#

Junjie

2023-07-21 a4e1427e1972b05d28cc04518c624d57039dac94

#

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

@@ -2013,288 +2013,6 @@
    }

    /**
     * 当前库位组是否存在空闲小车
     */
    public Integer hasCar(String locNo) {
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            BasSte basSte = basSteService.selectById(ste.getId());
            if (Cools.isEmpty(steProtocol, basSte)) { continue; }
            if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
                    && basSte.getBay() == Utils.getBay(locNo)
                    && basSte.getLev() == Utils.getLev(locNo)) {
                return ste.getId();
            }
        }
        return null;
    }

    /**
     * 当前库位组是否存在其他小车
     */
    public Integer existOtherSte(String locNo, Integer steNo) {
        Integer otherSteNo = null;
        for (SteSlave ste : slaveProperties.getSte()) {
            if (ste.getId().equals(steNo)) { continue; }
            // 获取堆垛机信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.isEnable()) {
                BasSte basSte = basSteService.selectById(ste.getId());
                if (basSte != null) {
                    if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
                            && basSte.getBay() == Utils.getBay(locNo)
                            && basSte.getLev() == Utils.getLev(locNo))
                        ||
                        (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
                                && steProtocol.getBay() == Utils.getBay(locNo)
                                && steProtocol.getLev() == Utils.getLev(locNo))
                    ) {
                        otherSteNo = ste.getId();
                        break;
                    }
                }
            }
        }
        return otherSteNo;
    }

    /**
     * 当前库位组是否存在空闲小车
     */
    public Integer hasCarOfIdle(String locNo) {
        for (SteSlave ste : slaveProperties.getSte()) {
            // 获取堆垛机信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.isIdle()) {
                if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
                        && steProtocol.getBay() == Utils.getBay(locNo)
                        && steProtocol.getLev() == Utils.getLev(locNo)) {
                    return steProtocol.getSteNo().intValue();
                }
            }
        }
        return null;
    }

    /**
     * 查找当前库位最适合的穿梭车来作业
     */
    public SteThread queryIdleCar(WrkMast wrkMast) {
        List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
        int val = 0;
        SteThread result = null;
        for (BasSte basSte : basStes) {
            // 获取穿梭车信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (!steProtocol.isIdle()) { continue; }
//            if (steProtocol.getRow() == 1) { continue; }
            String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
            // 如果在同一个库位组
            if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
                    && steProtocol.getBay().intValue() == Utils.getBay(locNo)
                    && steProtocol.getLev().intValue() == Utils.getLev(locNo)) {
                return steThread;
            }
            LocMast locMast = locMastService.selectById(locNo);
            int lev = locMast.getLev1();
            int bay = locMast.getBay1();
            int levAbs = Math.abs(lev - steProtocol.getLev());
            int bayAbs = Math.abs(bay - steProtocol.getBay());
            if (val == 0) {
                val = levAbs + bayAbs;
                result = steThread;
            } else {
                if ((levAbs + bayAbs) < val) {
                    val = levAbs + bayAbs;
                    result = steThread;
                }
            }
        }
        return result;
    }

    public SteThread queryIdleCar(CrnProtocol crnProtocol) {
        List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
        int val = 0;
        SteThread result = null;
        for (BasSte basSte : basStes) {
            // 获取穿梭车信息
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (!steProtocol.isIdle()) { continue; }
            if (steProtocol.getRow() == 1) { continue;}
            int lev = crnProtocol.getLevel();
            int bay = crnProtocol.getBay();
            int levAbs = Math.abs(lev - steProtocol.getLev());
            int bayAbs = Math.abs(bay - steProtocol.getBay());
            if (val == 0) {
                val = levAbs + bayAbs;
                result = steThread;
            } else {
                if ((levAbs + bayAbs) < val) {
                    val = levAbs + bayAbs;
                    result = steThread;
                }
            }
        }
        return result;
    }

    /**
     * 让小车行走至待机位
     */
    public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.isIdle()) {

            // 如果处于待机位
            if (steProtocol.locaType.equals(SteLocaType.A_WAITING) || steProtocol.locaType.equals(SteLocaType.B_WAITING)) {
                // 修改工作档状态 绑定穿梭车
                wrkMast.setWrkSts(3L);
                wrkMast.setSteNo(steNo);
                wrkMast.setModiTime(new Date());
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            } else {
                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(steNo); // 穿梭车编号
                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式:  行走至待机位

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 绑定穿梭车
                    wrkMast.setSteNo(steNo);
                    wrkMast.setModiTime(new Date());
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }
            }
        }
    }

    public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }

        if (!basSteService.updatePakMk(steNo, "Y")) {
            News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
            return;
        }

        // 命令下发区 --------------------------------------------------------------------------
        SteCommand steCommand = new SteCommand();
        steCommand.setSteNo(steNo); // 穿梭车编号
        steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
        steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 任务模式:  去近点 等待堆垛机叉取

        steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
        steCommand.setBay(steProtocol.getBay());
        steCommand.setLev(steProtocol.getLev());

        if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
            News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
        } else {
            // 修改工作档状态 绑定穿梭车
            wrkCharge.setSteNo(steNo);
            wrkCharge.setModiTime(new Date());
            if (!wrkChargeService.updateById(wrkCharge)) {
                News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
            }
        }
    }

    /**
     * 让小车从 远点 ====>> 移动到近点
     *  等待堆垛机搬运
     */
    public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.isIdle()) {

            // 命令下发区 --------------------------------------------------------------------------
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
            steCommand.setBay(steProtocol.getBay());
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 绑定穿梭车
                wrkMast.setSteNo(steNo);
                wrkMast.setModiTime(new Date());
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }
    }

    /**
     * 让小车从 远点 ====>> 移动到近点
     *  等待堆垛机搬运
     */
    public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
        // 获取穿梭车信息
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (steProtocol == null) { return; }
        if (steProtocol.isIdle()) {

            // 命令下发区 --------------------------------------------------------------------------
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
            steCommand.setBay(steProtocol.getBay());
            steCommand.setLev(steProtocol.getLev());

            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
            } else {
                // 修改工作档状态 绑定穿梭车
                wrkCharge.setSteNo(steNo);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
                }
            }
        }
    }

    /**
     * 异常信息记录
     */
    public void recErr() {
@@ -2984,183 +2702,7 @@

    }

    public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
    public synchronized void demo() {
        if (Cools.isEmpty(crn2DemoLocs)) {
            crn2DemoLocs = locMastService.getDemoNextLoc(2);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) {
                continue;
            }
            // 必须为演示状态
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

                // filter
                if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
                        .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
                    continue;
                }

                SteThread steThread = queryIdleCar(crnProtocol);
                if (Cools.isEmpty(steThread)) {
                    News.warn("没有空闲的小车进行演示功能");
                    continue;
                }
                int steNo = steThread.getSlave().getId();
                SteProtocol steProtocol = steThread.getSteProtocol();
                BasSte basSte = basSteService.selectById(steNo);
                if (Cools.isEmpty(steProtocol, basSte)) { continue; }

                // 只有当穿梭车空闲 并且 无任务时才继续执行
                if (steProtocol.isIdle()) {

                    String locNo = null;
                    Iterator<String> iterator = crn2DemoLocs.iterator();
                    while (iterator.hasNext()) {
                        String next = iterator.next();
                        if (!Cools.isEmpty(this.hasCar(next))) { continue; }
                        String lastLoc = crn2LastLoc;
                        if (!Cools.isEmpty(lastLoc)) {
                            if (!lastLoc.substring(2, 7).equals(next.substring(2, 7))
                                    || !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) {
                                locNo = next;
                                iterator.remove();
                                break;
                            } else {
                                iterator.remove();
                            }
                        } else {
                            locNo = next;
                            iterator.remove();
                            break;
                        }

                    }
                    if (!Cools.isEmpty(locNo)) {
                        crn2LastLoc = locNo;
                    }

                    News.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

                    String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());

                    WrkCharge wrkCharge = new WrkCharge();
                    wrkCharge.setCrnNo(crn.getId());
                    wrkCharge.setSteNo(steNo);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
                    wrkCharge.setWrkSts(31L);   // 31.生成演示ID
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setSourceLocNo(sourceLocNo);
                    wrkCharge.setLocNo(locNo);
                    wrkCharge.setMemo("demo");
                    if (!wrkChargeService.insert(wrkCharge)) {
                        News.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
                    }
                }
            }
        }
    }

    /**
     * 演示取货
     */
    private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
        // 获取工作档信息
        WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
                .in("wrk_sts", 31, 33, 35));
        if (null == wrkCharge) {
            return;
        }
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
        SteProtocol steProtocol = steThread.getSteProtocol();
        if (null == steProtocol) { return; }
        if (steProtocol.isIdle()) {
            // 31.生成演示ID
            if (wrkCharge.getWrkSts() == 31L) {
                this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
                wrkCharge.setWrkSts(32L);
                wrkCharge.setModiTime(new Date());
                if (!wrkChargeService.updateById(wrkCharge)) {
                    News.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
                }
            // 33.小车待搬
            } else if (wrkCharge.getWrkSts() == 33L) {
                LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
                // 堆垛机命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改穿梭车运行中排列层
                    steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
                    // 修改工作档状态 33.小车待搬 => 34.吊车搬运
                    Date now = new Date();
                    wrkCharge.setWrkSts(34L);
                    wrkCharge.setCrnStrTime(now);
                    wrkCharge.setModiTime(now);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        News.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
                    }
                }
                // 35.小车就绪
            } else if (wrkCharge.getWrkSts() == 35L) {

                int steNo = steProtocol.getSteNo().intValue();
                if (!basSteService.updatePakMk(steNo, "Y")) {
                    News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
                    return;
                }

                // 命令下发区 --------------------------------------------------------------------------
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(steNo); // 穿梭车编号
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
                if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
                    originByLoc = SteTaskModeType.BACK_ORIGIN;
                } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
                    originByLoc = SteTaskModeType.GO_ORIGIN;
                } else {
                    return;
                }
                steCommand.setTaskMode(originByLoc);

                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                steCommand.setBay(steProtocol.getBay());
                steCommand.setLev(steProtocol.getLev());

                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                    News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                } else {
                    // 修改工作档状态 35.小车就绪 => 36.小车走行
                    wrkCharge.setWrkSts(36L);
                    wrkCharge.setModiTime(new Date());
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        News.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
                    }
                }
            }
        }

    }
    /**
     * 出入库模式切换
     */