提升机出入库

Junjie

2023-08-01 8d03e68b6aa4ad06fa0b653eb43720080b1e28f2

提升机出入库

 src/main/java/com/zy/asrs/controller/LiftController.java

@@ -262,8 +262,8 @@
        }
        LiftRedisCommand redisCommand = JSON.parseObject(o.toString(), LiftRedisCommand.class);
        LiftAssignCommand assignCommand = redisCommand.getAssignCommand();
        List<LiftCommand> commands = assignCommand.getCommands();
        LiftCommand command = commands.get(commandStep);
        List<NyLiftCommand> commands = assignCommand.getCommands();
        NyLiftCommand command = commands.get(commandStep);
        command.setComplete(complete != 0);
        redisUtil.set("lift_wrk_no_" + wrkNo, JSON.toJSONString(redisCommand));
        return R.ok();

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

@@ -48,7 +48,7 @@

    WrkMast selectByWorkNo(Integer workNo);

    List<WrkMast> selectLiftStep262327();
    List<WrkMast> selectLiftStep223103();

    WrkMast selectByWorkNo324104(Integer workNo);


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

@@ -1391,19 +1391,13 @@
                continue;
            }


//            if (!liftProtocol.isIdle()) {
//                continue;
//            }

            //判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成
            if (!liftProtocol.isIdleNoTask()) {
            if (!liftProtocol.isIdle()) {
                continue;
            }

            //搜索是否有待处理的任务
            List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
            if (wrkMasts.size() == 0) {
            List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
            if (wrkMasts.isEmpty()) {
                continue;
            }

@@ -1414,243 +1408,142 @@
                    continue;
                }

                //命令list
                ArrayList<LiftCommand> commands = new ArrayList<>();

                DevpThread devpThread = null;
                Integer devpId = null;
                for (DevpSlave devp : slaveProperties.getDevp()){
                    // 获取入库站信息
                    devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                    devpId = devp.getId();
                boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库
                if (!stepIn) {
                    continue;
                }

                if (wrkMast.getWrkSts() == 2) {//2.设备上走
                    if (liftProtocol.getTaskNo().intValue() != 0) {
                        //存在未完成任务号
                        continue;
                    }
//                    if (liftProtocol.getPlatShuttleCheck()) {
//                        //提升机此时有四向车，可能有未完成的任务，禁止分配新任务
//                        continue;
//                    }

                    //获取目标站
                    StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
                    if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务
                        continue;
                    }

                    //工作档目标库位号
                    String wrkMastLocNo = wrkMast.getLocNo();
                    //工作档目标库位楼层
                    int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

                    Integer levTmp = wrkMastLocNoLey;
                    if (wrkMastLocNoLey >= 2) {
                        levTmp += 1;
                    }
                    Integer distStaNo = Utils.levToOutInStaNo(levTmp);

//                    if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
//                        //提升机不在输送线楼层，获取到输送线层的提升机命令
//                        LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
//                        commands.add(command1);//将命令添加进list
//                    }

//                    //输送线将货物运进来(无货正转)
//                    LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3);
//                    command2.setOperaStaNo((short) 102);//操作102站
//                    command2.setRotationDire(1);//给输送线下发链条转动信号，正转
//                    command2.setDevpId(devpId);
//                    command2.setStaNo(distStaNo.shortValue());//设置目标站
//                    commands.add(command2);//将命令添加进list
//
//                    //提升机前往目标楼层(工作档目标楼层)
//                    LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp);
//                    commands.add(command3);//将命令添加进list
//
//                    //提升机到达指定楼层，输送线将货物移出去(正转)
//                    //输送线将货物移出去
//                    LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
//                    command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点
//                    command4.setRotationDire(1);//给输送线下发链条转动信号，正转
//                    command4.setDevpId(devpId);
//                    command4.setStaNo(distStaNo.shortValue());//设置目标站
//                    commands.add(command4);//将命令添加进list

                    //给提升机分配任务
                    liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                    wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
                    wrkMast.setWrkSts(3L);//3.提升机搬运中
                } else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
                    if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                        //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                        continue;
                    }
                    liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                    //判断小车是否在提升机内，且处于空闲状态
                    ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                    if (shuttleThread == null) {
                        continue;
                    }
                    ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                    if (shuttleProtocol == null) {
                        continue;
                    }
                    if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                        continue;//小车状态忙
                    }
//                    if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
//                        continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
//                    }
//                    if (!liftProtocol.getPlatShuttleCheck()) {
//                        //提升机未检测到小车，禁止执行
//                        continue;
//                    }

                    //工作档目标库位号
                    String wrkMastLocNo = wrkMast.getLocNo();
                    //工作档目标库位楼层
                    int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
                    if (wrkMastLocNoLey >= 2) {
                        wrkMastLocNoLey++;
                    }

//                    //提升机前往目标楼层(工作档目标楼层)
//                    LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
//                    commands.add(command1);//将命令添加进list

                    //给提升机分配任务
                    liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                    wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
                    wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中
                } else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
                    if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                        //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                        continue;
                    }
                    liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号

                    //判断小车是否在提升机内，且处于空闲状态
                    ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                    if (shuttleThread == null) {
                        continue;
                    }
                    ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                    if (shuttleProtocol == null) {
                        continue;
                    }

                    if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                        continue;//小车状态忙
                    }
//                    if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
//                        continue;//小车当前二维码和提升机内部二维码不一致，不允许执行
//                    }
//                    if (!liftProtocol.getPlatShuttleCheck()) {
//                        //提升机未检测到小车，禁止执行
//                        continue;
//                    }

                    //工作档目标库位号
                    String wrkMastLocNo = wrkMast.getSourceLocNo();
                    //工作档目标库位楼层
                    int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
                    if (wrkMastLocNoLey >= 2) {
                        wrkMastLocNoLey++;
                    }

//                    //提升机前往目标楼层(工作档目标楼层)
//                    LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
//                    commands.add(command1);//将命令添加进list

                    //给提升机分配任务
                    liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                    wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
                    wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中
                } else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成
                    if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                        //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致
                        continue;
                    }
//                    if (liftProtocol.getPlatShuttleCheck()) {
//                        //提升机此时有四向车，可能有未完成的任务，禁止分配新任务
//                        continue;
//                    }

                    //工作档源库位号
                    String wrkMastLocNo = wrkMast.getSourceLocNo();
                    //工作档源库位楼层
                    int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);

                    //提升机当前楼层
                    int liftLev = liftProtocol.getLev().intValue();

//                    //判断提升机是否到位
//                    StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点
//                    if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
//                        //提升机不在工作档源库位楼层，调度提升机
//                        LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
//                        commands.add(command1);//将命令添加进list
//                    }
//
//                    //输送线将货物运进来(无货反转)
//                    LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
//                    command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//输送线操作站点号
//                    command2.setRotationDire(2);//给输送线下发链条转动信号，反转
//                    command2.setDevpId(devpId);//输送线ID
//                    command2.setStaNo((short) 104);//写入出库目标站104
//                    commands.add(command2);//将命令添加进list
//
//                    //提升机前往出库口，输送线楼层
//                    LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
//                    command3.setDevpId(devpId);//输送线ID
//                    commands.add(command3);//将命令添加进list
//
//                    //提升机到达指定楼层，输送线将货物移出去(反转)
//                    //输送线将货物移出去
//                    LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
//                    command4.setOperaStaNo((short) 102);//操作102站
//                    command4.setRotationDire(2);//给输送线下发链条转动信号，反转
//                    command4.setDevpId(devpId);//输送线ID
//                    commands.add(command4);//将命令添加进list
//
//                    //提升机链条执行完毕后，给102站写入资料
//                    LiftCommand command5 = liftThread.getResetCommand();
//                    command5.setDevpId(devpId);//输送线ID
//                    command5.setOperaStaNo((short) 102);//操作102站
//                    command5.setStaNo((short) 104);//写入出库目标站104
//                    command5.setRotationDire(0);//链条转动停止
//                    commands.add(command5);

                    //给提升机分配任务
                    liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
                    liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中

                    wrkMast.setLiftNo(liftProtocol.getLiftNo().intValue());//设置提升机号用于锁定提升机防止被其他任务占用
                    wrkMast.setWrkSts(28L);//28.提升机搬运中
                }

                //所需命令组合完毕，更新数据库，提交到线程去工作
                LiftAssignCommand assignCommand = new LiftAssignCommand();
//                assignCommand.setCommands(commands);
                assignCommand.setLiftNo(liftProtocol.getLiftNo());
                assignCommand.setTaskNo(liftProtocol.getTaskNo());
                if (wrkMastMapper.updateById(wrkMast) > 0) {
                    //下发任务
                    MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
                boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库
                if (!stepOut) {
                    continue;
                }
            }

        }
    }

    /**
     * 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();

        //2.设备上走 ==> 3.提升机搬运中
        if (wrkMast.getWrkSts() == 2) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                return false;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return false;
            }
            if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                return false;
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            }

            //获取提升机命令
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());

            ArrayList<NyLiftCommand> 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(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

            wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中
            wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, 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-----------------------------------------//
        Date now = new Date();

        //23.小车搬运完成 ==> 24.提升机搬运中
        if (wrkMast.getWrkSts() == 23) {
            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
            if (liftThread == null) {
                return false;
            }
            LiftProtocol liftProtocol = liftThread.getLiftProtocol();
            if (liftProtocol == null) {
                return false;
            }
            if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                return false;
            }
            //判断提升机是否有其他任务
            WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
            if (liftWrkMast != null) {
                return false;//当前提升机存在未完成任务，等待下一次轮询
            }

            //获取源站对应的输送站点
            BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
            //获取目标站对应的输送站点
            BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
            if (sourceBasDevp == null || targetBasDevp == null) {
                return false;//缺少站点信息
            }

            //获取提升机命令
            NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());

            ArrayList<NyLiftCommand> 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(wrkMast.getWrkNo().shortValue());
            assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());

            wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中
            wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
            }

            return false;
        }
        return true;
    }

    /**
@@ -1677,6 +1570,7 @@
                    switch (wrkMast.getWrkSts().intValue()) {
                        case 3://3.提升机搬运中 ==> 4.提升机搬运完成
                            wrkMast.setWrkSts(4L);
                            wrkMast.setLiftNo(null);//释放提升机
                            break;
                        case 24://24.提升机搬运中 ==> 25.提升机搬运完成
                            wrkMast.setWrkSts(25L);

 src/main/resources/mapper/WrkMastMapper.xml

@@ -122,13 +122,10 @@
        where wrk_no=#{workNo}
    </select>

    <select id="selectLiftStep262327" resultMap="BaseResultMap">
    <select id="selectLiftStep223103" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast
        where 1=1
        and (wrk_sts in (6,23,27)
            and shuttle_no is not null)
        or (wrk_sts in (2)
            and shuttle_no is null)
        and wrk_sts in (2,23,103)
        order by io_pri desc,wrk_sts desc
    </select>