From 15356da6eeca013fafc9bb6ed2d2a4a12422ce04 Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 02 四月 2025 16:41:52 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java | 329 +++++++++++++++++++++---------------------------------
1 files changed, 126 insertions(+), 203 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
index c3ea2f0..71a47fc 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java
@@ -8,25 +8,16 @@
import com.zy.asrs.common.domain.param.SearchLocParam;
import com.zy.asrs.common.utils.HttpHandler;
import com.zy.asrs.framework.common.Cools;
-import com.zy.asrs.framework.common.R;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
-import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.action.LiftAction;
-import com.zy.asrs.wcs.core.domain.dto.MatDto;
import com.zy.asrs.wcs.core.domain.dto.RedisMapDto;
import com.zy.asrs.wcs.core.domain.dto.StaDto;
-import com.zy.asrs.wcs.core.domain.param.CreateInTaskParam;
import com.zy.asrs.wcs.core.entity.*;
import com.zy.asrs.wcs.core.kernel.AnalyzeService;
import com.zy.asrs.wcs.core.model.MapNode;
-import com.zy.asrs.wcs.core.model.command.LiftAssignCommand;
-import com.zy.asrs.wcs.core.model.command.LiftCommand;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
-import com.zy.asrs.wcs.core.utils.OpenUtils;
-import com.zy.asrs.wcs.core.utils.RedisUtil;
-import com.zy.asrs.wcs.core.utils.ShuttleDispatcher;
-import com.zy.asrs.wcs.core.utils.Utils;
+import com.zy.asrs.wcs.core.utils.*;
import com.zy.asrs.wcs.rcs.News;
import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
@@ -34,7 +25,6 @@
import com.zy.asrs.wcs.rcs.model.command.LedCommand;
import com.zy.asrs.wcs.rcs.model.enums.ShuttleProtocolStatusType;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
-import com.zy.asrs.wcs.rcs.model.protocol.LiftProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.ShuttleProtocol;
import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
import com.zy.asrs.wcs.rcs.service.DeviceService;
@@ -45,7 +35,6 @@
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
-import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
/**
@@ -95,6 +84,10 @@
private OpenUtils openUtils;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private LiftDispatcher liftDispatcher;
+ @Autowired
+ private ShuttleStandbyService shuttleStandbyService;
/**
* 缁勬墭
@@ -172,6 +165,11 @@
&& staProtocol.isPakMk()
) {
+ Object object = redisUtil.get(DeviceRedisConstant.LIFT_PALLET_INBOUND + inSta.getStaNo());
+ if (object != null) {
+ continue;
+ }
+
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
DeviceBarcode deviceBarcode = deviceBarcodeService.getById(basConveyorSta.getBarcodeId());
if(deviceBarcode == null) {
@@ -184,7 +182,6 @@
String barcode = barcodeThread.getBarcode();
if (!Cools.isEmpty(barcode)) {
News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", deviceBarcode.getId(), barcode);
-
}
// 鍒ゆ柇閲嶅宸ヤ綔妗�
@@ -195,7 +192,7 @@
if (task1 != null) {
News.error("宸ヤ綔妗ｅ凡瀛樺湪,宸ヤ綔鍙�={}", task1.getTaskNo());
if (staProtocol.getWorkNo().intValue() != Integer.parseInt(task1.getTaskNo())) {
- devpThread.writeWorkSta(staProtocol.getSiteId(), Short.parseShort(task1.getTaskNo()), Short.parseShort(task1.getDestSite()));
+ devpThread.writeWorkSta(staProtocol.getSiteId(), Short.parseShort(task1.getTaskNo()), Short.parseShort(task1.getOriginSite()));
devpThread.setPakMk(staProtocol.getSiteId(), false);
News.info("杈撻�佺嚎鍏ュ簱鍛戒护涓嬪彂锛屼换鍔℃暟鎹�={}", JSON.toJSON(task1));
}
@@ -228,37 +225,38 @@
if (code.equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
- String wmsLocNo = dto.getLocNo();
- int row = Integer.parseInt(wmsLocNo.substring(0, 2));
- int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
- int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
- String wcsLocNo = Utils.getLocNo(row, bay, lev);
+// String wmsLocNo = dto.getLocNo();
+// int row = Integer.parseInt(wmsLocNo.substring(0, 2));
+// int bay = Integer.parseInt(wmsLocNo.substring(2, 5));
+// int lev = Integer.parseInt(wmsLocNo.substring(5, 7));
+// String wcsLocNo = Utils.getLocNo(row, bay, lev);
+//
+// CreateInTaskParam createInTaskParam = new CreateInTaskParam();
+// createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
+// createInTaskParam.setDestLoc(wcsLocNo);
+// createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
+// createInTaskParam.setDestSite(dto.getStaNo().toString());
+// createInTaskParam.setPriority(11);
+// createInTaskParam.setBarcode(barcode);
+//
+// R result = openUtils.createInTask(createInTaskParam);
+// News.info("鍒涘缓鍏ュ簱浠诲姟锛屼换鍔℃暟鎹�={}锛學MS鍝嶅簲={}锛岃姹傚搷搴�={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
+// try{
+// String msg = "";
+// HashMap<String, String> hashMap = new HashMap<>();
+// hashMap.put("msg", msg);
+// hashMap.put("sta", inSta.getStaNo().toString());
+// new HttpHandler.Builder()
+// .setUri(wmsUrl)
+// .setPath("/rpc/led/getError")
+// .setJson(JSON.toJSONString(hashMap))
+// .build()
+// .doPost();
+// }catch (Exception e){
+//
+// }
- CreateInTaskParam createInTaskParam = new CreateInTaskParam();
- createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo()));
- createInTaskParam.setDestLoc(wcsLocNo);
- createInTaskParam.setOriginSite(dto.getSourceStaNo().toString());
- createInTaskParam.setDestSite(dto.getStaNo().toString());
- createInTaskParam.setPriority(11);
- createInTaskParam.setBarcode(barcode);
-
- R result = openUtils.createInTask(createInTaskParam);
- News.info("鍒涘缓鍏ュ簱浠诲姟锛屼换鍔℃暟鎹�={}锛學MS鍝嶅簲={}锛岃姹傚搷搴�={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result));
- try{
- String msg = "";
- HashMap<String, String> hashMap = new HashMap<>();
- hashMap.put("msg", msg);
- hashMap.put("sta", inSta.getStaNo().toString());
- new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/led/getError")
- .setJson(JSON.toJSONString(hashMap))
- .build()
- .doPost();
- }catch (Exception e){
-
- }
-
+ redisUtil.set(DeviceRedisConstant.LIFT_PALLET_INBOUND + inSta.getStaNo(), "in", 10);
}else {
String msg = jsonObject.getString("msg");
HashMap<String, String> hashMap = new HashMap<>();
@@ -275,134 +273,6 @@
} catch (Exception e) {
e.printStackTrace();
}
- }
- }
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
- }
-
- /**
- * 鍏ュ簱-鎵樼洏杩涘簱
- */
- public synchronized void palletInbound() {
- try {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
- .eq(Device::getDeviceType, DeviceCtgType.CONVEYOR.val())
- .eq(Device::getStatus, 1));
- for (Device devp : list) {
- BasConveyor basConveyor = basConveyorService.getOne(new LambdaQueryWrapper<BasConveyor>().eq(BasConveyor::getDeviceId, devp.getId()).eq(BasConveyor::getHostId, devp.getHostId()));
- // 閬嶅巻鍏ュ簱鍙�
- for (StaDto inSta : JSON.parseArray(basConveyor.getInSta(), StaDto.class)) {
- BasConveyorSta basConveyorSta = basConveyorStaService.selectBySiteNo(inSta.getDeviceStaNo().toString());
- if(basConveyorSta == null) {
- continue;
- }
-
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, devp.getId().intValue());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getDeviceStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- int workNo = staProtocol.getWorkNo().intValue();
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && (workNo >= 0)
- && staProtocol.isPakMk()
- ) {
- Object object = redisUtil.get(DeviceRedisConstant.LIFT_PALLET_INBOUND + workNo);
- if (object != null) {
- continue;
- }
-
- Task task = taskService.getOne(new LambdaQueryWrapper<Task>()
- .eq(Task::getDestSite, inSta.getDeviceStaNo())
- .in(Task::getTaskSts, TaskStsType.NEW_INBOUND.sts)
- .eq(Task::getTaskNo, workNo));
- if (task != null) {
- int lev = Utils.getLev(task.getDestLoc());
- Integer targetSite = null;
- if (lev == 1) {
- targetSite = 31006;
- }else if (lev == 2) {
- targetSite = 31007;
- }else if (lev == 3) {
- targetSite = 31008;
- }
- if(targetSite == null) {
- throw new CoolException(lev + "灞傜珯鐐逛俊鎭笉瀛樺湪");
- }
-
- StaProtocol staProtocol1 = devpThread.getStation().get(targetSite);
- if (staProtocol1 == null) {
- break;
- }
- if (!staProtocol1.isAutoing()) {
- break;
- }
- if (staProtocol1.isLoading()) {
- break;
- }
- if (staProtocol1.getWorkNo().intValue() != 0) {
- break;
- }
-
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, inSta.getLiftNo());
- if (liftThread == null) {
- break;
- }
-
- LiftProtocol liftProtocol = liftThread.getStatus();
- if (liftProtocol == null) {
- break;
- }
-
- if (!liftThread.isIdle()) {
- break;
- }
-
- if (motionService.count(new LambdaQueryWrapper<Motion>()
- .eq(Motion::getDeviceCtg, DeviceCtgType.LIFT.val())
- .eq(Motion::getDevice, inSta.getLiftNo())
- .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
- break;
- }
-
- //妫�娴嬫彁鍗囨満鏄惁鏈変换鍔＄粦瀹�
- boolean liftResult = Utils.checkLiftHasBinding(liftProtocol.getLiftNo(), String.valueOf(workNo));
- if (liftResult) {
- //瀛樺湪浠诲姟锛岀姝㈡墽琛�
- break;
- }
-
- //姣忔鎵ц鎻愬崌鏈烘寚浠ら兘缁戝畾鎻愬崌鏈�
- task.setLiftNo(liftProtocol.getLiftNo());
- task.setUpdateTime(new Date());
- if (!taskService.updateById(task)) {
- break;
- }
-
- List<LiftCommand> command = liftThread.getPalletInOutCommand(workNo, 1, lev, inSta.getDeviceStaNo(), targetSite, LiftCommandModeType.PALLET_INOUT);
-
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setLiftNo(liftProtocol.getLiftNo());
- assignCommand.setTaskNo(workNo);
- assignCommand.setDeviceTaskNo(liftThread.generateDeviceTaskNo(workNo, MotionCtgType.LIFT_WITH_GOODS));
- assignCommand.setCommands(command);
- liftAction.assignWork(liftThread.getDevice(), assignCommand);
-
- redisUtil.set(DeviceRedisConstant.LIFT_PALLET_INBOUND + workNo, "send", 60 * 60 * 6);
- break;
- }
-
}
}
}
@@ -633,20 +503,51 @@
}
}
+ //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑鍙崲灞傛彁鍗囨満(鍙兘涓嶇┖闂�)
+ LiftThread liftThread = liftDispatcher.searchLift(task.getDestLoc(), task.getHostId(), true);
+ if (liftThread == null) {
+ continue;
+ }
+ Device transferLiftDevice = liftThread.getDevice();
+ //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 杩涙彁鍗囨満
+ ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
+ .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
+ .eq(ShuttleStandby::getDeviceLev, Utils.getLev(task.getDestLoc()))
+ .eq(ShuttleStandby::getStatus, 1));
+ //绌挎杞﹁繘鎻愬崌鏈哄簱浣嶅彿
+ String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
+ //绌挎杞﹁繘鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙� 杈撻�佺嚎浣嶇疆
+ String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
+
+ //涓嶈蛋鎻愬崌鏈�
+ if (staProtocol.getSiteId() == 1015 || staProtocol.getSiteId() == 1026) {
+ standbyLocNoTo = staProtocol.getLocNo();
+ }
+
if (Cools.isEmpty(task.getShuttleNo())) {
//鍒嗛厤灏忚溅
- //鎼滅储绌洪棽杞�
- ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
- if (shuttleThread == null) {
+ //璋冨害绌洪棽杞﹀幓鍙栬揣寰呮満浣�
+ Device shuttleDevice = shuttleDispatcher.dispatchShuttle(task, standbyLocNoTo);
+ if (shuttleDevice == null) {
News.info("{}浠诲姟鏈壘鍒扮┖闂茬┛姊溅", task.getTaskNo());
continue;
}
- task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//淇濆瓨绌挎杞﹀彿
+ task.setShuttleNo(Integer.valueOf(shuttleDevice.getDeviceNo()));//淇濆瓨绌挎杞﹀彿
task.setUpdateTime(new Date());
if (!taskService.updateById(task)) {
News.info("{}浠诲姟鏇存柊绌挎杞﹀彿澶辫触", task.getTaskNo());
}
+ continue;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪鍙栬揣寰呮満浣嶇疆
+ String shuttleLocNo = shuttleDispatcher.findShuttleLocNo(task.getShuttleNo(), task.getHostId());
+ if (shuttleLocNo == null) {
+ continue;
+ }
+
+ if (!standbyLocNoTo.equals(shuttleLocNo)) {
continue;
}
@@ -838,23 +739,6 @@
// 瑙ｆ瀽灏忚溅绉诲姩宸ヤ綔妗�
public synchronized void analyzeMoveTask() {
for (Task task : taskService.selectWaitAnalyzeMoveTask()) {
- if (Cools.isEmpty(task.getShuttleNo())) {
- //鍒嗛厤灏忚溅
- //鎼滅储绌洪棽杞�
- ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
- if (shuttleThread == null) {
- News.info("{}浠诲姟鏈壘鍒扮┖闂茬┛姊溅", task.getTaskNo());
- continue;
- }
-
- task.setShuttleNo(Integer.valueOf(shuttleThread.getDevice().getDeviceNo()));//淇濆瓨绌挎杞﹀彿
- task.setUpdateTime(new Date());
- if (!taskService.updateById(task)) {
- News.info("{}浠诲姟鏇存柊绌挎杞﹀彿澶辫触", task.getTaskNo());
- }
- continue;
- }
-
// generate motion list
List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
if (motionList.isEmpty()) {
@@ -864,6 +748,54 @@
// 鏇存柊宸ヤ綔涓绘。
task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts); // 宸ヤ綔鐘舵��
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", task.getTaskNo());
+ }
+ }
+ }
+
+ // 瑙ｆ瀽灏忚溅鍏呯數宸ヤ綔妗�
+ public synchronized void analyzeChargeTask() {
+ List<Task> list = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskSts, TaskStsType.NEW_CHARGE.sts));
+ for (Task task : list) {
+ String locNo = task.getDestLoc();
+
+ Device shuttleDevice = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceNo, task.getShuttleNo())
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getHostId, task.getHostId())
+ .eq(Device::getStatus, 1));
+ if (shuttleDevice == null) {
+ continue;
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleDevice.getId().intValue());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+ String shuttleLocNo = task.getOriginLoc();
+
+ if (Utils.getLev(locNo) != Utils.getLev(shuttleLocNo)) {
+ shuttleDispatcher.dispatchShuttle(task, task.getDestLoc());
+ continue;
+ }
+
+ // generate motion list
+ List<Motion> motionList = analyzeService.generateChargeMotion(task);
+ if (Cools.isEmpty(motionList)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", task.getTaskNo());
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
+
+ // 鏇存柊宸ヤ綔涓绘。
+ task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
task.setUpdateTime(new Date());
if (!taskService.updateById(task)) {
News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", task.getTaskNo());
@@ -998,15 +930,6 @@
task.setMemo("charge");
task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
- // generate motion list
- List<Motion> motionList = analyzeService.generateChargeMotion(task);
- if (Cools.isEmpty(motionList)) {
- News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", device.getDeviceNo());
- continue;
- }
- motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
-
- task.setTaskSts(TaskStsType.ANALYZE_CHARGE.sts);
if (!taskService.save(task)) {
News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", device.getDeviceNo());
continue;
@@ -1088,7 +1011,7 @@
task.setTaskCtg(taskCtg.getId());
task.setPriority(10);
task.setOriginSite(null);
- task.setOriginLoc(null);
+ task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
task.setDestSite(null);
task.setDestLoc(standByLocNo); // 閬胯浣嶇疆
task.setIoTime(new Date());
--
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