999

zhangc

2025-04-20 6dea42fd8f806807982866c1821a66da725eabca

999

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

@@ -352,7 +352,7 @@
                if (wrkMast.getStaNo() == 1026) {
                    locNo = "1200305";
                }
                boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
                boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
                if (!dispatchShuttle) {
                    News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                    continue;
@@ -399,18 +399,10 @@
            if (wrkMast.getStaNo() == 1024) {
                locNo = "1200305";
            }
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleNoLift(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
            if (!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                continue;
            } else {
                WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo());
                if (wrkMast1 == null) {
                    News.info("{}任务，调度小车失败,终于发现了", wrkMast.getWrkNo());
                    continue;
                } else {
                    News.info("{}任务，无提升机处调度小车成功", wrkMast.getWrkNo());
                }
            }

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
@@ -883,7 +875,7 @@
            short staNo = 1012;
            if (wrkMast.getSourceStaNo() == 1022) {
                staNo = 1023;
            } else if (wrkMast.getSourceStaNo() == 1031 || wrkMast.getSourceStaNo() == 1032) {
            } else if ( wrkMast.getSourceStaNo() == 1032) {
                staNo = 1032;
            }

@@ -972,26 +964,14 @@
                    News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
                }
                if (!station.get(1022).getBarcode().equals(wrkMast.getBarcode())) {
                    News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                    return false;
                }
            } else if (sourceStaNo == 1012) {
                if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                    News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
                }
                if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
                    News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                    return false;
                }
            } else if (sourceStaNo == 1032 || sourceStaNo == 1031) {
            } else if (sourceStaNo == 1032 ) {
                if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                    News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
                }
                if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) {
                    News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode());
                    return false;
                }
            }
@@ -999,7 +979,7 @@
            String locNo = "0200305";
            if (wrkMast.getSourceStaNo() == 1012) {
                locNo = "0200301";
            } else if (wrkMast.getSourceStaNo() == 1032 || wrkMast.getSourceStaNo() == 1031) {
            } else if (wrkMast.getSourceStaNo() == 1032 ) {
                locNo = "0200308";
            }
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT");
@@ -1013,7 +993,7 @@
                //TODO
                // lev = 105;
                lev = 1021;
            } else if (wrkMast.getSourceStaNo() == 1032 || wrkMast.getSourceStaNo() == 1031) {
            } else if ( wrkMast.getSourceStaNo() == 1031) {
                lev = 1031;
            }
            //获取提升机命令
@@ -1103,7 +1083,7 @@

    public synchronized void liftOutExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021));
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021, 1031));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
                if (!step1) {
@@ -1147,7 +1127,7 @@
            String locNo = "0200305";
            if (wrkMast.getStaNo() == 1011) {
                locNo = "0200301";
            } else if (wrkMast.getStaNo() == 1032) {
            } else if (wrkMast.getStaNo() == 1031) {
                locNo = "0200308";
            }
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_LIFT");
@@ -2169,10 +2149,10 @@
        WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
        if (mainWrk != null && mainWrk.getIoType() == 1) {
            //入库
            noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo());
            noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getLocNo()));
        } else if (mainWrk != null && mainWrk.getIoType() == 101) {
            //出库
            noLiftOutService.shuttleMoveExecute(wrkMast);
            noLiftOutService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo(), Utils.getLev(mainWrk.getSourceLocNo()));
        }
    }


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

@@ -66,13 +66,13 @@
     * 从没有提升机侧入库，有两种情况，一种入库到同层，一种入库到不同层，则需要提升机
     * @param wrkMast
     */
    public void shuttleMoveExecute(WrkMast wrkMast, Integer staNo) {
    public void shuttleMoveExecute(WrkMast wrkMast, Integer staNo, Integer lev) {
        boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//小车迁移-呼叫小车至取货点
        if (!stepMoveSta) {
            return;
        }
        //判断目标库位是否在1层或5层
        if ((Utils.getLev(wrkMast.getSourceLocNo()) == 1 && staNo == 1015) || (Utils.getLev(wrkMast.getSourceLocNo()) == 5 && staNo == 1026)) {
        if ((lev == 1 && staNo == 1015) || (lev == 5 && staNo == 1026)) {
            //直接入库
            boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
            if (!stepMoveLoc) {

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

@@ -60,14 +60,16 @@
    @Autowired
    private LiftAction liftAction;

    @Autowired
    private MainServiceImpl mainService;

    /**
     * 从没有提升机侧出库，有两种情况，一种1，5库到同层，一种非1，5库到1，5，则需要提升机
     * @param wrkMast
     */
    public void shuttleMoveExecute(WrkMast wrkMast) {
    public void shuttleMoveExecute(WrkMast wrkMast, Integer staNo, Integer lev) {
        //判断目标库位是否在1层或5层
        if (Utils.getLev(wrkMast.getSourceLocNo()) == 1 || Utils.getLev(wrkMast.getSourceLocNo()) == 5) {
        if ((lev == 1 & staNo == 1013) || (lev == 5 && staNo == 1024)) {
            boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle2(wrkMast);//呼叫小车至取货点
            if (!stepMoveSta) {
                return;
@@ -145,12 +147,11 @@

            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
            if (wrkMast1 != null) {
                StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast1.getStaNo());
                if (!staProtocol2.isOutEnable()) {
                if (!mainService.isOutEnable(devpThread, wrkMast1.getStaNo())) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出111", wrkMast.getWrkNo(), wrkMast1.getStaNo());
                    return false;
                }
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast1.getStaNo() + 1);
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast1.getStaNo() + 2);
                if (staProtocol.isLoading()) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物111", wrkMast.getWrkNo(), wrkMast1.getStaNo() + 1);
                    return false;
@@ -396,42 +397,32 @@
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
            if (shuttleThread == null) {
                News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                News.info("{}任务，{}号小车，小车线程不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getShuttleNo());
                return false;
            }

            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null) {
                News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                News.info("{}任务，{}号小车，小车对象不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getShuttleNo());
                return false;
            }

            if (wrkMast.getLiftNo() == null) {
                News.info("{}任务，未绑定提升机，禁止派发", wrkMast.getWrkNo());
                return false;
            }

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                News.info("{}号提升机不存在", wrkMast.getLiftNo());
                return false;
            }

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
            LiftProtocol liftProtocol = liftThread.getStatus();
            if (liftProtocol == null) {
                News.info("{}号提升机对象不存在", wrkMast.getLiftNo());
                News.info("{}号提升机对象不存在", 1);
                return false;
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(wrkMast.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (liftWrkMast != null) {
                News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1);
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            if (!liftThread.isIdle()) {
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo());
                News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), 1);
                return false;
            }

@@ -831,12 +822,11 @@
            }
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
            if (wrkMast1 != null) {
                StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast1.getStaNo());
                if (!staProtocol2.isOutEnable()) {
                if (!mainService.isOutEnable(devpThread, wrkMast1.getStaNo())) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出222", wrkMast.getWrkNo(), wrkMast1.getStaNo());
                    return false;
                }
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast1.getStaNo() + 1);
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast1.getStaNo() + 2);
                if (staProtocol.isLoading()) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物222", wrkMast.getWrkNo(), wrkMast1.getStaNo());
                    return false;

 src/main/java/com/zy/asrs/task/WrkMastScheduler.java

@@ -216,7 +216,7 @@
                    main.setShuttleNo(wrkMast.getShuttleNo());
                    main.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
                    //那时候托盘在提升机里，则需要锁住
                    if (!(main.getStaNo() != 1013 && main.getStaNo() != 1024)) {
                    if (!(main.getStaNo() == 1013 || main.getStaNo() == 1024)) {
                        main.setLiftNo(1);
                    }
                }

 src/main/java/com/zy/core/dispatcher/ShuttleDispatchUtils.java

@@ -278,20 +278,11 @@
                    sameShuttles.put(-1, shuttleThread);
                    continue;
                }
                //TODO
                List<NavigateNode> currentShuttlePath;
                if (Utils.getLev(currentLocNo) != Utils.getLev(locNo)) {
                    //当前穿梭车线程到目标地点距离
                    currentShuttlePath = navigateUtils.calc(currentLocNo, sourceLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图
                    if (currentShuttlePath == null) {
                        continue;
                    }
                } else {
                    //当前穿梭车线程到目标地点距离
                    currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图
                    if (currentShuttlePath == null) {
                        continue;
                    }

                //当前穿梭车线程到目标地点距离
                List<NavigateNode> currentShuttlePath = navigateUtils.calc(currentLocNo, locNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleNo, Utils.getLev(currentLocNo)), null);//搜索空闲穿梭车，使用正常通道地图
                if (currentShuttlePath == null) {
                    continue;
                }

                Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
@@ -367,6 +358,103 @@
        return false;
    }

    /**
     * 调度车辆
     */
    public boolean searchDispatchShuttleNoLift(Integer wrkNo, String sourceLocNo, String locNo, String flag) {
        ArrayList<ShuttleThread> diffLev = new ArrayList<>();//不同楼层的穿梭车

        for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
            //获取四向穿梭车线程
            ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
            ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
            if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
                continue;
            }

            if (checkChargeWrk(shuttle.getId())) {
                continue;//存在充电任务，过滤小车
            }

            if (!shuttleThread.isIdle()) {
                continue;//小车忙碌中
            }

            BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", shuttle.getId()));
            if (basShuttle != null) {
                if (basShuttle.getStatus() == 0) {
                    continue;//小车被禁用
                }
            }
            diffLev.add(shuttleThread);
        }

        //寻找离任务楼层最近的穿梭车(不考虑跨楼层小车移动距离)
        if (!diffLev.isEmpty()) {
            Map<Integer, ShuttleThread> diffShuttles = new TreeMap<>();//自然排序小车Map
            //获取任务
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
            if (wrkMast1 != null) {
                int lev = 1;
                boolean b = wrkMast1.getIoType() < 100;
                if (b) {
                    //ruku
                    if (wrkMast1.getStaNo() == 1015) {
                        lev = 1;
                    } else {
                        lev = 5;
                    }
                } else {
                    lev = Utils.getLev(wrkMast1.getSourceLocNo());//目标楼层
                }


                //检测目标楼层车数量是否小于允许的最大数量
                boolean checkDispatchMaxNum = checkDispatchMaxNum(lev);
                if (!checkDispatchMaxNum) {
                    News.info("{}任务，{}层，已经达到当前楼层调度车辆最大值", wrkMast1.getWrkNo(), lev);
                    return false;
                }

                for (ShuttleThread shuttleThread : diffLev) {
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);

                    if (wrkMast1.getIoType() == 101 && currentLocNo.equals(locNo)) {
                        //车辆当前位置已经是目标库位，调度该车
                        //给工作档绑定小车号
                        diffShuttles.put(-1, shuttleThread);
                    } else {
                        //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                        int currentValue = Math.abs(lev - currentLev);
                        if (diffShuttles.get(currentValue) != null) {
                            diffShuttles.put(currentValue + 1, shuttleThread);
                        } else {
                            diffShuttles.put(currentValue, shuttleThread);
                        }
                    }
                }

                //尝试调度跨楼层小车
                for (Map.Entry<Integer, ShuttleThread> entry : diffShuttles.entrySet()) {
                    ShuttleThread shuttleThread = entry.getValue();
                    ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
                    Integer shuttleNo = shuttleProtocol.getShuttleNo();
                    //尝试调度小车
                    boolean result = shuttleMoveGenerate(wrkNo, sourceLocNo, locNo, shuttleNo, flag, false);
                    if (result) {
                        return true;//调度成功
                    }
                }
            }
        }

        News.info("{}目标库位没有搜索到可用穿梭车", locNo);
        return false;
    }


    /**
     * 小车迁移任务生成

 src/main/java/com/zy/core/thread/impl/FyDevpThread.java

@@ -147,13 +147,11 @@
                if (null == staProtocol) {
                    staProtocol = new StaProtocol();
                    staProtocol.setSiteId(siteId);

                    if (siteId == 1015) {
                        staProtocol.setLocNo("1200301");
                    } else if (siteId == 1026) {
                        staProtocol.setLocNo("1200305");
                    }

                    station.put(siteId, staProtocol);
                }
                Thread.sleep(300);
@@ -167,16 +165,18 @@
                staProtocol.setBackErr(status[5]);
                staProtocol.setLeftErr(status[6]);
                staProtocol.setRightErr(status[7]);
                staProtocol.setHighErr(status[8]);
                staProtocol.setWeightErr(status[9]);
                staProtocol.setLow(status[10]);
                staProtocol.setHigh(status[11]);

                boolean[] status2 = siemensS7Net.getByteTransform().TransBool(result.Content, i * 26 + 1, 2);
                staProtocol.setHighErr(status2[0]);
                staProtocol.setWeightErr(status2[1]);
                staProtocol.setLow(status2[2]);
                staProtocol.setHigh(status2[3]);
//                staProtocol.setInEnable(status[13]); // 可入
//                staProtocol.setOutEnable(status[14]);// 可出


                staProtocol.setWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i * 26 + 2));     // 工作号
                staProtocol.setStaNo((short) siemensS7Net.getByteTransform().TransInt16(result.Content, i * 26 + 4));   // 目标站
                staProtocol.setStaNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i * 26 + 4));   // 目标站
                staProtocol.setFinishWorkNo(siemensS7Net.getByteTransform().TransInt16(result.Content, i * 26 + 6)); //已完成工作号
                staProtocol.setBarcode(siemensS7Net.getByteTransform().TransString(result.Content, i * 26 + 10, 12, "UTF-8").trim()); //条码
                staProtocol.setWeight(siemensS7Net.getByteTransform().TransInt32(result.Content, i * 26 + 22)); //重量

 src/main/webapp/views/pipeline.html

@@ -99,10 +99,10 @@
                        <th>有物</th>
                        <th>可入</th>
                        <th>可出</th>
<!--                        <th>出入库模式</th>-->
                        <th>出入库模式</th>
                        <th>完结工作号</th>
                        <th>目标站</th>
                        <th>提升机到位信号</th>
<!--                        <th>提升机到位信号</th>-->
<!--                        <th>高低信号</th>-->
                    </tr>
                    </thead>
@@ -289,7 +289,7 @@
                        setVal(tr.children("td").eq(6), table[i-1].outInModel);
                        setVal(tr.children("td").eq(7), table[i-1].finishWorkNo);
                        setVal(tr.children("td").eq(8), table[i-1].staNo);
                        setVal(tr.children("td").eq(9), table[i-1].liftArrival);
                        // setVal(tr.children("td").eq(9), table[i-1].liftArrival);
                        //setVal(tr.children("td").eq(10), table[i-1].locType1);
                    }
                } else if (res.code === 403){