穿梭车出库

Junjie

2023-08-01 ddca90f571f62787a76764dc8c7899fafd5cff53

穿梭车出库

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

@@ -959,238 +959,79 @@
     */
    public synchronized void shuttleOutExecute() {
        for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
            //提取一条待出库任务
            if (wrkMast != null) {
                String outStaLocNo = null;//出库站点库位号
                //获取出库站点
                for (DevpSlave devpSlave : slaveProperties.getDevp()) {
                    for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
                        if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
                            //出库站点和工作档出库站点一致
                            outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
                        }
                    }

                }

                if (wrkMast.getWrkSts() == 21
                        || wrkMast.getWrkSts() == 25
                        || wrkMast.getWrkSts() == 31) {
                    ShuttleThread shuttleThread = null;
                    HashMap<String, Object> searchIdleShuttle = null;

                    LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
                    LiftProtocol liftProtocol = liftThread.getLiftProtocol();

                    if (wrkMast.getWrkSts() == 21) {
                        if (wrkMast.getShuttleNo() == null) {
                            //寻找最近且空闲的四向穿梭车
                            searchIdleShuttle = this.searchIdleShuttle(wrkMast);
                            shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
                            if (shuttleThread == null) {
                                continue;
                            }
                            wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//给工作档分配四向穿梭车号
                            wrkMastMapper.updateById(wrkMast);
                        }else {
                            //直接使用任务保存中的小车
                            shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                        }
                    }else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号

                        //判断提升机是否空闲
                        if (!liftProtocol.isIdleNoTask()) {
                            try {
                                Thread.sleep(1000);//休眠1s
                            } catch (InterruptedException e) {
                                throw new RuntimeException(e);
                            }
                            continue;//提升机忙
                        }
                        //判断提升机任务号和当前工作档任务号是否一致
                        if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
                            continue;
                        }

                        //判断提升机楼层是否到位，判断站点是否给出提升机到位信号
                        String locNo = wrkMast.getSourceLocNo();
                        int lev = Utils.getLev(locNo);//目标二维码所在楼层
                        Short liftLev = liftProtocol.getLev();//提升机所在楼层
                        if (liftLev == null) {//提升机可能在输送线楼层
                            continue;
                        }
                        if (liftLev.intValue() != lev) {
                            continue;//提升机不在目标楼层跳过
                        }

                        Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
                        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        //获取目标站信息
                        StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
                        if (staProtocol1 == null) {
                            continue;//站点信息不存在
                        }
                        if (!staProtocol1.isLiftArrival()) {
                            continue;//站点提升机到位信号false
                        }

                        //继续完成之前小车未完成的任务
                        shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                    } else if (wrkMast.getWrkSts() == 31) {
                        //继续完成之前小车未完成的任务
                        shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
                    }

                    if (shuttleThread == null) {
                        continue;
                    }

                    ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
                    if (shuttleProtocol == null) {
                        continue;
                    }

                    if (outStaLocNo == null) {
                        continue;
                    }

                    if (wrkMast.getWrkSts() == 21) {

                        if (!shuttleProtocol.isIdle()) {
                            continue;
                        }

                        //源库位(小车当前位置)
                        String currentLocNo = shuttleProtocol.getCurrentLocNo();

                        //小车当前层高
                        Integer currentLev = Utils.getLev(currentLocNo);
                        //当前楼层提升机输送站点库位号
                        String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);

                        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                        //四向穿梭车号
                        assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                        //任务号
                        assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                        //入出库模式
                        assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
                        assignCommand.setSourceLocNo(currentLocNo);

                        //判断小车和库位是否在同一层
                        if (currentLev == Utils.getLev(wrkMast.getSourceLocNo())) {
                            //同一层(将小车移动到货物位置)

                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
                            if (commands == null) {
                                //未找到路径，等待下一次
                                continue;
                            }

                            //分配目标库位
                            shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                            //分配任务号
                            shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //分配源库位
                            shuttleProtocol.setSourceLocNo(currentLocNo);
                            //目标库位
                            assignCommand.setLocNo(wrkMast.getSourceLocNo());
//                            assignCommand.setCommands(commands);
                            wrkMast.setWrkSts(26L);//小车搬运中

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }else {
                            //不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)

                            //小车到提升机口指令
                            List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
                            if (commands == null) {
                                if (!currentLocNo.equals(liftSiteLocNo)) {//当前位置也不在提升机口
                                    continue;//未找到路径
                                }
                                commands = new ArrayList<>();
                            }
                            shuttleProtocol.setLocNo(liftSiteLocNo);
                            //分配任务号
                            shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                            //分配源库位
                            shuttleProtocol.setSourceLocNo(currentLocNo);

                            //获取当前小车所在楼层的站点信息
                            BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
                            Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码

//                            //增加移动进提升机命令
//                            ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1600, ShuttleRunDirection.TOP.id, null, null, 500);
//                            commands.add(moveCommand);

                            //目标库位
                            assignCommand.setLocNo(liftSiteLocNo);
//                            assignCommand.setCommands(commands);
                            wrkMast.setWrkSts(22L);//小车迁移状态

                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                //下发任务
                                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                            }
                        }
                    } else if (wrkMast.getWrkSts() == 25) {
                        if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
                            continue;
                        }

                        wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号

                        //当前楼层提升机输送站点库位号
                        String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());

                        ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
                        //四向穿梭车号
                        assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
                        //任务号
                        assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
                        //入出库模式
                        assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
                        assignCommand.setSourceLocNo(liftSiteLocNo);

                        List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
                        if (commands == null) {
                            continue;//未找到路径
                        }

//                        //此时车在提升机内部，需要多下达一步指令让车移动到提升机口
//                        short startCode = liftProtocol.getBarcode();//提升机内部二维码
//                        Short distCode = commands.get(0).getStartCodeNum();//目标二维码
//                        //获取移动命令
//                        ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1600, commands.get(0).getRunDirection(), null, null, 500);
//                        commands.add(0, moveCommand);//将该指令添加到队头

                        //分配目标库位
                        shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
                        //分配任务号
                        shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
                        //分配源库位
                        shuttleProtocol.setSourceLocNo(liftSiteLocNo);
                        //目标库位
                        assignCommand.setLocNo(wrkMast.getSourceLocNo());
//                        assignCommand.setCommands(commands);
                        wrkMast.setWrkSts(26L);//小车搬运中

                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            //下发任务
                            MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
                        }
                    }

                }
            boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
            if (!step1) {
                continue;
            }
        }
    }

    /**
     * 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 boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
        //21.生成出库任务 => 22.小车搬运中
        if (wrkMast.getWrkSts() == 21) {
            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货
                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.getShuttleProtocol();
            if (shuttleProtocol == null) {
                return false;
            }
            if (!shuttleProtocol.isIdle()) {
                return false;
            }

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

            //判断小车是否到达货物库位
            if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
                //小车不在输送站点位置
                dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在输送站点进行取货
                return false;
            }

            //小车已抵达货物位置，进行搬运货物
            NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), targetBasDevp.getLocNo());
            if (result == null) {//出库路径计算失败
                return false;
            }

            //创建分配命令
            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
            assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
            assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());//出库模式
            assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置)
            assignCommand.setCommands(result.getCommands());//运行命令
            assignCommand.setNodes(result.getNodes());//路径节点

            wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中
            wrkMast.setModiTime(new Date());
            if (wrkMastMapper.updateById(wrkMast) > 0) {
                //下发任务
                MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
            }
            return false;
        }
        return true;
    }

    /**
     * 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
     */
    public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {