1

zhangc

2025-04-16 e83761d390b593cff8b7c17144529e92eb482bd6

1

 src/main/java/com/zy/asrs/entity/WrkMast.java

@@ -143,6 +143,7 @@
     *
     */
    @ApiModelProperty(value= "")
    @TableField(value = "main_wrk_no")
    private Integer mainWrkNo;

    /**

 src/main/java/com/zy/asrs/entity/WrkMastLog.java

@@ -30,156 +30,158 @@
    /**
     * 编号
     */
    @ApiModelProperty(value= "编号")
    @ApiModelProperty(value = "编号")
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;

    /**
     * 工作号
     */
    @ApiModelProperty(value= "工作号")
    @ApiModelProperty(value = "工作号")
    @TableField("wrk_no")
    private Integer wrkNo;

    @ApiModelProperty(value= "")
    @ApiModelProperty(value = "")
    private String mk;

    /**
     * 工作状态
     */
    @ApiModelProperty(value= "工作状态")
    @ApiModelProperty(value = "工作状态")
    @TableField("wrk_sts")
    private Long wrkSts;

    /**
     * 入出库类型
     */
    @ApiModelProperty(value= "入出库类型")
    @ApiModelProperty(value = "入出库类型")
    @TableField("io_type")
    private Integer ioType;

    /**
     * 优先级
     */
    @ApiModelProperty(value= "优先级")
    @ApiModelProperty(value = "优先级")
    @TableField("io_pri")
    private Double ioPri;

    /**
     * 目标库位
     */
    @ApiModelProperty(value= "目标库位")
    @ApiModelProperty(value = "目标库位")
    @TableField("loc_no")
    private String locNo;

    /**
     * 目标站
     */
    @ApiModelProperty(value= "目标站")
    @ApiModelProperty(value = "目标站")
    @TableField("sta_no")
    private Integer staNo;

    /**
     * 源站
     */
    @ApiModelProperty(value= "源站")
    @ApiModelProperty(value = "源站")
    @TableField("source_sta_no")
    private Integer sourceStaNo;

    /**
     * 源库位
     */
    @ApiModelProperty(value= "源库位")
    @ApiModelProperty(value = "源库位")
    @TableField("source_loc_no")
    private String sourceLocNo;

    /**
     * 工作时间
     */
    @ApiModelProperty(value= "工作时间")
    @ApiModelProperty(value = "工作时间")
    @TableField("io_time")
    private Date ioTime;

    /**
     * 修改人员
     */
    @ApiModelProperty(value= "修改人员")
    @ApiModelProperty(value = "修改人员")
    @TableField("modi_user")
    private Long modiUser;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @ApiModelProperty(value = "修改时间")
    @TableField("modi_time")
    private Date modiTime;

    /**
     * 创建者
     */
    @ApiModelProperty(value= "创建者")
    @ApiModelProperty(value = "创建者")
    @TableField("appe_user")
    private Long appeUser;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @ApiModelProperty(value = "添加时间")
    @TableField("appe_time")
    private Date appeTime;

    @ApiModelProperty(value= "")
    @ApiModelProperty(value = "")
    @TableField("error_time")
    private Date errorTime;

    @ApiModelProperty(value= "")
    @ApiModelProperty(value = "")
    @TableField("error_memo")
    private String errorMemo;

    @ApiModelProperty(value= "")
    @ApiModelProperty(value = "")
    @TableField("memo")
    private String memo;

    /**
     * 条码
     */
    @ApiModelProperty(value= "条码")
    @ApiModelProperty(value = "条码")
    private String barcode;

    /**
     * 四向穿梭车号
     */
    @ApiModelProperty(value= "四向穿梭车号")
    @ApiModelProperty(value = "四向穿梭车号")
    @TableField(value = "shuttle_no")
    private Integer shuttleNo;

    /**
     * 提升机号
     */
    @ApiModelProperty(value= "提升机号")
    @ApiModelProperty(value = "提升机号")
    @TableField(value = "lift_no")
    private Integer liftNo;

    /**
     * WMS任务号
     */
    @ApiModelProperty(value= "WMS任务号")
    @ApiModelProperty(value = "WMS任务号")
    @TableField(value = "wms_wrk_no")
    private String wmsWrkNo;

    /**
     * 系统消息
     */
    @ApiModelProperty(value= "系统消息")
    @ApiModelProperty(value = "系统消息")
    @TableField(value = "system_msg")
    private String systemMsg;

    @ApiModelProperty(value= "")
    @ApiModelProperty(value = "")
    @TableField(value = "main_wrk_no")
    private Integer mainWrkNo;

    public WrkMastLog() {}
    public WrkMastLog() {
    }

    public String getWrkSts$(){
    public String getWrkSts$() {
        BasWrkStatusMapper mapper = SpringUtils.getBean(BasWrkStatusMapper.class);
        BasWrkStatus entity = mapper.selectById(this.wrkSts);
        if (entity != null) {
@@ -188,7 +190,7 @@
        return null;
    }

    public String getIoType$(){
    public String getIoType$() {
        BasWrkIotypeMapper mapper = SpringUtils.getBean(BasWrkIotypeMapper.class);
        BasWrkIotype entity = mapper.selectById(this.ioType);
        if (entity != null) {
@@ -197,92 +199,92 @@
        return null;
    }

    public String getWrkNo$(){
    public String getWrkNo$() {
        WrkMastService service = SpringUtils.getBean(WrkMastService.class);
        WrkMast wrkMast = service.selectById(this.wrkNo);
        if (!Cools.isEmpty(wrkMast)){
        if (!Cools.isEmpty(wrkMast)) {
            return String.valueOf(wrkMast.getWrkNo());
        }
        return null;
    }

    public String getLocNo$(){
    public String getLocNo$() {
        LocMastService service = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = service.selectById(this.locNo);
        if (!Cools.isEmpty(locMast)){
        if (!Cools.isEmpty(locMast)) {
            return String.valueOf(locMast.getLocNo());
        }
        return null;
    }

    public String getStaNo$(){
    public String getStaNo$() {
        BasDevpService service = SpringUtils.getBean(BasDevpService.class);
        BasDevp basDevp = service.selectById(this.staNo);
        if (!Cools.isEmpty(basDevp)){
        if (!Cools.isEmpty(basDevp)) {
            return String.valueOf(basDevp.getDevNo());
        }
        return null;
    }

    public String getSourceStaNo$(){
    public String getSourceStaNo$() {
        BasDevpService service = SpringUtils.getBean(BasDevpService.class);
        BasDevp basDevp = service.selectById(this.sourceStaNo);
        if (!Cools.isEmpty(basDevp)){
        if (!Cools.isEmpty(basDevp)) {
            return String.valueOf(basDevp.getDevNo());
        }
        return null;
    }

    public String getSourceLocNo$(){
    public String getSourceLocNo$() {
        LocMastService service = SpringUtils.getBean(LocMastService.class);
        LocMast locMast = service.selectById(this.sourceLocNo);
        if (!Cools.isEmpty(locMast)){
        if (!Cools.isEmpty(locMast)) {
            return String.valueOf(locMast.getLocNo());
        }
        return null;
    }

    public String getIoTime$(){
        if (Cools.isEmpty(this.ioTime)){
    public String getIoTime$() {
        if (Cools.isEmpty(this.ioTime)) {
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.ioTime);
    }

    public String getModiUser$(){
    public String getModiUser$() {
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.modiUser);
        if (!Cools.isEmpty(user)){
        if (!Cools.isEmpty(user)) {
            return String.valueOf(user.getUsername());
        }
        return null;
    }

    public String getModiTime$(){
        if (Cools.isEmpty(this.modiTime)){
    public String getModiTime$() {
        if (Cools.isEmpty(this.modiTime)) {
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.modiTime);
    }

    public String getAppeUser$(){
    public String getAppeUser$() {
        UserService service = SpringUtils.getBean(UserService.class);
        User user = service.selectById(this.appeUser);
        if (!Cools.isEmpty(user)){
        if (!Cools.isEmpty(user)) {
            return String.valueOf(user.getUsername());
        }
        return null;
    }

    public String getAppeTime$(){
        if (Cools.isEmpty(this.appeTime)){
    public String getAppeTime$() {
        if (Cools.isEmpty(this.appeTime)) {
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.appeTime);
    }

    public String getErrorTime$(){
        if (Cools.isEmpty(this.errorTime)){
    public String getErrorTime$() {
        if (Cools.isEmpty(this.errorTime)) {
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.errorTime);

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

@@ -25,6 +25,9 @@

    WrkMast selectByMainWrkNo(Integer workNo);

    WrkMast selectByShuttleNo(Integer shuttleNo);


    List<WrkMast> selectLiftStep223103();

    WrkMast selectByWorkNo324104(Integer workNo);

 src/main/java/com/zy/asrs/service/WrkMastService.java

@@ -11,6 +11,8 @@

    WrkMast selectByMainWrkNo(Integer workNo);

    WrkMast selectByShuttleNo(Integer shuttleNo);

    Boolean judgeInbound(WrkMast wrkMast);

    //查询指定楼层待分配车辆的任务

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

@@ -26,14 +26,15 @@
import com.zy.core.model.command.LiftCommand;
import com.zy.core.model.command.ShuttleAssignCommand;
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.*;
import com.zy.core.model.protocol.ForkLiftStaProtocol;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.DevpThread;
import com.zy.core.thread.ForkLiftThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import com.zy.core.thread.impl.FyDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -355,6 +356,8 @@
            if (!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return;
            } 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);
@@ -370,6 +373,13 @@
     * 出库到出库口
     */
    public synchronized void stnToOutStn() {
        ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1);
        ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2);
        ShuttleProtocol status1 = shuttleThread1.getStatus();
        ShuttleProtocol status2 = shuttleThread2.getStatus();
        List<String> loc = new ArrayList<>();
        loc.add(status1.getCurrentLocNo());
        loc.add(status2.getCurrentLocNo());
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
@@ -389,11 +399,25 @@
                        if (wrkMast == null) {
                            continue;
                        }
//                        boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo(), null, true);
//                        if (!dispatchShuttle) {
//                            News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                            continue;
//                        }

                        String sourceLocNo = "1200305";
                        String locNo = "1100105";
                        if (wrkMast.getStaNo() == 1013) {
                            sourceLocNo = "1200301";
                            locNo = "1100101";
                            if (loc.contains(locNo)) {
                                locNo = "1000101";
                            }
                        } else {
                            if (loc.contains(locNo)) {
                                locNo = "1000105";
                            }
                        }

                        boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), sourceLocNo, locNo, wrkMast.getShuttleNo(), null, false);
                        if (!dispatchShuttle) {
                            News.taskInfo(wrkMast.getWrkNo(), "{}小车，挪车调度至取货点失败", wrkMast.getShuttleNo());
                        }

                        staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
                        staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
@@ -401,13 +425,13 @@
                        News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                        wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts);
                        wrkMast.setModiTime(new Date());
                        wrkMast.setShuttleNo(null);
                        wrkMastService.updateById(wrkMast);
                    }
                }
            }
        }
    }



    /**
@@ -569,176 +593,175 @@
    /**
     * 出库  ===>>  四向穿梭车出库作业下发
     */
    public synchronized void shuttleOutExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
                if (!step1) {
                    continue;
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }
//    public synchronized void shuttleOutExecute() {
//        try {
//            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts));
//            for (WrkMast wrkMast : wrkMasts) {
//                boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中
//                if (!step1) {
//                    continue;
//                }
//            }
//        } catch (Exception e) {
//            e.printStackTrace();
//        }
//    }

    /**
     * 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) {
        //101.生成出库任务 => 102.小车搬运中
        if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
            Integer liftNo = wrkMast.getLiftNo();
            if (liftNo == null) {
                //通过输送线站号获取提升机号
                liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
                if (liftNo == null) {
                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
                    return false;
                }

                //判断提升机是否有其他任务
                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
                if (liftWrkMast != null) {
                    if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
                        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(), liftNo);
                        return false;
                    }
                }

                wrkMast.setLiftNo(liftNo);
                wrkMast.setModiTime(new Date());
                wrkMastService.updateById(wrkMast);
                return false;
            }

            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
            if (forkLiftThread == null) {
                return false;
            }
            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
            if (forkLiftProtocol == null) {
                return false;
            }

            //判断提升机是否处于出库模式
            if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
                return false;
            }

            //获取源站
            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftSta == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
                return false;
            }

            if (liftSta.getHasCar()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
                return false;
            }

            if (liftSta.getHasTray()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
                return false;
            }

            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
                //强制预留一台小车给入库任务
                int lev = Utils.getLev(wrkMast.getSourceLocNo());
                //获取当前楼层有几台可用小车
                int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
                if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
                    int shuttleWrkInObligateCount = 1;//预留小车数量
                    Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
                    if (config != null) {
                        shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
                    }
                    //可用出库小车数量(给入库任务预留一台车)
                    int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
                    //查询楼层已分配车辆的出库任务数量
                    List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
                    if (wrkMasts.size() >= useShuttleCount) {
                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
                        return false;
                    }
                }
                boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
                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.getStatus();
            if (shuttleProtocol == null) {
                return false;
            }
            if (!shuttleThread.isIdle()) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            //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
                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
            assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
            assignCommand.setAuto(true);//自动模式

            //获取小车到输送站点行走命令
            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
            if (commands == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
            if (liftCommand == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
            if (liftCommand2 == null) {
                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
                return false;
            }

            commands.add(0, liftCommand.get(0));
            commands.add(liftCommand2.get(0));
            assignCommand.setCommands(commands);

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中  101.生成出库任务 ==> 102.小车搬运中
            wrkMast.setSourceStaNo(liftSta.getStaNo());
            wrkMast.setModiTime(new Date());
            wrkMast.setSystemMsg("");//清空消息
            if (wrkMastService.updateById(wrkMast)) {
                //下发任务
                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
                //触发通知
                notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
                return false;
            }
            return false;
        }
        return true;
    }

//    public boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
//        //101.生成出库任务 => 102.小车搬运中
//        if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
//            Integer liftNo = wrkMast.getLiftNo();
//            if (liftNo == null) {
//                //通过输送线站号获取提升机号
//                liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
//                if (liftNo == null) {
//                    News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo());
//                    return false;
//                }
//
//                //判断提升机是否有其他任务
//                WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo);
//                if (liftWrkMast != null) {
//                    if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同
//                        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(), liftNo);
//                        return false;
//                    }
//                }
//
//                wrkMast.setLiftNo(liftNo);
//                wrkMast.setModiTime(new Date());
//                wrkMastService.updateById(wrkMast);
//                return false;
//            }
//
//            ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
//            if (forkLiftThread == null) {
//                return false;
//            }
//            ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
//            if (forkLiftProtocol == null) {
//                return false;
//            }
//
//            //判断提升机是否处于出库模式
//            if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo());
//                return false;
//            }
//
//            //获取源站
//            ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
//            if (liftSta == null) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo());
//                return false;
//            }
//
//            if (liftSta.getHasCar()) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
//                return false;
//            }
//
//            if (liftSta.getHasTray()) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo());
//                return false;
//            }
//
//            if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度
//                //强制预留一台小车给入库任务
//                int lev = Utils.getLev(wrkMast.getSourceLocNo());
//                //获取当前楼层有几台可用小车
//                int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev);
//                if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车
//                    int shuttleWrkInObligateCount = 1;//预留小车数量
//                    Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
//                    if (config != null) {
//                        shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
//                    }
//                    //可用出库小车数量(给入库任务预留一台车)
//                    int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
//                    //查询楼层已分配车辆的出库任务数量
//                    List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
//                    if (wrkMasts.size() >= useShuttleCount) {
//                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
//                        return false;
//                    }
//                }
//                boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败");
//                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.getStatus();
//            if (shuttleProtocol == null) {
//                return false;
//            }
//            if (!shuttleThread.isIdle()) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;
//            }
//
//            //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
//                shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;
//            }
//
//            ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
//            assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号
//            assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务
//            assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号
//            assignCommand.setAuto(true);//自动模式
//
//            //获取小车到输送站点行走命令
//            List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread);
//            if (commands == null) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;
//            }
//
//            List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
//            if (liftCommand == null) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;
//            }
//
//            List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
//            if (liftCommand2 == null) {
//                News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                return false;
//            }
//
//            commands.add(0, liftCommand.get(0));
//            commands.add(liftCommand2.get(0));
//            assignCommand.setCommands(commands);
//
//            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中  101.生成出库任务 ==> 102.小车搬运中
//            wrkMast.setSourceStaNo(liftSta.getStaNo());
//            wrkMast.setModiTime(new Date());
//            wrkMast.setSystemMsg("");//清空消息
//            if (wrkMastService.updateById(wrkMast)) {
//                //下发任务
//                shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
//                //触发通知
//                notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT);
//                return false;
//            }
//            return false;
//        }
//        return true;
//    }
    public synchronized void liftInExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022));
@@ -969,7 +992,8 @@
            }

            wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
            wrkMast.setLiftNo(null);
            // TODO 测试中发现不能解禁，因为提升机里存在托盘，就不能解禁，不然另一辆小车可能会近提升机
            //wrkMast.setLiftNo(null);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
@@ -1032,6 +1056,8 @@
            if (!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return false;
            } 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);

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

@@ -122,6 +122,11 @@
    }

    @Override
    public WrkMast selectByShuttleNo(Integer shuttleNo) {
        return this.baseMapper.selectByShuttleNo(shuttleNo);
    }

    @Override
    public List<WrkMast> selectShuttleMoveWrk() {
        return this.baseMapper.selectShuttleMoveWrk();
    }

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

@@ -205,12 +205,15 @@
                if (main.getIoType() == WrkIoType.IN.id) {
                    main.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
                } else if (main.getIoType() == WrkIoType.OUT.id) {
                    main.setShuttleNo(wrkMast.getShuttleNo());
                    main.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
                }
                main.setModiTime(new Date());
                if (!wrkMastService.updateById(main)) {
                    log.info("更新主工作档[workNo={}]失败", wrkMast.getWrkNo());
                }
            } else {
                log.info("找不到主工作档[workNo={},mainWorkNo={}]失败", wrkMast.getWrkNo(), wrkMast.getMainWrkNo());
            }
            // 保存工作主档历史档
            if (!wrkMastLogService.save(wrkMast.getWrkNo())) {

 src/main/java/com/zy/common/service/CommonService.java

@@ -3,8 +3,13 @@
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.domain.param.*;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
import com.zy.asrs.entity.LocMast;
import com.zy.asrs.entity.WrkLastno;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkLastnoService;
import com.zy.asrs.service.WrkMastLogService;
import com.zy.asrs.service.WrkMastService;
import com.zy.core.News;
import com.zy.core.enums.WrkIoType;
import com.zy.core.enums.WrkStsType;
@@ -40,17 +45,17 @@
        int workNo = wrkLastno.getWrkNo();
        int sNo = wrkLastno.getSNo();
        int eNo = wrkLastno.getENo();
        workNo = workNo>=eNo ? sNo : workNo+1;
        workNo = workNo >= eNo ? sNo : workNo + 1;
        while (true) {
            WrkMast wrkMast = wrkMastService.selectByWorkNo(workNo);
            if (null != wrkMast) {
                workNo = workNo>=eNo ? sNo : workNo+1;
                workNo = workNo >= eNo ? sNo : workNo + 1;
            } else {
                break;
            }
        }
        // 修改序号记录
        if (workNo > 0){
        if (workNo > 0) {
            wrkLastno.setWrkNo(workNo);
            wrkLastnoService.updateById(wrkLastno);
        }
@@ -58,7 +63,7 @@
        if (workNo == 0) {
            throw new CoolException("生成工作号失败，请联系管理员");
        } else {
            if (wrkMastService.selectByWorkNo(workNo)!=null) {
            if (wrkMastService.selectByWorkNo(workNo) != null) {
                throw new CoolException("生成工作号" + workNo + "在工作档中已存在");
            }
        }
@@ -72,7 +77,7 @@
            return msg.substring(0, 16);
        } else {
            StringBuilder msgBuilder = new StringBuilder(msg);
            for(int i = 0; i < count - msg.length(); ++i) {
            for (int i = 0; i < count - msg.length(); ++i) {
                msgBuilder.insert(0, "0");
            }
            return msgBuilder.toString();
@@ -88,7 +93,7 @@

        if (wrkMast.getIoType() == WrkIoType.IN.id) {
            wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
        }else if (wrkMast.getIoType() == WrkIoType.OUT.id) {
        } else if (wrkMast.getIoType() == WrkIoType.OUT.id) {
            wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
        } else if (wrkMast.getIoType() == WrkIoType.SHUTTLE_MOVE.id) {
            wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);

 src/main/java/com/zy/core/MainProcess.java

@@ -50,7 +50,7 @@
                    mainService.noLiftIn();
                    // 出库
                    mainService.outFirst();
                    mainService.stnToOutStn();
                    mainService.stnToOutStn();//输送线
                    //输送线完成判断
                    mainService.devpFinished();


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

@@ -177,16 +177,20 @@
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);
                    List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
                    int shuttleCount = this.getShuttleCountByLev(currentLev);//获取穿梭车楼层车辆数量
                    if (!wrkMasts1.isEmpty() && shuttleCount <= 1) {
                        //存在其他任务且可用小车数量小于等于1，跳过这辆车
                        continue;
                    }
//                    List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
//                    int shuttleCount = this.getShuttleCountByLev(currentLev);//获取穿梭车楼层车辆数量
//                    if (!wrkMasts1.isEmpty() && shuttleCount <= 1) {
//                        //存在其他任务且可用小车数量小于等于1，跳过这辆车
//                        continue;
//                    }

                    //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                    int currentValue = Math.abs(lev - currentLev);
                    diffShuttles.put(currentValue, shuttleThread);
                    if (diffShuttles.get(currentValue) != null) {
                        diffShuttles.put(currentValue + 1, shuttleThread);
                    } else {
                        diffShuttles.put(currentValue, shuttleThread);
                    }
                }

                //尝试调度跨楼层小车
@@ -319,16 +323,20 @@
                    //当前穿梭车库位号
                    String currentLocNo = shuttleProtocol.getCurrentLocNo();
                    int currentLev = Utils.getLev(currentLocNo);
                    List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
                    int shuttleCount = this.getShuttleCountByLev(currentLev);//获取穿梭车楼层车辆数量
                    if (!wrkMasts1.isEmpty() && shuttleCount <= 1) {
                        //存在其他任务且可用小车数量小于等于1，跳过这辆车
                        continue;
                    }
//                    List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车
//                    int shuttleCount = this.getShuttleCountByLev(currentLev);//获取穿梭车楼层车辆数量
//                    if (!wrkMasts1.isEmpty() && shuttleCount <= 1) {
//                        //存在其他任务且可用小车数量小于等于1，跳过这辆车
//                        continue;
//                    }

                    //ABS(目标楼层 - 当前楼层) 得到差距，取最小差值
                    int currentValue = Math.abs(lev - currentLev);
                    diffShuttles.put(currentValue, shuttleThread);
                    if (diffShuttles.get(currentValue) != null) {
                        diffShuttles.put(currentValue + 1, shuttleThread);
                    } else {
                        diffShuttles.put(currentValue, shuttleThread);
                    }
                }

                //尝试调度跨楼层小车
@@ -387,9 +395,11 @@
            News.info("{}号小车，存在移动任务，等待执行完成后再生成新的任务", shuttleNo);
            return false;
        }

        WrkMast mainWrkMast = null;
        //获取主工作档信息
        WrkMast mainWrkMast = wrkMastService.selectByWorkNo(wrkNo);
        if (wrkNo != null) {
            mainWrkMast = wrkMastService.selectByWorkNo(wrkNo);
        }

        //判断是否有其他任务正在使用穿梭车
        WrkMast wrkMast2 = wrkMastService.selectShuttleWorking(shuttleNo);
@@ -425,9 +435,8 @@
        wrkMast.setLocNo(locNo); // 目标库位
        wrkMast.setAppeTime(now);
        wrkMast.setModiTime(now);
        wrkMast.setMainWrkNo(mainWrkMast.getWrkNo());

        if ("TRANSPORT_LIFT".equals(flag)) {
        if ("TRANSPORT_LIFT".equalsIgnoreCase(flag) || "TRANSPORT_DEVP".equalsIgnoreCase(flag)) {
            wrkMast.setMainWrkNo(wrkNo);
        }


 src/main/resources/mapper/WrkMastMapper.xml

@@ -70,6 +70,12 @@
        where main_wrk_no = #{mainWrkNo} limit 0,1
    </select>

    <select id="selectByShuttleNo" resultMap="BaseResultMap">
        select *
        from asr_wrk_mast
        where shuttle_no = #{shuttleNo} limit 0,1
    </select>

    <select id="selectLiftStep223103" resultMap="BaseResultMap">
        select *
        from asr_wrk_mast

 src/main/webapp/views/admin/wrkMast/wrkMast.html

@@ -55,6 +55,8 @@
                        </el-table-column>
                        <el-table-column property="shuttleNo" label="穿梭车">
                        </el-table-column>
                        <el-table-column property="mainWrkNo" label="主任务号">
                        </el-table-column>
                        <el-table-column property="systemMsg" label="系统消息">
                        </el-table-column>
                        <el-table-column label="操作" width="100">