From 54b4f53323d0833cbac86fd18932c5fa5a5447a8 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 17 二月 2025 14:19:17 +0800
Subject: [PATCH] #移库任务
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java | 318 ++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 233 insertions(+), 85 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java
index 7ef0cb4..f7ac1cb 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/timer/MotionTimer.java
@@ -1,11 +1,9 @@
package com.zy.asrs.wcs.core.timer;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.core.entity.Task;
-import com.zy.asrs.wcs.core.kernel.command.AgvCommandService;
-import com.zy.asrs.wcs.core.kernel.command.CraneCommandService;
-import com.zy.asrs.wcs.core.kernel.command.LiftCommandService;
-import com.zy.asrs.wcs.core.kernel.command.ShuttleCommandService;
+import com.zy.asrs.wcs.core.kernel.command.*;
import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionCtgType;
import com.zy.asrs.wcs.core.model.enums.MotionStsType;
@@ -35,24 +33,38 @@
private MotionService motionService;
@Autowired
private AgvCommandService agvCommandService;
-// @Autowired
-// private ConveyorCommandService conveyorCommandService;
+ @Autowired
+ private ConveyorCommandService conveyorCommandService;
@Autowired
private CraneCommandService craneCommandService;
@Autowired
private LiftCommandService liftCommandService;
@Autowired
private ShuttleCommandService shuttleCommandService;
+ @Autowired
+ private MapCommandService mapCommandService;
-// @Scheduled(cron = "0/1 * * * * ? ")
+ @Scheduled(cron = "0/1 * * * * ? ")
public synchronized void executeTask() {
Date now = new Date();
// ANALYZE_INBOUND
for (Task task : taskService.selectByAnalyzeSts()) {
Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
- continue;
+ if (executingMotion.getSync() == 1) {//褰撳墠鎵ц涓殑鍔ㄤ綔鏄悓姝ュ姩浣滐紝绛夊緟鎵ц瀹屾垚鍚庡啀鎵ц涓嬩竴涓姩浣�
+ continue;
+ }
+
+ //寮傛鍔ㄤ綔锛屽彧鍏佽涓嬩竴鏉″姩浣滆鎵ц
+ Motion nextMotion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getUuid, executingMotion.getUuid()).eq(Motion::getPriority, executingMotion.getPriority() - 1));
+ if (nextMotion != null) {
+ if (!(nextMotion.getMotionSts() == MotionStsType.INIT.val() || nextMotion.getMotionSts() == MotionStsType.WAITING.val())) {
+ continue;//涓嬩竴鏉″姩浣滃凡缁忚鎵ц锛屼笉鍏佽鍐嶆墽琛屽悗缁姩浣�
+ }
+ }
}
+
+
Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
if (null != motion) {
@@ -62,12 +74,12 @@
}
// 鏇存柊Task
- switch (TaskStsType.queryById(task.getTaskSts())) {
+ switch (TaskStsType.query(task.getTaskSts())) {
case ANALYZE_INBOUND:
- task.setTaskSts(TaskStsType.EXECUTE_INBOUND.getId());
+ task.setTaskSts(TaskStsType.EXECUTE_INBOUND.sts);
break;
case ANALYZE_OUTBOUND:
- task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.getId());
+ task.setTaskSts(TaskStsType.EXECUTE_OUTBOUND.sts);
break;
}
task.setUpdateTime(now);
@@ -91,12 +103,12 @@
}
// 鏇存柊Task
- switch (TaskStsType.queryById(task.getTaskSts())) {
+ switch (TaskStsType.query(task.getTaskSts())) {
case EXECUTE_INBOUND:
- task.setTaskSts(TaskStsType.COMPLETE_INBOUND.getId());
+ task.setTaskSts(TaskStsType.COMPLETE_INBOUND.sts);
break;
case EXECUTE_OUTBOUND:
- task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.getId());
+ task.setTaskSts(TaskStsType.COMPLETE_OUTBOUND.sts);
break;
}
task.setUpdateTime(now);
@@ -108,77 +120,81 @@
}
}
-// @Scheduled(cron = "0/1 * * * * ? ")
-// public synchronized void executeWrkCharge() {
-// Date now = new Date();
-// // ANALYZE_INBOUND
-// for (WrkCharge wrkCharge : wrkChargeMapper.selectByAnalyzeSts()) {
-// Motion executingMotion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val());
-// if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
-// continue;
-// }
-//
-// Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.INIT.val());
-// if (null != motion) {
-// boolean result = this.executeMotion(motion);
-// if (!result) {
-// continue;
-// }
-// // 鏇存柊wrkMast
-// switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
-// case ANALYZE_CHARGE:
-// wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_CHARGE.sts);
-// break;
-// case ANALYZE_MOVE:
-// wrkCharge.setWrkSts(WrkMastStsType.EXECUTE_MOVE.sts);
-// break;
-// }
-// wrkCharge.setModiTime(now);
-// if (wrkChargeMapper.updateById(wrkCharge) == 0) {
-// log.error("{}鍏朵粬宸ヤ綔妗ｆ洿鏂扮姸鎬佸け璐ワ紒", wrkCharge.getWrkNo());
-// }
-// }
-// }
-// // EXECUTE_INBOUND
-// for (WrkCharge wrkCharge : wrkChargeMapper.selectByExecuteSts()) {
-// if (!motionService.hasRunningMotion(wrkCharge.getUuid())) {
-// Motion motion = motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.WAITING.val());
-// if (null != motion) {
-// boolean result = this.executeMotion(motion);
-// if (!result) {
-// continue;
-// }
-// } else {
-// if (motionService.selectOfTop1(wrkCharge.getUuid(), MotionStsType.EXECUTING.val()) != null) {
-// continue;
-// }
-//
-// // 鏇存柊wrkMast
-// switch (WrkMastStsType.query(wrkCharge.getWrkSts())) {
-// case EXECUTE_CHARGE:
-// wrkCharge.setWrkSts(WrkMastStsType.CHARGE_WORKING.sts);
-// break;
-// case EXECUTE_MOVE:
-// wrkCharge.setWrkSts(WrkMastStsType.COMPLETE_MOVE.sts);
-// break;
-// }
-// wrkCharge.setModiTime(now);
-// if (wrkChargeMapper.updateById(wrkCharge) == 0) {
-// log.error("{}浠栧伐浣滄。鏇存柊鐘舵�佸け璐ワ紒", wrkCharge.getWrkNo());
-// }
-// }
-// }
-// }
-// }
+ @Scheduled(cron = "0/1 * * * * ? ")
+ public synchronized void executeChargeTask() {
+ Date now = new Date();
+ // ANALYZE_CHARGE
+ for (Task taskCharge : taskService.selectChargeByAnalyzeSts()) {
+ Motion executingMotion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId());
+ if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
+ if (executingMotion.getSync() == 1) {//褰撳墠鎵ц涓殑鍔ㄤ綔鏄悓姝ュ姩浣滐紝绛夊緟鎵ц瀹屾垚鍚庡啀鎵ц涓嬩竴涓姩浣�
+ continue;
+ }
+ }
-// @Scheduled(cron = "0/1 * * * * ? ")
+ Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.INIT.val(), taskCharge.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+ // 鏇存柊Task
+ switch (TaskStsType.query(taskCharge.getTaskSts())) {
+ case ANALYZE_CHARGE:
+ taskCharge.setTaskSts(TaskStsType.EXECUTE_CHARGE.sts);
+ break;
+ case ANALYZE_MOVE:
+ taskCharge.setTaskSts(TaskStsType.EXECUTE_MOVE.sts);
+ break;
+ }
+ taskCharge.setUpdateTime(now);
+ if (!taskService.updateById(taskCharge)) {
+ log.error("{}鍏朵粬宸ヤ綔妗ｆ洿鏂扮姸鎬佸け璐ワ紒", taskCharge.getTaskNo());
+ }
+ }
+ }
+ // EXECUTE_CHARGE
+ for (Task taskCharge : taskService.selectChargeByExecuteSts()) {
+ if (!motionService.hasRunningMotion(taskCharge.getUuid(), taskCharge.getHostId())) {
+ Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.WAITING.val(), taskCharge.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+ } else {
+ if (motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId()) != null) {
+ continue;
+ }
+
+ // 鏇存柊Task
+ switch (TaskStsType.query(taskCharge.getTaskSts())) {
+ case EXECUTE_CHARGE:
+ taskCharge.setTaskSts(TaskStsType.CHARGE_WORKING.sts);
+ break;
+ case EXECUTE_MOVE:
+ taskCharge.setTaskSts(TaskStsType.COMPLETE_MOVE.sts);
+ break;
+ }
+ taskCharge.setUpdateTime(now);
+ if (!taskService.updateById(taskCharge)) {
+ log.error("{}浠栧伐浣滄。鏇存柊鐘舵�佸け璐ワ紒", taskCharge.getTaskNo());
+ }
+ }
+ }
+ }
+ }
+
+ @Scheduled(cron = "0/1 * * * * ? ")
public synchronized void executeManualTask() {
Date now = new Date();
// ANALYZE_MANUAL
- for (Task task : taskService.selectByAnalyzeSts()) {
+ for (Task task : taskService.selectManualByAnalyzeSts()) {
Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
- continue;
+ if (executingMotion.getSync() == 1) {//褰撳墠鎵ц涓殑鍔ㄤ綔鏄悓姝ュ姩浣滐紝绛夊緟鎵ц瀹屾垚鍚庡啀鎵ц涓嬩竴涓姩浣�
+ continue;
+ }
}
Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
@@ -188,9 +204,9 @@
continue;
}
// 鏇存柊Task
- switch (TaskStsType.queryById(task.getTaskSts())) {
+ switch (TaskStsType.query(task.getTaskSts())) {
case ANALYZE_MANUAL:
- task.setTaskSts(TaskStsType.EXECUTE_MANUAL.getId());
+ task.setTaskSts(TaskStsType.EXECUTE_MANUAL.sts);
break;
}
task.setUpdateTime(now);
@@ -214,9 +230,135 @@
}
// 鏇存柊Task
- switch (TaskStsType.queryById(task.getTaskSts())) {
+ switch (TaskStsType.query(task.getTaskSts())) {
case EXECUTE_MANUAL:
- task.setTaskSts(TaskStsType.COMPLETE_MANUAL.getId());
+ task.setTaskSts(TaskStsType.COMPLETE_MANUAL.sts);
+ break;
+ }
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ log.error("{}浠栧伐浣滄。鏇存柊鐘舵�佸け璐ワ紒", task.getTaskNo());
+ }
+ }
+ }
+ }
+ }
+
+ @Scheduled(cron = "0/1 * * * * ? ")
+ public synchronized void executeLadenMoveTask() {
+ Date now = new Date();
+ // ANALYZE_CHARGE
+ for (Task taskCharge : taskService.selectLadenMoveByAnalyzeSts()) {
+ Motion executingMotion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId());
+ if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
+ if (executingMotion.getSync() == 1) {//褰撳墠鎵ц涓殑鍔ㄤ綔鏄悓姝ュ姩浣滐紝绛夊緟鎵ц瀹屾垚鍚庡啀鎵ц涓嬩竴涓姩浣�
+ continue;
+ }
+
+ //寮傛鍔ㄤ綔锛屽彧鍏佽涓嬩竴鏉″姩浣滆鎵ц
+ Motion nextMotion = motionService.getOne(new LambdaQueryWrapper<Motion>().eq(Motion::getUuid, executingMotion.getUuid()).eq(Motion::getPriority, executingMotion.getPriority() - 1));
+ if (nextMotion != null) {
+ if (!(nextMotion.getMotionSts() == MotionStsType.INIT.val() || nextMotion.getMotionSts() == MotionStsType.WAITING.val())) {
+ continue;//涓嬩竴鏉″姩浣滃凡缁忚鎵ц锛屼笉鍏佽鍐嶆墽琛屽悗缁姩浣�
+ }
+ }
+ }
+
+ Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.INIT.val(), taskCharge.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+ // 鏇存柊Task
+ switch (TaskStsType.query(taskCharge.getTaskSts())) {
+ case ANALYZE_LADEN_MOVE:
+ taskCharge.setTaskSts(TaskStsType.EXECUTE_LADEN_MOVE.sts);
+ break;
+ }
+ taskCharge.setUpdateTime(now);
+ if (!taskService.updateById(taskCharge)) {
+ log.error("{}鍏朵粬宸ヤ綔妗ｆ洿鏂扮姸鎬佸け璐ワ紒", taskCharge.getTaskNo());
+ }
+ }
+ }
+ // EXECUTE_CHARGE
+ for (Task taskCharge : taskService.selectLadenMoveByExecuteSts()) {
+ if (!motionService.hasRunningMotion(taskCharge.getUuid(), taskCharge.getHostId())) {
+ Motion motion = motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.WAITING.val(), taskCharge.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+ } else {
+ if (motionService.selectOfTop1(taskCharge.getUuid(), MotionStsType.EXECUTING.val(), taskCharge.getHostId()) != null) {
+ continue;
+ }
+
+ // 鏇存柊Task
+ switch (TaskStsType.query(taskCharge.getTaskSts())) {
+ case EXECUTE_LADEN_MOVE:
+ taskCharge.setTaskSts(TaskStsType.COMPLETE_LADEN_MOVE.sts);
+ break;
+ }
+ taskCharge.setUpdateTime(now);
+ if (!taskService.updateById(taskCharge)) {
+ log.error("{}浠栧伐浣滄。鏇存柊鐘舵�佸け璐ワ紒", taskCharge.getTaskNo());
+ }
+ }
+ }
+ }
+ }
+
+ @Scheduled(cron = "0/1 * * * * ? ")
+ public synchronized void executeMoveTask() {
+ Date now = new Date();
+ // ANALYZE_MOVE
+ for (Task task : taskService.selectMoveByAnalyzeSts()) {
+ Motion executingMotion = motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId());
+ if (executingMotion != null) {//瀛樺湪姝ｅ湪鎵ц鐨刴otion
+ if (executingMotion.getSync() == 1) {//褰撳墠鎵ц涓殑鍔ㄤ綔鏄悓姝ュ姩浣滐紝绛夊緟鎵ц瀹屾垚鍚庡啀鎵ц涓嬩竴涓姩浣�
+ continue;
+ }
+ }
+
+ Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.INIT.val(), task.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+ // 鏇存柊Task
+ switch (TaskStsType.query(task.getTaskSts())) {
+ case ANALYZE_MOVE:
+ task.setTaskSts(TaskStsType.EXECUTE_MOVE.sts);
+ break;
+ }
+ task.setUpdateTime(now);
+ if (!taskService.updateById(task)) {
+ log.error("{}鍏朵粬宸ヤ綔妗ｆ洿鏂扮姸鎬佸け璐ワ紒", task.getTaskNo());
+ }
+ }
+ }
+ // EXECUTE_MOVE
+ for (Task task : taskService.selectMoveByExecuteSts()) {
+ if (!motionService.hasRunningMotion(task.getUuid(), task.getHostId())) {
+ Motion motion = motionService.selectOfTop1(task.getUuid(), MotionStsType.WAITING.val(), task.getHostId());
+ if (null != motion) {
+ boolean result = this.executeMotion(motion);
+ if (!result) {
+ continue;
+ }
+ } else {
+ if (motionService.selectOfTop1(task.getUuid(), MotionStsType.EXECUTING.val(), task.getHostId()) != null) {
+ continue;
+ }
+
+ // 鏇存柊Task
+ switch (TaskStsType.query(task.getTaskSts())) {
+ case EXECUTE_MOVE:
+ task.setTaskSts(TaskStsType.COMPLETE_MOVE.sts);
break;
}
task.setUpdateTime(now);
@@ -240,7 +382,7 @@
Boolean executeRes = Boolean.FALSE;
switch (Objects.requireNonNull(MotionCtgType.get(motion.getMotionCtgEl())).deviceCtg) {
case CONVEYOR:
-// executeRes = conveyorCommandService.accept(motion);
+ executeRes = conveyorCommandService.accept(motion);
break;
case CRANE:
executeRes = craneCommandService.accept(motion);
@@ -253,6 +395,9 @@
break;
case AGV:
executeRes = agvCommandService.accept(motion);
+ break;
+ case MAP:
+ executeRes = mapCommandService.accept(motion);
break;
default:
break;
@@ -287,7 +432,10 @@
executeRes = shuttleCommandService.finish(motion);
break;
case CONVEYOR:
-// executeRes = conveyorCommandService.finish(motion);
+ executeRes = conveyorCommandService.finish(motion);
+ break;
+ case MAP:
+ executeRes = mapCommandService.finish(motion);
break;
default:
break;
--
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