999

zhangc

2025-04-19 7990946c72ea48638718cf638c1fb743b239f93e

999

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

@@ -184,8 +184,8 @@
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
                        String barcode = staProtocol.getBarcode();
                        // 判断重复工作档
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode));
                        if (wrkMast != null) {
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
                        if (wrkMast != null && wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
                            News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
                            //判断时提升机侧，还是无提升机测
                            staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
@@ -195,6 +195,8 @@
                            wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
                            wrkMast.setModiTime(new Date());
                            wrkMastService.updateById(wrkMast);
                        } else if (wrkMast != null && wrkMast.getWrkSts() != WrkStsType.NEW_INBOUND.sts) {
                            continue;
                        }
                        try {
                            String wmsUrl = "192.168.10.201:8080/fyxcwms";
@@ -202,7 +204,7 @@
                            param.setBarcode(barcode);
                            param.setIoType(1);
                            param.setSourceStaNo(inSta.getStaNo());
                            param.setLocType1(staProtocol.getLocType1().shortValue());
                            param.setLocType1((short) 1);
                            String response = new HttpHandler.Builder()
                                    .setUri(wmsUrl)
                                    .setPath("/rpc/pakin/loc/v1")
@@ -273,7 +275,7 @@
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
                        String barcode = staProtocol.getBarcode();
                        // 判断重复工作档
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode));
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("barcode", barcode));
                        if (wrkMast == null) {
                            try {
                                String wmsUrl = "192.168.10.201:8080/fyxcwms";
@@ -973,7 +975,16 @@
                    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 {
            } 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) {
                if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                    News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId());
                    return false;
@@ -2154,10 +2165,11 @@
    }

    private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) {
        if (12 == Utils.getRow(wrkMast.getSourceLocNo()) && 3 == Utils.getBay(wrkMast.getSourceLocNo())) {
        WrkMast mainWrk = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
        if (mainWrk != null && mainWrk.getIoType() == 1) {
            //入库
            noLiftInService.shuttleMoveExecute(wrkMast);
        } else {
            noLiftInService.shuttleMoveExecute(wrkMast, mainWrk.getStaNo());
        } else if (mainWrk != null && mainWrk.getIoType() == 101) {
            //出库
            noLiftOutService.shuttleMoveExecute(wrkMast);
        }

 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) {
    public void shuttleMoveExecute(WrkMast wrkMast, Integer staNo) {
        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.getLocNo()) == 1 || Utils.getLev(wrkMast.getLocNo()) == 5) {
        if ((Utils.getLev(wrkMast.getSourceLocNo()) == 1 && staNo == 1015) || (Utils.getLev(wrkMast.getSourceLocNo()) == 5 && staNo == 1026)) {
            //直接入库
            boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中
            if (!stepMoveLoc) {
@@ -133,17 +133,18 @@
            if (devpThread == null) {
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(Utils.getLev(wrkMast.getSourceLocNo()) == 1 ? 1015 : 1026);
            if (!staProtocol.isLoading() || !staProtocol.isAutoing()) {
                log.info("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                return false;
            }
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
            if (wrkMast1 != null) {
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast1.getStaNo());
                if (!staProtocol.isLoading() || !staProtocol.isAutoing()) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物或非自动", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
                    return false;
                }

            if (!staProtocol.getFinishWorkNo().equals(wrkMast.getWrkNo())) {
                            log.info( "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
                if (staProtocol.getFinishWorkNo() != null && staProtocol.getFinishWorkNo().intValue() != wrkMast.getMainWrkNo()) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                    return false;
                }
            }
            //小车处于空闲状态
            if (!shuttleThread.isIdle()) {
@@ -305,7 +306,7 @@
                }

                //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机)
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(),wrkMast.getWrkNo(),wrkMast.getMainWrkNo());
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
                if (liftWrkMast != null) {
                    if (liftWrkMast != null && !wrkMast.getMainWrkNo().equals(liftWrkMast.getWrkNo())) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
@@ -333,7 +334,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(),wrkMast.getWrkNo(),wrkMast.getMainWrkNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    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());
@@ -439,7 +440,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(),wrkMast.getWrkNo(),wrkMast.getMainWrkNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    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());
@@ -541,7 +542,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(),wrkMast.getWrkNo(),wrkMast.getMainWrkNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    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());
@@ -632,7 +633,7 @@
            }

            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1,wrkMast.getWrkNo(),wrkMast.getMainWrkNo());
            WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            if (liftWrkMast != null) {
                if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                    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());
@@ -837,12 +838,12 @@
            }
            StaProtocol staProtocol = devpThread.getStation().get(Utils.getLev(wrkMast.getSourceLocNo()) == 1 ? 1015 : 1026);
            if (!staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                //log.error("{}任务，{}号输送线无物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线无物或非自动", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }
            if (!staProtocol.getFinishWorkNo().equals(wrkMast.getWrkNo())) {
                log.error("{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
            if (staProtocol.getFinishWorkNo() != null && staProtocol.getFinishWorkNo().intValue() != wrkMast.getMainWrkNo()) {
                //log.error("{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线的工作号和工作档不匹配", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            }

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

@@ -142,20 +142,19 @@
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);

            if (!staProtocol2.isOutEnable()) {
                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                return false;
            }

            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
            if (wrkMast1 != null) {
                StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast1.getStaNo());
                if (!staProtocol2.isOutEnable()) {
                    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);
                if (staProtocol.isLoading()) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物111", wrkMast.getWrkNo(), wrkMast1.getStaNo() + 1);
                    return false;
                }
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
@@ -830,19 +829,18 @@
            if (devpThread == null) {
                return false;
            }
            int lev = Utils.getLev(wrkMast.getLocNo());
            StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);

            if (!staProtocol2.isOutEnable()) {
                log.error("{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线不可出", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
                return false;
            }
            StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
            if (staProtocol.isLoading()) {
                log.error("{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
                return false;
            WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkMast.getMainWrkNo());
            if (wrkMast1 != null) {
                StaProtocol staProtocol2 = devpThread.getStation().get(wrkMast1.getStaNo());
                if (!staProtocol2.isOutEnable()) {
                    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);
                if (staProtocol.isLoading()) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号输送线有物222", wrkMast.getWrkNo(), wrkMast1.getStaNo());
                    return false;
                }
            }

            if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {

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

@@ -216,7 +216,9 @@
                    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
                    main.setShuttleNo(1);
                    if (!(main.getStaNo() != 1013 && main.getStaNo() != 1024)) {
                        main.setLiftNo(1);
                    }
                }
                main.setModiTime(new Date());
                if (!wrkMastService.updateById(main)) {

 src/main/java/com/zy/common/utils/NavigateUtils.java

@@ -16,7 +16,10 @@

import java.io.BufferedReader;
import java.io.InputStreamReader;
import java.util.*;
import java.util.ArrayList;
import java.util.Collections;
import java.util.HashMap;
import java.util.List;

/**
 * A*算法使用工具
@@ -188,7 +191,7 @@
    }

    //判断当前节点到下一个节点是否为拐点
    public HashMap<String,Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
    public HashMap<String, Object> searchInflectionPoint(NavigateNode currentNode, NavigateNode fatherNode, NavigateNode nextNode) {
        HashMap<String, Object> map = new HashMap<>();
        map.put("result", false);//是否为拐点，true：拐点，false：直线
        // 第一个点或直线点
@@ -218,7 +221,7 @@
            if (currentNode.getX() - fatherNode.getX() > 0) {
                //大于0，方向top
                direction = "top";
            }else {
            } else {
                //小于0，方向bottom
                direction = "bottom";
            }
@@ -230,7 +233,7 @@
            if (currentNode.getY() - fatherNode.getY() > 0) {
                //大于0，方向left
                direction = "left";
            }else {
            } else {
                //小于0，方向right
                direction = "right";
            }

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

@@ -207,7 +207,7 @@
            }
        }

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

@@ -244,7 +244,7 @@
            int currentLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());//小车当前层高
            String currentLocNo = shuttleProtocol.getCurrentLocNo();//小车当前库位号

            if (currentLocNo.equals(locNo)) {
            if (currentLocNo.equals(locNo) || currentLocNo.equals(sourceLocNo)) {
                //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
                WrkMast wrkMast1 = wrkMastService.selectByWorkNo(wrkNo);
@@ -278,12 +278,22 @@
                    sameShuttles.put(-1, shuttleThread);
                    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;
                //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;
                    }
                }

                Integer currentAllDistance = navigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离
                sameShuttles.put(currentAllDistance, shuttleThread);
            }
@@ -357,6 +367,7 @@
        return false;
    }


    /**
     * 小车迁移任务生成
     */