小车到提升机行走命令 List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread); List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getCurrentLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径解锁失败 @@ -1689,23 +1687,23 @@ //提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo()); if (forkLiftThread == null) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo()); if (liftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { if (!liftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false; } //获取源站 ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); //获取目标站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (sourceLiftSta == null || liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false;//缺少站点信息 @@ -1717,23 +1715,23 @@ } //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev()); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev()); ArrayList<LiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue()); assignCommand.setLiftNo(wrkMast.getLiftNo()); assignCommand.setTaskNo(wrkMast.getWrkNo()); assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id); wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 305.小车迁入提升机完成 ==> 306.提升机搬运中 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); liftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } } return true; @@ -1928,91 +1926,6 @@ // } // } // } } //出库任务预调度提升机 public void outTaskPreviewDispatchForkLift() { List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>() .in("wrk_sts" , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts )); for (WrkMast wrkMast : wrkMasts) { if(wrkMast.getShuttleNo() == null){ continue; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } if(shuttleProtocol.getCurrentLocNo() == null){ continue; } //通过输送线站号获取提升机号 Integer liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo()); if (liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); continue; } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { continue; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } //存在调度锁 Object object = redisUtil.get(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo()); if (object != null) { continue; } //申请提升机资源 boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, null); if(!applyForkLift) { continue;//提升机已被绑定，不再执行预调度任务 } if (!forkLiftThread.isIdle()) { continue; } //提升机不在出库层 if (forkLiftProtocol.getLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) { continue; } //移动 int workNo = commonService.getWorkNo(WrkIoType.FORKLIFT_MOVE.id);//获取任务号 //获取提升机命令 ForkLiftCommand liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo())); ArrayList<ForkLiftCommand> commands = new ArrayList<>(); commands.add(liftCommand); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue()); assignCommand.setTaskNo((short) workNo); assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue()); forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand); redisUtil.set(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo(), "lock", 30);//30秒不再调度 } } } src/main/java/com/zy/asrs/ws/ConsoleWebSocket.java
@@ -5,6 +5,7 @@ import com.core.common.SpringUtils; import com.zy.asrs.controller.ConsoleController; import com.zy.asrs.controller.ForkLiftController; import com.zy.asrs.controller.LiftController; import com.zy.asrs.controller.ShuttleController; import com.zy.common.model.WebSocketMessage; import lombok.Data; @@ -71,13 +72,18 @@ @OnMessage public void onMessage(String message, Session session) throws IOException { ShuttleController shuttleController = SpringUtils.getBean(ShuttleController.class); ForkLiftController liftController = SpringUtils.getBean(ForkLiftController.class); ForkLiftController forkLiftController = SpringUtils.getBean(ForkLiftController.class); LiftController liftController = SpringUtils.getBean(LiftController.class); ConsoleController consoleController = SpringUtils.getBean(ConsoleController.class); WebSocketMessage socketMessage = JSON.parseObject(message, WebSocketMessage.class); if (socketMessage.getUrl().equals("/shuttle/table/shuttle/state")) { R result = shuttleController.shuttleStateTable(); socketMessage.setData(JSON.toJSONString(result)); this.sendMessage(JSON.toJSONString(socketMessage)); } else if (socketMessage.getUrl().equals("/forkLift/table/lift/state")) { R result = forkLiftController.liftStateTable(); socketMessage.setData(JSON.toJSONString(result)); this.sendMessage(JSON.toJSONString(socketMessage)); } else if (socketMessage.getUrl().equals("/lift/table/lift/state")) { R result = liftController.liftStateTable(); socketMessage.setData(JSON.toJSONString(result)); src/main/java/com/zy/common/model/LiftPointModel.java
New file @@ -0,0 +1,12 @@ package com.zy.common.model; import lombok.Data; @Data public class LiftPointModel { private Integer row; private Integer bay; } src/main/java/com/zy/common/utils/LiftUtils.java
New file @@ -0,0 +1,247 @@ package com.zy.common.utils; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.SpringUtils; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.service.DeviceConfigService; import com.zy.asrs.utils.Utils; import com.zy.common.model.NavigateNode; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.SlaveType; import com.zy.core.model.protocol.ForkLiftStaProtocol; import com.zy.core.model.protocol.LiftStaProtocol; import com.zy.core.thread.ForkLiftThread; import com.zy.core.thread.LiftThread; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; import java.util.ArrayList; import java.util.HashMap; import java.util.List; /** * 提升机工具类 */ public class LiftUtils { //获取提升机所有站点 public static List<Integer> getLiftAllStaNo(Integer liftNo) { List<Integer> list = new ArrayList<>(); LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return list; } for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) { list.add(liftStaProtocol.getStaNo()); } return list; } //获取提升机所绑定的输送线所有站点 public static List<Integer> getConveyorBindLiftAllStaNo(Integer liftNo) { List<Integer> list = new ArrayList<>(); ConfigService configService = SpringUtils.getBean(ConfigService.class); if (configService == null) { return list; } Config conveyorLiftBindConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "conveyorLiftBind")); if(conveyorLiftBindConfig == null) { return list; } List<JSONObject> val = JSON.parseArray(conveyorLiftBindConfig.getValue(), JSONObject.class); if (val.isEmpty()) { return list; } for (JSONObject data : val) { if(data.getInteger("liftNo").equals(liftNo)) { list.add(data.getInteger("staNo")); } } return list; } //获取提升机站点 public static LiftStaProtocol getLiftStaByStaNo(Integer staNo) { DeviceConfigService deviceConfigService = SpringUtils.getBean(DeviceConfigService.class); List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Lift))); for (DeviceConfig device : liftList) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo()); if (liftThread == null) { return null; } for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) { if (liftStaProtocol.getStaNo().equals(staNo)) { return liftStaProtocol; } } } return null; } //获取提升机站点 public static LiftStaProtocol getLiftStaByLev(Integer liftNo, Integer lev) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return null; } for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) { if (liftStaProtocol.getLev().equals(lev)) { return liftStaProtocol; } } return null; } //获取提升机输送站及其前一站节点 public static List<NavigateNode> getLiftStaNodes(Integer staNo) { List<NavigateNode> targetNodes = new ArrayList<>(); //获取目标站 LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByStaNo(staNo); if (targetLiftSta == null) { return null;//找不到站点 } NavigateNode targetNode = NavigatePositionConvert.locNoToNode(targetLiftSta.getLocNo());//目标节点 String targetLastLocNo = Utils.getLocNo(Utils.getRow(targetLiftSta.getLocNo()) - 1, Utils.getBay(targetLiftSta.getLocNo()), Utils.getLev(targetLiftSta.getLocNo()));//目标节点前一站 NavigateNode targetLastNode = NavigatePositionConvert.locNoToNode(targetLastLocNo);//目标节点前一站 targetNodes.add(targetNode); targetNodes.add(targetLastNode); return targetNodes; } //通过输送线站号获取对应提升机号 public static Integer getConveyorBindLiftNo(Integer staNo) { ConfigService configService = SpringUtils.getBean(ConfigService.class); if (configService == null) { return null; } Config conveyorLiftBindConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "conveyorLiftBind")); if(conveyorLiftBindConfig == null) { return null; } List<JSONObject> list = JSON.parseArray(conveyorLiftBindConfig.getValue(), JSONObject.class); if (list.isEmpty()) { return null; } for (JSONObject data : list) { if(data.getInteger("staNo").equals(staNo)) { return data.getInteger("liftNo"); } } return null; } //请求上级系统，是否允许出库 //查询是否有出库权限 public static boolean queryOutMission(Integer staNo) { ConfigService configService = SpringUtils.getBean(ConfigService.class); if (configService == null) { return false; } Config queryOutMissionPathEnableConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryOutMissionPathEnable")); if (queryOutMissionPathEnableConfig != null) { String queryOutMissionPathEnable = queryOutMissionPathEnableConfig.getValue(); if (!queryOutMissionPathEnable.equals("Y")) { return true;//关闭查询出库权限功能 } } Config superSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "superSystemUri")); if (superSystemUriConfig == null) { return false; } String superSystemUri = superSystemUriConfig.getValue(); Config queryOutMissionPathConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryOutMissionPath")); if (queryOutMissionPathConfig == null) { return false; } String missionPath = queryOutMissionPathConfig.getValue(); try { HashMap<String, Object> data = new HashMap<>(); data.put("staNo", staNo); String response = new HttpHandler.Builder() .setUri(superSystemUri) .setPath(missionPath) .setJson(JSON.toJSONString(data)) .build() .doPost(); if (response.equals("ok")) { return true;//有出库权限 } }catch (Exception e){ e.printStackTrace(); } return false; } //请求上级系统，是否允许入库 //查询是否有入库权限 public static boolean queryInMission(Integer sourceStaNo, Integer liftNo, String superTaskNo) { ConfigService configService = SpringUtils.getBean(ConfigService.class); if (configService == null) { return false; } Config queryInMissionPathEnableConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryInMissionPathEnable")); if (queryInMissionPathEnableConfig != null) { String queryInMissionPathEnable = queryInMissionPathEnableConfig.getValue(); if (!queryInMissionPathEnable.equals("Y")) { return true;//关闭查询入库权限功能 } } Config superSystemUriConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "superSystemUri")); if (superSystemUriConfig == null) { return false; } String superSystemUri = superSystemUriConfig.getValue(); Config queryInMissionPathConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "queryInMissionPath")); if (queryInMissionPathConfig == null) { return false; } String missionPath = queryInMissionPathConfig.getValue(); try { HashMap<String, Object> data = new HashMap<>(); data.put("staNo", sourceStaNo); data.put("liftNo", liftNo); data.put("superTaskNo", superTaskNo); String response = new HttpHandler.Builder() .setUri(superSystemUri) .setPath(missionPath) .setJson(JSON.toJSONString(data)) .build() .doPost(); if (response.equals("ok")) { return true;//有入库权限 } } catch (Exception e) { e.printStackTrace(); } return false; } } src/main/java/com/zy/core/MainProcess.java
@@ -1,10 +1,12 @@ package com.zy.core; import com.zy.asrs.service.impl.ForkMainServiceImpl; import com.zy.asrs.service.impl.MainServiceImpl; import com.zy.core.properties.SystemProperties; import lombok.Data; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Component; import javax.annotation.PreDestroy; @@ -18,8 +20,12 @@ @Component public class MainProcess { @Value("${deviceExecuteConfig.liftType}") private String liftType; @Autowired private MainServiceImpl mainService; @Autowired private ForkMainServiceImpl forkMainService; // 所属线程 private Thread thread; // 频率 @@ -29,6 +35,14 @@ * =====>> 开始工作 */ public void start(){ if(liftType.equals("ForkLift")){ initForkMain(); }else { initMain(); } } private void initMain() { thread = new Thread(() -> { while (!Thread.currentThread().isInterrupted()) { try { @@ -43,9 +57,6 @@ //初始化实时地图 mainService.initRealtimeBasMap(); //出库任务预调度提升机 mainService.outTaskPreviewDispatchForkLift(); // 入库 ===>> 四向穿梭车入库作业下发 mainService.shuttleInExecute(); @@ -80,6 +91,58 @@ thread.start(); } private void initForkMain() { thread = new Thread(() -> { while (!Thread.currentThread().isInterrupted()) { try { // 间隔 Thread.sleep(300); // 系统运行状态判断 if (!SystemProperties.WCS_RUNNING_STATUS.get()) { continue; } //初始化实时地图 forkMainService.initRealtimeBasMap(); //出库任务预调度提升机 forkMainService.outTaskPreviewDispatchForkLift(); // 入库 ===>> 四向穿梭车入库作业下发 forkMainService.shuttleInExecute(); // 出库 ===>> 四向穿梭车出库作业下发 forkMainService.shuttleOutExecute(); // //四向穿梭车任务完成 // mainService.shuttleFinished(); //执行移库任务 forkMainService.shuttleLocMoveExecute(); //货叉提升机任务 forkMainService.forkLiftIoExecute(); //货叉提升机任务完成 forkMainService.forkLiftFinished(); //执行小车移动任务 forkMainService.shuttleMoveExecute(); // 异常信息记录 forkMainService.recErr(); // 穿梭车 ===>> 小车电量检测充电 forkMainService.loopShuttleCharge(); forkMainService.executeShuttleCharge(); //自动切换出入库模式 forkMainService.autoSwitchForkLiftIOMode(); // 间隔 Thread.sleep(200); } catch (Exception e) { e.printStackTrace(); } } }); thread.start(); } @PreDestroy public void shutDown(){ if (thread != null) thread.interrupt(); src/main/java/com/zy/core/ServerBootstrap.java
@@ -14,6 +14,7 @@ import com.zy.core.enums.SlaveType; import com.zy.core.task.ShuttleExecuteScheduler; import com.zy.core.thread.TrafficControlThread; import com.zy.core.thread.impl.NyLiftThread; import com.zy.core.thread.impl.NyShuttleThread; import com.zy.core.thread.impl.TrafficControlImplThread; import com.zy.core.thread.impl.ZyForkLiftThread; @@ -73,6 +74,12 @@ for (DeviceConfig forkLift : forkLiftList) { MessageQueue.init(SlaveType.ForkLift, forkLift.getDeviceNo()); } // 初始化提升机mq List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Lift))); for (DeviceConfig lift : liftList) { MessageQueue.init(SlaveType.Lift, lift.getDeviceNo()); } // 初始化四向穿梭车mq List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Shuttle))); @@ -114,6 +121,33 @@ } } // 初始化提升机 News.info("初始化提升机........................................................"); List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() .eq("device_type", String.valueOf(SlaveType.Lift))); for (DeviceConfig deviceConfig : liftList) { BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>().eq("lift_no", deviceConfig.getDeviceNo())); if (basLift == null) { throw new CoolException("未配置提升机数据"); } ThreadHandler thread = null; if (deviceConfig.getThreadImpl().equals("NyLiftThread")) { thread = new NyLiftThread(deviceConfig, basLift.getPoint$(), basLift.getStationList$(), redisUtil); } else { throw new CoolException("未知的线程实现"); } new Thread(thread).start(); SlaveConnection.put(SlaveType.Lift, deviceConfig.getDeviceNo(), thread); if (deviceConfig.getFake() == 1) { fakeDevices.add(deviceConfig); }else { allDevices.add(deviceConfig); } } // 初始化四向穿梭车 News.info("初始化四向穿梭车......................................................"); List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>() src/main/java/com/zy/core/action/ForkLiftAction.java
@@ -12,9 +12,7 @@ import com.zy.core.enums.RedisKeyType; import com.zy.core.enums.SlaveType; import com.zy.core.model.CommandResponse; import com.zy.core.model.command.ForkLiftCommand; import com.zy.core.model.command.LiftAssignCommand; import com.zy.core.model.command.LiftRedisCommand; import com.zy.core.model.command.*; import com.zy.core.model.protocol.ForkLiftProtocol; import com.zy.core.thread.ForkLiftThread; import org.springframework.beans.factory.annotation.Autowired; @@ -33,7 +31,7 @@ @Autowired private BasLiftOptService basLiftOptService; public synchronized boolean assignWork(Integer liftNo, LiftAssignCommand assignCommand) { public synchronized boolean assignWork(Integer liftNo, ForkLiftAssignCommand assignCommand) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return false; @@ -44,14 +42,14 @@ return false; } LiftRedisCommand redisCommand = new LiftRedisCommand(); ForkLiftRedisCommand redisCommand = new ForkLiftRedisCommand(); redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号 redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号 redisCommand.setCommandStep(0);//命令执行步序 redisCommand.setAssignCommand(assignCommand);//命令 //任务数据保存到redis if (redisUtil.set(RedisKeyType.FORK_LIFT_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) { forkLiftThread.setSyncTaskNo(assignCommand.getTaskNo().intValue()); forkLiftThread.setSyncTaskNo(assignCommand.getTaskNo()); return true; } return false; @@ -68,7 +66,7 @@ // return false; // } LiftRedisCommand redisCommand = JSON.parseObject(obj.toString(), LiftRedisCommand.class); ForkLiftRedisCommand redisCommand = JSON.parseObject(obj.toString(), ForkLiftRedisCommand.class); if (redisCommand == null) { return false; } @@ -88,7 +86,7 @@ return false; } LiftAssignCommand assignCommand = redisCommand.getAssignCommand(); ForkLiftAssignCommand assignCommand = redisCommand.getAssignCommand(); int commandStep = redisCommand.getCommandStep(); if (commandStep == 0) { src/main/java/com/zy/core/action/LiftAction.java
New file @@ -0,0 +1,184 @@ package com.zy.core.action; import com.alibaba.fastjson.JSON; import com.zy.asrs.entity.BasLiftOpt; import com.zy.asrs.entity.WrkMast; import com.zy.asrs.service.BasLiftOptService; import com.zy.asrs.service.WrkMastService; import com.zy.common.utils.RedisUtil; import com.zy.core.News; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.LiftTaskModeType; import com.zy.core.enums.RedisKeyType; import com.zy.core.enums.SlaveType; import com.zy.core.model.CommandResponse; import com.zy.core.model.command.LiftAssignCommand; import com.zy.core.model.command.LiftCommand; import com.zy.core.model.command.LiftRedisCommand; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.thread.LiftThread; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; import java.util.Date; import java.util.List; @Component public class LiftAction { @Autowired private RedisUtil redisUtil; @Autowired private WrkMastService wrkMastService; @Autowired private BasLiftOptService basLiftOptService; public synchronized boolean assignWork(Integer liftNo, LiftAssignCommand assignCommand) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } LiftRedisCommand redisCommand = new LiftRedisCommand(); redisCommand.setLiftNo(assignCommand.getLiftNo());//提升机号 redisCommand.setWrkNo(assignCommand.getTaskNo());//工作号 redisCommand.setCommandStep(0);//命令执行步序 redisCommand.setAssignCommand(assignCommand);//命令 //任务数据保存到redis if (redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + assignCommand.getTaskNo(), JSON.toJSONString(redisCommand))) { liftThread.setSyncTaskNo(assignCommand.getTaskNo()); return true; } return false; } public synchronized boolean executeWork(Integer liftNo, Integer taskNo) { Object obj = redisUtil.get(RedisKeyType.LIFT_WORK_FLAG.key + taskNo); if (obj == null) { return false; } LiftRedisCommand redisCommand = JSON.parseObject(obj.toString(), LiftRedisCommand.class); if (redisCommand == null) { return false; } LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } List<LiftCommand> commands = redisCommand.getAssignCommand().getCommands(); if (commands.isEmpty()) { return false; } LiftAssignCommand assignCommand = redisCommand.getAssignCommand(); int commandStep = redisCommand.getCommandStep(); if (commandStep == 0) { //取出命令 LiftCommand command = commands.get(commandStep); //判断提升机是否空闲 if (!liftThread.isDeviceIdle()) { return false; } // 下发命令 CommandResponse response = write(command, liftNo); //保存命令日志 BasLiftOpt basLiftOpt = new BasLiftOpt(); basLiftOpt.setWrkNo(taskNo); basLiftOpt.setLiftNo(liftNo); basLiftOpt.setCommand(JSON.toJSONString(command)); basLiftOpt.setSystemStatus(JSON.toJSONString(liftProtocol)); basLiftOpt.setDeviceWrk(String.valueOf(command.getTaskNo())); basLiftOpt.setSendTime(new Date());//指令下发时间 //保存命令流水 basLiftOptService.insert(basLiftOpt); if (!response.getResult()) { News.error("提升机命令下发失败，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command)); return false; } else { News.info("提升机命令下发成功，提升机号={}，任务数据={}", command.getLiftNo(), JSON.toJSON(command)); } commandStep++; //更新redis数据 redisCommand.setCommandStep(commandStep); // 更新redis数据 redisUtil.set(RedisKeyType.LIFT_WORK_FLAG.key + taskNo, JSON.toJSONString(redisCommand)); } return true; } private synchronized CommandResponse write(LiftCommand command, Integer liftNo) { CommandResponse response = new CommandResponse(false); if (null == command) { News.error("提升机写入命令为空"); response.setMessage("提升机写入命令为空"); return response; } LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return response; } if (command.getMode() == LiftTaskModeType.PICK_PUT.id) { response = liftThread.pickAndPut(command); } else if (command.getMode() == LiftTaskModeType.SHUTTLE_SWITCH.id) { response = liftThread.shuttleSwitch(command); } else if (command.getMode() == LiftTaskModeType.MOVE.id) { response = liftThread.move(command); } return response; } //申请提升机资源 public synchronized boolean applyLift(Integer liftNo, Integer waitBindTaskNo) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!liftThread.isIdle()) { return false; } List<WrkMast> wrkMasts = wrkMastService.selectLiftWrkMast(liftNo); if (!wrkMasts.isEmpty()) { return false; } if (waitBindTaskNo != null) { WrkMast wrkMast = wrkMastService.selectByWorkNo(waitBindTaskNo); if (wrkMast == null) { return false; } wrkMast.setLiftNo(liftNo); wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); } return true; } } src/main/java/com/zy/core/enums/ForkLiftConfirmType.java
File was deleted src/main/java/com/zy/core/enums/LiftIoModeType.java
New file @@ -0,0 +1,41 @@ package com.zy.core.enums; //提升机出入库模式 public enum LiftIoModeType { NONE(0, "未知"), IN(1, "入库"), OUT(2, "出库"), ; public Integer id; public String desc; LiftIoModeType(Integer id, String desc) { this.id = id; this.desc = desc; } public static LiftIoModeType get(Integer id) { if (null == id) { return null; } for (LiftIoModeType type : LiftIoModeType.values()) { if (type.id.equals(id)) { return type; } } return null; } public static LiftIoModeType get(LiftIoModeType type) { if (null == type) { return null; } for (LiftIoModeType type2 : LiftIoModeType.values()) { if (type2 == type) { return type2; } } return null; } } src/main/java/com/zy/core/enums/LiftProtocolStatusType.java
New file @@ -0,0 +1,42 @@ package com.zy.core.enums; public enum LiftProtocolStatusType { NONE(-1, "离线"), IDLE(0, "空闲"), WORKING(1, "作业中"), WAITING(98, "等待确认"), ERROR(99, "故障"), ; public Integer id; public String desc; LiftProtocolStatusType(Integer id, String desc) { this.id = id; this.desc = desc; } public static LiftProtocolStatusType get(Integer id) { if (null == id) { return NONE; } for (LiftProtocolStatusType type : LiftProtocolStatusType.values()) { if (type.id.equals(id)) { return type; } } return NONE; } public static LiftProtocolStatusType get(LiftProtocolStatusType type) { if (null == type) { return NONE; } for (LiftProtocolStatusType type2 : LiftProtocolStatusType.values()) { if (type2 == type) { return type2; } } return NONE; } } src/main/java/com/zy/core/enums/LiftTaskModeType.java
New file @@ -0,0 +1,47 @@ package com.zy.core.enums; //提升机任务模式 public enum LiftTaskModeType { NONE(0, "未知"), PICK_PUT(1, "取放货"), SHUTTLE_SWITCH(2, "小车换层"), MOVE(3, "提升机移动"), RESET(9996, "复位"), SWITCH_IN(9997, "切换入库模式"), SWITCH_OUt(9998, "切换出库模式"), READ_STATUS(9999, "读取状态"), ; public Integer id; public String desc; LiftTaskModeType(Integer id, String desc) { this.id = id; this.desc = desc; } public static LiftTaskModeType get(Integer id) { if (null == id) { return null; } for (LiftTaskModeType type : LiftTaskModeType.values()) { if (type.id.equals(id)) { return type; } } return null; } public static LiftTaskModeType get(LiftTaskModeType type) { if (null == type) { return null; } for (LiftTaskModeType type2 : LiftTaskModeType.values()) { if (type2 == type) { return type2; } } return null; } } src/main/java/com/zy/core/enums/RedisKeyType.java
@@ -6,6 +6,9 @@ SHUTTLE_FLAG("shuttle_"), FORK_LIFT_WORK_FLAG("fork_lift_wrk_no_"), FORK_LIFT_FLAG("fork_lift_"), LIFT_WORK_FLAG("lift_wrk_no_"), LIFT_FLAG("lift_"), MAP("realtimeBasMap_"), BASIC_MAP("basicMap_"), QUEUE_SHUTTLE("queue_shuttle_"), @@ -32,10 +35,12 @@ //设备消息KEY DEVICE_SHUTTLE_MSG_KEY_("deviceShuttleMsgKey_"), DEVICE_FORK_LIFT_MSG_KEY_("deviceForkLiftMsgKey_"), DEVICE_LIFT_MSG_KEY_("deviceLiftMsgKey_"), //设备指令消息KEY DEVICE_SHUTTLE_COMMAND_MSG_KEY("deviceShuttleCommandMsgKey_"), DEVICE_FORK_LIFT_COMMAND_MSG_KEY("deviceForkLiftCommandMsgKey_"), DEVICE_LIFT_COMMAND_MSG_KEY("deviceLiftCommandMsgKey_"), //设备配置文件 DEVICE_CONFIG("deviceConfig"), src/main/java/com/zy/core/model/command/ForkLiftAssignCommand.java
New file @@ -0,0 +1,40 @@ package com.zy.core.model.command; import lombok.Data; import java.util.List; @Data public class ForkLiftAssignCommand { /** * 提升机号 */ private Integer liftNo = 0; /** * 任务号 */ private Integer taskNo = 0; /** * 命令list */ private List<ForkLiftCommand> commands; /** * 作业类型 */ private Integer taskMode = 0; /** * 是否自动，true：自动模式，false：手动模式 */ private Boolean auto = true; /** * 提升机楼层 */ private Integer lev; } src/main/java/com/zy/core/model/command/ForkLiftRedisCommand.java
New file @@ -0,0 +1,22 @@ package com.zy.core.model.command; import lombok.Data; import java.io.Serializable; @Data public class ForkLiftRedisCommand implements Serializable { //提升机号 private Integer liftNo; //工作号 private Integer wrkNo; //命令执行步序 private Integer commandStep; //命令 private ForkLiftAssignCommand assignCommand; } src/main/java/com/zy/core/model/command/LiftAssignCommand.java
@@ -10,22 +10,22 @@ /** * 提升机号 */ private Short liftNo = 0; private Integer liftNo = 0; /** * 任务号 */ private Short taskNo = 0; private Integer taskNo = 0; /** * 命令list */ private List<ForkLiftCommand> commands; private List<LiftCommand> commands; /** * 作业类型 */ private Short taskMode = 0; private Integer taskMode = 0; /** * 是否自动，true：自动模式，false：手动模式 src/main/java/com/zy/core/model/command/LiftCommand.java
@@ -12,83 +12,31 @@ /** * 提升机号 */ private Short liftNo = 0; private Integer liftNo; /** * 任务号 */ private Short taskNo = 0; private Integer taskNo; /** * 开始运行 * 任务模式 */ private Short run; private Integer mode; /** * 目标位置 * 取货数据 */ private Short distPosition; private Integer pick; /** * 运行速度 * 放货数据 */ private Short speed; /** * 二层高度设定(提升机与输送线平层) */ private Short height2; /** * 三层高度设定(实际的二层) */ private Short height3; /** * 四层高度设定(实际的三层) */ private Short height4; /** * 五层高度设定(实际的四层) */ private Short height5; /** * 提升机锁定 */ private Boolean liftLock; /** * 操作输送站点号 */ private Short operaStaNo; /** * 输送线联动转动方向，0：停止转动，1：正向转动，2：反向转动 */ private Integer rotationDire; /** * 输送线ID */ private Integer devpId; /** * 目标站 */ private Short staNo; private Integer put; /** * 命令是否完成,默认false未完成 */ private Boolean complete = false; public Short getLiftLockShortValue() { if (liftLock == null) { return (short) 0; } return liftLock ? (short) 1 : (short) 0; } } src/main/java/com/zy/core/model/command/LiftRedisCommand.java
@@ -8,10 +8,10 @@ public class LiftRedisCommand implements Serializable { //提升机号 private Short liftNo; private Integer liftNo; //工作号 private Short wrkNo; private Integer wrkNo; //命令执行步序 private Integer commandStep; src/main/java/com/zy/core/model/protocol/ForkLiftStaProtocol.java
@@ -4,7 +4,7 @@ import lombok.extern.slf4j.Slf4j; /** * 提升机站点 * 货叉提升机站点 */ @Slf4j @Data src/main/java/com/zy/core/model/protocol/LiftProtocol.java
New file @@ -0,0 +1,252 @@ package com.zy.core.model.protocol; import com.core.common.Cools; import com.core.common.SpringUtils; import com.zy.asrs.entity.BasLiftErr; import com.zy.asrs.service.BasLiftErrService; import com.zy.common.utils.RedisUtil; import com.zy.core.enums.*; import lombok.Data; import lombok.extern.slf4j.Slf4j; /** * 提升机 */ @Slf4j @Data public class LiftProtocol implements Cloneable { /** * 提升机号 */ private Integer liftNo; /** * 模式0手动 1单机 2联机 */ private Integer model; /** * 任务号 */ private Integer taskNo = 0; /** * PLC任务号 */ private Integer plcTaskNo; /** * 任务状态 */ private Integer protocolStatus = LiftProtocolStatusType.NONE.id; /** * 任务状态枚举 */ private LiftProtocolStatusType protocolStatusType = LiftProtocolStatusType.NONE; /** * 任务模式 */ private Integer taskMode = LiftTaskModeType.NONE.id; /** * 任务模式枚举 */ private LiftTaskModeType modeType = LiftTaskModeType.NONE; /** * 取货数据 */ private Integer pick; /** * 放货数据 */ private Integer put; /** * 有托盘 */ private Boolean hasTray; /** * 有小车 */ private Boolean hasCar; /** * 出入库模式 */ private Integer iOMode = LiftIoModeType.NONE.id; /** * 出入库模式枚举 */ private LiftIoModeType iOModeType = LiftIoModeType.NONE; /** * 故障码 */ private Integer errorCode; /** * 当前层 */ private Integer lev; /** * 作业标记 */ private Boolean pakMk = false; /** * 指令下发时间 */ private Long sendTime = 0L; /** * 日志采集时间 */ private Long deviceDataLog = System.currentTimeMillis(); /** * 扩展字段 */ private Object extend; /** * 设置任务状态 */ public void setProtocolStatus(Integer status) { this.protocolStatus = status; this.protocolStatusType = LiftProtocolStatusType.get(status); } /** * 设置任务状态 */ public void setProtocolStatus(LiftProtocolStatusType status) { this.protocolStatus = status.id; this.protocolStatusType = status; } /** * 设置任务模式 */ public void setTaskMode(Integer taskMode) { this.taskMode = taskMode; this.modeType = LiftTaskModeType.get(taskMode); } /** * 设置任务模式 */ public void setMode(LiftTaskModeType taskMode) { this.taskMode = taskMode.id; this.modeType = taskMode; } /** * 设置出入库模式 */ public void setIOMode(Integer ioMode) { this.iOMode = ioMode; this.iOModeType = LiftIoModeType.get(ioMode); } /** * 设置出入库模式 */ public void setIOMode(LiftIoModeType ioMode) { this.iOMode = ioMode.id; this.iOModeType = ioMode; } /** * 错误码 */ public String getErrCode$() { if (this.errorCode == null) { return ""; } BasLiftErrService basLiftErrService = SpringUtils.getBean(BasLiftErrService.class); BasLiftErr basLiftErr = basLiftErrService.selectById(this.errorCode); if (basLiftErr == null) { return String.valueOf(this.errorCode); } return basLiftErr.getErrName(); } public Integer getTaskNo() { RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class); if (null != redisUtil) { Object o = redisUtil.get(RedisKeyType.LIFT_FLAG.key + this.liftNo); if (!Cools.isEmpty(o)) { this.taskNo = Integer.parseInt(String.valueOf(o)); } } return this.taskNo == null ? 0 : this.taskNo; } public synchronized void setSyncTaskNo(Integer taskNo) { RedisUtil redisUtil = SpringUtils.getBean(RedisUtil.class); if (null != redisUtil) { redisUtil.set(RedisKeyType.LIFT_FLAG.key + this.liftNo, taskNo); this.taskNo = taskNo; } } public String getModel$() { if (this.model == null) { return ""; } String name = ""; if (this.model == 0) { name = "手动"; } else if (this.model == 1) { name = "单机"; }else if (this.model == 2) { name = "联机"; } return name; } public String getProtocolStatus$() { if (this.protocolStatus == null) { return ""; } return LiftProtocolStatusType.get(this.protocolStatus).desc; } public String getTaskMode$() { if (this.taskMode == null) { return ""; } return LiftTaskModeType.get(this.taskMode).desc; } public String getIOMode$() { if (this.iOMode == null) { return ""; } return LiftIoModeType.get(this.iOMode).desc; } @Override public LiftProtocol clone() { try { return (LiftProtocol) super.clone(); } catch (CloneNotSupportedException e) { e.printStackTrace(); } return null; } } src/main/java/com/zy/core/thread/LiftThread.java
New file @@ -0,0 +1,57 @@ package com.zy.core.thread; import com.zy.common.ExecuteSupport; import com.zy.core.ThreadHandler; import com.zy.core.enums.*; import com.zy.core.model.CommandResponse; import com.zy.core.model.command.LiftCommand; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.model.protocol.LiftStaProtocol; import java.util.List; public interface LiftThread extends ThreadHandler { LiftProtocol getStatus();//获取提升机状态 LiftProtocol getStatus(boolean clone);//获取提升机状态 List<LiftStaProtocol> getLiftStaProtocols(); CommandResponse pickAndPut(LiftCommand command);//取放货指令 CommandResponse shuttleSwitch(LiftCommand command);//小车换层 CommandResponse move(LiftCommand command);//小车移动 CommandResponse switchIOMode(LiftCommand command);//切换出入库模式 CommandResponse reset();//复位 boolean isIdle();//是否空闲 boolean isDeviceIdle();//设备是否空闲 boolean isDeviceIdle(ExecuteSupport support);//设备是否空闲 boolean setProtocolStatus(LiftProtocolStatusType status);//设置工作状态 boolean setSyncTaskNo(Integer taskNo);//设置工作号 int generateDeviceTaskNo(int taskNo, LiftTaskModeType type);//生成硬件设备工作号 String getCurrentLocNo(); //***************获取命令***************** LiftCommand getPickAndPutCommand(Integer taskNo, Integer pick, Integer put);//取放货指令 LiftCommand getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put);//小车换层 LiftCommand getMoveCommand(Integer taskNo, Integer pick, Integer put);//提升机移动 LiftCommand getSwitchIOCommand(Integer taskNo, LiftIoModeType mode); LiftCommand getResetCommand(Integer taskNo); } src/main/java/com/zy/core/thread/impl/NyLiftThread.java
New file @@ -0,0 +1,695 @@ package com.zy.core.thread.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.DateUtils; import com.core.common.SpringUtils; import com.zy.asrs.entity.BasLift; import com.zy.asrs.entity.DeviceConfig; import com.zy.asrs.entity.DeviceDataLog; import com.zy.asrs.service.BasLiftService; import com.zy.asrs.service.DeviceDataLogService; import com.zy.asrs.utils.Utils; import com.zy.common.ExecuteSupport; import com.zy.common.model.LiftPointModel; import com.zy.common.utils.RedisUtil; import com.zy.core.News; import com.zy.core.action.LiftAction; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.*; import com.zy.core.model.CommandResponse; import com.zy.core.model.DeviceCommandMsgModel; import com.zy.core.model.DeviceMsgModel; import com.zy.core.model.LiftStation; import com.zy.core.model.command.LiftCommand; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.model.protocol.LiftStaProtocol; import com.zy.core.thread.LiftThread; import com.zy.core.utils.DeviceMsgUtils; import lombok.Data; import lombok.extern.slf4j.Slf4j; import java.io.IOException; import java.text.MessageFormat; import java.util.ArrayList; import java.util.Date; import java.util.List; import java.util.TreeSet; @Slf4j @SuppressWarnings("all") public class NyLiftThread implements LiftThread { private DeviceConfig device; private LiftProtocol liftProtocol; private RedisUtil redisUtil; LiftPointModel liftPointModel; private List<LiftStaProtocol> liftStaProtocols = new ArrayList<>(); private List<DeviceMsgModel> readResultList = new ArrayList<>(); private List<DeviceMsgModel> resultList = new ArrayList<>(); public NyLiftThread(DeviceConfig device, LiftPointModel liftPointModel, List<LiftStation> stationList, RedisUtil redisUtil) { this.device = device; this.redisUtil = redisUtil; this.liftPointModel = liftPointModel; //初始化站点 for (LiftStation station : stationList) { LiftStaProtocol liftStaProtocol = new LiftStaProtocol(); liftStaProtocol.setStaNo(station.getStaNo());//站点号 liftStaProtocol.setLev(station.getLev());//站点楼层 String locNo = Utils.getLocNo(station.getRow(), station.getBay(), station.getLev()); liftStaProtocol.setLocNo(locNo);//站点库位号 liftStaProtocol.setLiftNo(station.getLiftNo());//提升机号 liftStaProtocols.add(liftStaProtocol); } } @Override public boolean connect() { return true; } @Override public void close() { } @Override public void run() { News.info("{}号提升机线程启动", device.getDeviceNo()); this.connect(); //设备读取 Thread readThread = new Thread(() -> { while (true) { try { listenMessageFromRedis(); readStatus(); Thread.sleep(100); } catch (Exception e) { log.error("LiftThread Fail", e); } } }); readThread.start(); while (true) { try { execute(); } catch (Exception e) { e.printStackTrace(); } } } private void execute() { LiftAction liftAction = null; try { liftAction = SpringUtils.getBean(LiftAction.class); }catch (Exception e){} if (liftAction == null) { return; } Object object = redisUtil.get(RedisKeyType.LIFT_FLAG.key + device.getDeviceNo()); if (object == null) { return; } Integer taskNo = Integer.valueOf(String.valueOf(object)); if (taskNo != 0) { //存在任务需要执行 boolean result = liftAction.executeWork(device.getDeviceNo(), taskNo); } } private void readStatus() { try { //获取提升机数据 DeviceMsgUtils deviceMsgUtils = null; try { deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class); }catch (Exception e){ } if(deviceMsgUtils == null){ return; } LiftCommand readStatusCommand = getReadStatusCommand(); //指令超过2条，不再下发任务状态请求 TreeSet<String> deviceCommandMsgListKey = deviceMsgUtils.getDeviceCommandMsgListKey(SlaveType.Lift, device.getDeviceNo()); if (deviceCommandMsgListKey.size() < 2) { requestCommand(readStatusCommand);//请求状态 } if (this.readResultList.isEmpty()) { return; } DeviceMsgModel deviceMsgModel = this.readResultList.get(0); this.readResultList.remove(0); JSONObject deviceMsg = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg())); if (!deviceMsg.getString("result").equals("success")) { return; } JSONObject data = deviceMsg.getJSONObject("deviceStatus"); if (null == liftProtocol) { liftProtocol = new LiftProtocol(); liftProtocol.setLiftNo(device.getDeviceNo()); liftProtocol.setProtocolStatus(LiftProtocolStatusType.NONE); InnerLiftExtend innerLiftExtend = new InnerLiftExtend(); liftProtocol.setExtend(innerLiftExtend); } //----------读取提升机状态----------- //模式 liftProtocol.setModel(data.getInteger("model")); //PLC任务号 liftProtocol.setPlcTaskNo(data.getInteger("plcTaskNo")); //任务状态 liftProtocol.setProtocolStatus(data.getInteger("protocolStatus")); //任务模式 liftProtocol.setTaskMode(data.getInteger("taskMode")); //取货数据 liftProtocol.setPick(data.getInteger("pick")); //放货数据 liftProtocol.setPut(data.getInteger("put")); //有托盘 liftProtocol.setHasTray(data.getInteger("hasTray") == 1); //有小车 liftProtocol.setHasCar(data.getInteger("hasCar") == 1); //出入库模式 liftProtocol.setIOMode(data.getInteger("iOMode")); //故障码 liftProtocol.setErrorCode(data.getInteger("errorCode")); //当前层 liftProtocol.setLev(data.getInteger("lev")); //************补充扩展字段************* InnerLiftExtend liftExtend = (InnerLiftExtend) liftProtocol.getExtend(); liftProtocol.setExtend(liftExtend); liftExtend.setFrontOverrun(data.getBoolean("frontOverrun")); liftExtend.setBackOverrun(data.getBoolean("backOverrun")); liftExtend.setLeftOverrun(data.getBoolean("leftOverrun")); liftExtend.setRightOverrun(data.getBoolean("rightOverrun")); liftExtend.setOverHeight(data.getBoolean("overHeight")); liftExtend.setOverWeight(data.getBoolean("overWeight")); JSONArray trayList = data.getJSONArray("trayList"); for (int i = 0; i < trayList.size(); i++) { int hasTray = (int) trayList.get(i); LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i); liftStaProtocol.setHasTray(hasTray == 1); } JSONArray carList = data.getJSONArray("carList"); for (int i = 0; i < carList.size(); i++) { int hasCar = (int) carList.get(i); LiftStaProtocol liftStaProtocol = liftStaProtocols.get(i); liftStaProtocol.setHasCar(hasCar == 1); } if (System.currentTimeMillis() - liftProtocol.getDeviceDataLog() > 1000 * 5) { //采集时间超过5s，保存一次数据记录 //保存数据记录 DeviceDataLogService deviceDataLogService = SpringUtils.getBean(DeviceDataLogService.class); DeviceDataLog deviceDataLog = new DeviceDataLog(); deviceDataLog.setOriginData(JSON.toJSONString(data)); deviceDataLog.setWcsData(JSON.toJSONString(liftProtocol)); deviceDataLog.setType("lift"); deviceDataLog.setDeviceNo(liftProtocol.getLiftNo()); deviceDataLog.setCreateTime(new Date()); deviceDataLogService.insert(deviceDataLog); //更新采集时间 liftProtocol.setDeviceDataLog(System.currentTimeMillis()); } //将提升机状态保存至数据库 BasLiftService basLiftService = SpringUtils.getBean(BasLiftService.class); BasLift basLift = basLiftService.selectOne(new EntityWrapper<BasLift>() .eq("lift_no", device.getDeviceNo())); if (basLift == null) { basLift = new BasLift(); //提升机号 basLift.setLiftNo(liftProtocol.getLiftNo()); basLift.setStatus(1); basLiftService.insert(basLift); } //任务号 basLift.setWrkNo(liftProtocol.getTaskNo()); //修改时间 basLift.setUpdateTime(new Date()); //设备状态 basLift.setDeviceStatus(JSON.toJSONString(liftProtocol)); if (basLiftService.updateById(basLift)) { OutputQueue.LIFT.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), liftProtocol.getLiftNo())); } } catch (Exception e) { e.printStackTrace(); OutputQueue.LIFT.offer(MessageFormat.format("【{0}】读取提升机状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), device.getDeviceNo(), device.getIp(), device.getPort())); } } @Override public LiftProtocol getStatus(boolean clone) { if (this.liftProtocol == null) { return null; } return clone ? this.liftProtocol.clone() : this.liftProtocol; } @Override public List<LiftStaProtocol> getLiftStaProtocols() { return this.liftStaProtocols; } @Override public LiftProtocol getStatus() { return getStatus(true); } @Override public CommandResponse pickAndPut(LiftCommand command) { CommandResponse response = new CommandResponse(false); try { //发出请求 String resultKey = requestCommand(command); //查询请求结果 JSONObject result = queryCommandStatus(resultKey); if (result == null) { return response;//请求失败 } if(!result.getString("result").equals("success")) { return response;//请求失败 } this.liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间 response.setMessage(JSON.toJSONString(result)); response.setResult(true); return response; } catch (Exception e) { e.printStackTrace(); response.setMessage(e.getMessage()); return response; } } @Override public CommandResponse shuttleSwitch(LiftCommand command) { CommandResponse response = new CommandResponse(false); try { //发出请求 String resultKey = requestCommand(command); //查询请求结果 JSONObject result = queryCommandStatus(resultKey); if (result == null) { return response;//请求失败 } if(!result.getString("result").equals("success")) { return response;//请求失败 } this.liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间 response.setMessage(JSON.toJSONString(result)); response.setResult(true); return response; } catch (Exception e) { e.printStackTrace(); response.setMessage(e.getMessage()); return response; } } @Override public CommandResponse move(LiftCommand command) { CommandResponse response = new CommandResponse(false); try { //发出请求 String resultKey = requestCommand(command); //查询请求结果 JSONObject result = queryCommandStatus(resultKey); if (result == null) { return response;//请求失败 } if(!result.getString("result").equals("success")) { return response;//请求失败 } this.liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间 response.setMessage(JSON.toJSONString(result)); response.setResult(true); return response; } catch (Exception e) { e.printStackTrace(); response.setMessage(e.getMessage()); return response; } } @Override public CommandResponse switchIOMode(LiftCommand command) { CommandResponse response = new CommandResponse(false); try { //发出请求 String resultKey = requestCommand(command); //查询请求结果 JSONObject result = queryCommandStatus(resultKey); if (result == null) { return response;//请求失败 } if(!result.getString("result").equals("success")) { return response;//请求失败 } this.liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间 response.setMessage(JSON.toJSONString(result)); response.setResult(true); return response; } catch (Exception e) { e.printStackTrace(); response.setMessage(e.getMessage()); return response; } } @Override public CommandResponse reset() { CommandResponse response = new CommandResponse(false); try { LiftCommand resetCommand = getResetCommand(9999); //发出请求 String resultKey = requestCommand(resetCommand); //查询请求结果 JSONObject result = queryCommandStatus(resultKey); if (result == null) { return response;//请求失败 } if(!result.getString("result").equals("success")) { return response;//请求失败 } this.liftProtocol.setSendTime(System.currentTimeMillis());//指令下发时间 response.setMessage(JSON.toJSONString(result)); response.setResult(true); return response; } catch (Exception e) { e.printStackTrace(); response.setMessage(e.getMessage()); return response; } } @Override public boolean isIdle() { if (this.liftProtocol.getTaskNo() == null || this.liftProtocol.getPlcTaskNo() == null || this.liftProtocol.getProtocolStatus() == null || this.liftProtocol.getModel() == null || this.liftProtocol.getErrorCode() == null || this.liftProtocol.getExtend() == null ) { return false; } InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend(); boolean res = this.liftProtocol.getProtocolStatus() == LiftProtocolStatusType.IDLE.id && this.liftProtocol.getPlcTaskNo() == 0 && this.liftProtocol.getTaskNo() == 0 && this.liftProtocol.getModel() == 2 && this.liftProtocol.getErrorCode() == 0 && !extend.getFrontOverrun() && !extend.getBackOverrun() && !extend.getLeftOverrun() && !extend.getRightOverrun() && !extend.getOverHeight() && !extend.getOverWeight() ; return res; } @Override public boolean isDeviceIdle() { return isDeviceIdle(null); } @Override public boolean isDeviceIdle(ExecuteSupport support) { if (null != support) { Boolean judgement = support.judgement(); if (judgement != null && !judgement) { return true; } } if (this.liftProtocol.getProtocolStatus() == null || this.liftProtocol.getModel() == null || this.liftProtocol.getErrorCode() == null || this.liftProtocol.getExtend() == null ) { return false; } InnerLiftExtend extend = (InnerLiftExtend) this.liftProtocol.getExtend(); boolean res = this.liftProtocol.getProtocolStatus() == LiftProtocolStatusType.IDLE.id && this.liftProtocol.getModel() == 2 && this.liftProtocol.getErrorCode() == 0 && !extend.getFrontOverrun() && !extend.getBackOverrun() && !extend.getLeftOverrun() && !extend.getRightOverrun() && !extend.getOverHeight() && !extend.getOverWeight() ; return res; } @Override public boolean setProtocolStatus(LiftProtocolStatusType status) { this.liftProtocol.setProtocolStatus(status); return true; } @Override public boolean setSyncTaskNo(Integer taskNo) { this.liftProtocol.setSyncTaskNo(taskNo); return true; } @Override public int generateDeviceTaskNo(int taskNo, LiftTaskModeType type) { return taskNo; } @Override public String getCurrentLocNo() { if (liftProtocol.getLev() == null) { return null; } return Utils.getLocNo(liftPointModel.getRow(), liftPointModel.getBay(), liftProtocol.getLev()); } @Override public LiftCommand getPickAndPutCommand(Integer taskNo, Integer pick, Integer put) { LiftCommand command = new LiftCommand(); command.setLiftNo(device.getDeviceNo()); command.setTaskNo(taskNo); command.setMode(LiftTaskModeType.PICK_PUT.id); command.setPick(pick); command.setPut(put); return command; } @Override public LiftCommand getShuttleSwitchCommand(Integer taskNo, Integer pick, Integer put) { LiftCommand command = new LiftCommand(); command.setLiftNo(device.getDeviceNo()); command.setTaskNo(taskNo); command.setMode(LiftTaskModeType.SHUTTLE_SWITCH.id); command.setPick(pick); command.setPut(put); return command; } @Override public LiftCommand getMoveCommand(Integer taskNo, Integer pick, Integer put) { LiftCommand command = new LiftCommand(); command.setLiftNo(device.getDeviceNo()); command.setTaskNo(taskNo); command.setMode(LiftTaskModeType.MOVE.id); command.setPick(pick); command.setPut(put); return command; } @Override public LiftCommand getSwitchIOCommand(Integer taskNo, LiftIoModeType mode) { LiftCommand command = new LiftCommand(); command.setLiftNo(device.getDeviceNo()); if (mode.equals(LiftIoModeType.IN)) { command.setMode(LiftIoModeType.IN.id); } else { command.setMode(LiftIoModeType.OUT.id); } return command; } @Override public LiftCommand getResetCommand(Integer taskNo) { LiftCommand command = new LiftCommand(); command.setLiftNo(device.getDeviceNo()); command.setMode(LiftTaskModeType.RESET.id); return command; } //获取读状态信息命令 private LiftCommand getReadStatusCommand() { LiftCommand command = new LiftCommand(); command.setLiftNo(device.getDeviceNo()); command.setMode(LiftTaskModeType.READ_STATUS.id); return command; } //发出请求 private String requestCommand(LiftCommand command) throws IOException { try { DeviceMsgUtils deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class); if (deviceMsgUtils == null) { return null; } //压缩数据包 JSONObject data = JSON.parseObject(JSON.toJSONString(command)); DeviceCommandMsgModel commandMsgModel = new DeviceCommandMsgModel(); commandMsgModel.setDeviceId(device.getDeviceNo()); commandMsgModel.setDeviceType(String.valueOf(SlaveType.Lift)); commandMsgModel.setCommand(data); String key = deviceMsgUtils.sendDeviceCommand(SlaveType.Lift, device.getDeviceNo(), commandMsgModel); return key; }catch (Exception e) { e.printStackTrace(); } return null; } private JSONObject queryCommandStatus(String resultKey) { // 获取服务器响应 // 尝试50次 JSONObject result = null; for (int i = 0; i < 50; i++) { result = getRequestBody(resultKey); if (result == null) { try { Thread.sleep(500); } catch (Exception e) { e.printStackTrace(); } }else { break; } } return result; } public JSONObject getRequestBody(String resultKey) { try { // 获取服务器响应 JSONObject result = null; int idx = -1; for (int i = 0; i < resultList.size(); i++) { DeviceMsgModel deviceMsgModel = resultList.get(i); if(deviceMsgModel.getResultKey().equals(resultKey)){ idx = i; result = JSON.parseObject(JSON.toJSONString(deviceMsgModel.getDeviceMsg())); break; } } if (result == null) { return null;//无响应结果 } resultList.remove(idx); return result; } catch (Exception e) { return null; } } private void listenMessageFromRedis() { try { DeviceMsgUtils deviceMsgUtils = null; try { deviceMsgUtils = SpringUtils.getBean(DeviceMsgUtils.class); }catch (Exception e){ } if (deviceMsgUtils == null) { return; } DeviceMsgModel deviceMsg = deviceMsgUtils.getDeviceMsg(SlaveType.Lift, device.getDeviceNo()); if(deviceMsg == null){ return; } if (deviceMsg.getDeviceMsgType().equals("status")) { readResultList.add(deviceMsg); }else { resultList.add(deviceMsg); } } catch (Exception e) { e.printStackTrace(); } } /** * 扩展字段 */ @Data private class InnerLiftExtend { /** * 前超限 */ private Boolean frontOverrun; /** * 后超限 */ private Boolean backOverrun; /** * 左超限 */ private Boolean leftOverrun; /** * 右超限 */ private Boolean rightOverrun; /** * 超高 */ private Boolean overHeight; /** * 超重 */ private Boolean overWeight; } } src/main/java/com/zy/core/utils/DeviceMsgUtils.java
@@ -130,6 +130,8 @@ return RedisKeyType.DEVICE_SHUTTLE_MSG_KEY_.key + deviceId + "_"; } else if (deviceType.equals(SlaveType.ForkLift)) { return RedisKeyType.DEVICE_FORK_LIFT_MSG_KEY_.key + deviceId + "_"; } else if (deviceType.equals(SlaveType.Lift)) { return RedisKeyType.DEVICE_LIFT_MSG_KEY_.key + deviceId + "_"; }else { throw new CoolException("设备类型未定义"); } @@ -144,6 +146,8 @@ return RedisKeyType.DEVICE_SHUTTLE_COMMAND_MSG_KEY.key + deviceId + "_"; } else if (deviceType.equals(SlaveType.ForkLift)) { return RedisKeyType.DEVICE_FORK_LIFT_COMMAND_MSG_KEY.key + deviceId + "_"; } else if (deviceType.equals(SlaveType.Lift)) { return RedisKeyType.DEVICE_LIFT_COMMAND_MSG_KEY.key + deviceId + "_"; }else { throw new CoolException("设备类型未定义"); } src/main/webapp/views/index.html
@@ -19,7 +19,8 @@ <div class="nav"> <ul class="cl-effect-4"> <li><a id="console" onclick="nav(this.id)" class="nav-select" href="#">主控图</a></li> <li><a id="forklift" onclick="nav(this.id)" class="nav-unselect" href="#">提升机</a></li> <li><a id="forklift" onclick="nav(this.id)" class="nav-unselect" href="#">货叉提升机</a></li> <li><a id="lift" onclick="nav(this.id)" class="nav-unselect" href="#">提升机</a></li> <li><a id="shuttle" onclick="nav(this.id)" class="nav-unselect" href="#">四向穿梭车</a></li> <li><a id="admin" onclick="nav(this.id)" class="nav-unselect" href="#">管理后台</a></li> </ul> src/main/webapp/views/lift_old.html
