From 664b83b2e10025a36b29ad086f68c66cb80e339c Mon Sep 17 00:00:00 2001
From: Junjie <xjj@123>
Date: 星期三, 02 四月 2025 10:29:20 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java | 3
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java | 8
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java | 322 ++++++----------
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java | 687 ++---------------------------------
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/OpenUtils.java | 2
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java | 87 ++++
6 files changed, 254 insertions(+), 855 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java
index 934ccfd..816fb9c 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/MainProcess.java
@@ -47,7 +47,6 @@
// 鍏ュ簱 ===>> 鍏ュ簱绔欏埌鍫嗗灈鏈虹珯锛屾牴鎹潯鐮佹壂鎻忕敓鎴愬叆搴撳伐浣滄。
mainService.generateInboundWrk(); // 缁勬墭
- mainService.palletInbound();//鍏ュ簱-鎵樼洏杩涘簱
// 瑙ｆ瀽鍑哄簱宸ヤ綔妗�
mainService.analyzeOutBoundTask();
@@ -55,6 +54,8 @@
mainService.analyzeInBoundTask();
// 瑙ｆ瀽灏忚溅绉诲姩宸ヤ綔妗�
mainService.analyzeMoveTask();
+ // 瑙ｆ瀽灏忚溅鍏呯數宸ヤ綔妗�
+ mainService.analyzeChargeTask();
// 瑙ｆ瀽灏忚溅杞借揣绉诲姩宸ヤ綔妗�
mainService.analyzeLadenMoveTask();
// 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
index cc2ba2e..8542d54 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/kernel/AnalyzeService.java
@@ -4,11 +4,9 @@
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.wcs.core.domain.dto.MotionDto;
import com.zy.asrs.wcs.core.entity.*;
-import com.zy.asrs.wcs.core.model.NavigateNode;
import com.zy.asrs.wcs.core.model.enums.*;
import com.zy.asrs.wcs.core.service.*;
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.entity.Device;
import com.zy.asrs.wcs.rcs.model.enums.SlaveType;
@@ -125,250 +123,50 @@
return motionList;
}
- //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 杩涙彁鍗囨満
+ //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 鎻愬崌鏈�
ShuttleStandby shuttleStandbyTo = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
.eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
.eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
.eq(ShuttleStandby::getStatus, 1));
- //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 鍑烘彁鍗囨満
- ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
- .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
- .eq(ShuttleStandby::getDeviceLev, Utils.getLev(destLoc))
- .eq(ShuttleStandby::getStatus, 1));
- if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
- return motionList;
- }
-
//绌挎杞﹁繘鎻愬崌鏈哄簱浣嶅彿
String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
-
- //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
- String liftLocNoFrom = shuttleStandbyFrom.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();
//绌挎杞︽崲灞傛椂寰呮満浣嶇疆 浣跨敤琛ㄥ垪 memo鏁版嵁
String standbyLocNoMemo = shuttleStandbyTo.getMemo();
- //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
- String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
-
- //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
- List<String> lockPath = shuttleStandbyFrom.getLockPath$();
-
// 鍏ュ簱鐩爣灞傛湁绌挎杞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(task.getDestLoc())) {
-// // 鎻愬崌鏈鸿浇璐хЩ鍔�
-// motionList.addAll(kernelService.liftMoveGoods(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(transferLiftDevice.getId().intValue());
-// dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
-// dto.setStaNo(31004);//鍏ュ簱绔欑偣
-// }))
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(transferLiftDevice.getId().intValue());
-// dto.setLev(Utils.getLev(task.getDestLoc()));
-// dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
-// dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
-// dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
-// }))
-// ));
-
- // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
- motionList.addAll(kernelService.shuttleMove(
+ // 鎻愬崌鏈鸿浇璐хЩ鍔�
+ motionList.addAll(kernelService.liftMoveGoods(
MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoTo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 绌挎杞﹀叆搴撻《鍗�
- motionList.addAll(kernelService.shuttleAction(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- })),
- MotionCtgType.SHUTTLE_PALLET_LIFT
- ));
-
- // 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(destLoc);
-// dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
- })),
- MotionCtgType.SHUTTLE_TRANSPORT
- ));
-
- // 绌挎杞﹀叆搴撴墭鐩樹笅闄�
- motionList.addAll(kernelService.shuttleAction(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- })),
- MotionCtgType.SHUTTLE_PALLET_DOWN
- ));
-
- /**
- * 浜屻�佸叆搴撶洰鏍囧眰娌℃湁绌挎杞�
- */
- } else {
-
-// // 鎻愬崌鏈鸿浇璐хЩ鍔�
-// motionList.addAll(kernelService.liftMoveGoods(
-// MotionDto.build((dto -> {
-// dto.setLiftNo(transferLiftDevice.getId().intValue());
-// dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
-// dto.setStaNo(31004);//鍏ュ簱绔欑偣
-// }))
-// , MotionDto.build((dto -> {
-// dto.setLiftNo(transferLiftDevice.getId().intValue());
-// dto.setLev(Utils.getLev(task.getDestLoc()));
-// dto.setStaNo(getStaByLev(Utils.getLev(task.getDestLoc())));
-// dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
-// dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
-// }))
-// ));
-
- // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoMemo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 閿佸畾鎹㈠眰璺緞
- motionList.addAll(kernelService.mapLockPath(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(JSON.toJSONString(lockPath));
+ dto.setStaNo(Integer.parseInt(task.getOriginSite()));//鍏ュ簱绔欑偣
}))
- ));
-
- // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
- motionList.addAll(kernelService.liftMove(
- null
, MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(shuttleLocNo));
- }))
- ));
-
- // 閿佸畾鎻愬崌鏈�
- motionList.addAll(kernelService.liftLock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoMemo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoTo);
- })),
- MotionCtgType.SHUTTLE_MOVE_TO_LIFT
- ));
-
- // 瑙ｉ攣鎻愬崌鏈�
- motionList.addAll(kernelService.liftUnlock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 鎻愬崌鏈烘惉杞� 鑷� 鐩爣浣嶇疆灞�
- motionList.addAll(kernelService.liftMoveShuttle(
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(shuttleLocNo));
- })),
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(destLoc));
- }))
- ));
-
- // 閿佸畾鎻愬崌鏈�
- motionList.addAll(kernelService.liftLock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 鏇存柊灏忚溅鍧愭爣
- motionList.addAll(kernelService.shuttleUpdateLocation(
- null
- , MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
- }))
- ));
-
- // 绌挎杞︾Щ鍔ㄨ嚦鎻愬崌鏈哄緟鏈轰綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoFrom);
- })),
- MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
- ));
-
- // 瑙ｉ攣鎻愬崌鏈�
- motionList.addAll(kernelService.liftUnlock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLev(Utils.getLev(task.getDestLoc()));
+ dto.setStaNo(Integer.parseInt(task.getDestSite()));
+ dto.setDevpNo(basConveyorStaDest.getConveyorDeviceId().intValue());
dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
- // 瑙ｉ攣鎹㈠眰璺緞
- motionList.addAll(kernelService.mapUnlockPath(
- null,
+ // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣�
+ motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(JSON.toJSONString(lockPath));
- }))
+ dto.setLocNo(shuttleLocNo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLocNo(liftLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_MOVE
));
// 绌挎杞﹀叆搴撻《鍗�
@@ -380,17 +178,33 @@
MotionCtgType.SHUTTLE_PALLET_LIFT
));
+ // 绌挎杞﹁浇璐ц蛋琛岃嚦寰呮満搴撲綅
+ motionList.addAll(kernelService.shuttleMove(
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setLocNo(liftLocNoTo);
+ })),
+ MotionDto.build((dto -> {
+ dto.setShuttleNo(shuttleDevice.getId().intValue());
+ dto.setShuttleDevice(shuttleDevice);
+ dto.setLiftNo(transferLiftDevice.getId().intValue());
+ dto.setLocNo(standbyLocNoTo);
+ })),
+ MotionCtgType.SHUTTLE_TRANSPORT
+ ));
+
// 绌挎杞﹁浇璐ц蛋琛岃嚦鐩爣搴撲綅
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(standbyLocNoTo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(destLoc);
+ dto.setReleaseLift(2);//鎵ц涓噴鏀炬彁鍗囨満
})),
MotionCtgType.SHUTTLE_TRANSPORT
));
@@ -403,7 +217,6 @@
})),
MotionCtgType.SHUTTLE_PALLET_DOWN
));
-
}
}
@@ -465,35 +278,14 @@
.eq(ShuttleStandby::getDeviceLev, Utils.getLev(shuttleLocNo))
.eq(ShuttleStandby::getStatus, 1));
- //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 鍑烘彁鍗囨満
- ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
- .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
- .eq(ShuttleStandby::getDeviceLev, Utils.getLev(originLoc))
- .eq(ShuttleStandby::getStatus, 1));
- if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
- return motionList;
- }
-
//绌挎杞﹁繘鎻愬崌鏈哄簱浣嶅彿
String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
-
- //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
- String liftLocNoFrom = shuttleStandbyFrom.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();
//绌挎杞︽崲灞傛椂寰呮満浣嶇疆 浣跨敤琛ㄥ垪 memo鏁版嵁
String standbyLocNoMemo = shuttleStandbyTo.getMemo();
-
- //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
- String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
-
- //绌挎杞﹀嚭鎻愬崌鏈哄悗鍏ㄩ儴寰呮満浣�
- String standbyLocs = shuttleStandbyFrom.getStandbyLoc();//鑾峰彇鍏ㄩ儴寰呮満浣�
-
- //鎹㈠眰闇�瑕侀攣瀹氱殑璺緞
- List<String> lockPath = shuttleStandbyFrom.getLockPath$();
//鑾峰彇鍑哄簱浠诲姟绫诲瀷
TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
@@ -580,245 +372,27 @@
MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
));
- // 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
- motionList.addAll(kernelService.shuttleAction(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- })),
- MotionCtgType.SHUTTLE_PALLET_DOWN
- ));
-
- // 绌挎杞︽彁鍗囨満寰呮満浣� - 鍒板緟鏈轰綅(鑷姩閫夋嫨鍚堥�傚緟鏈轰綅)
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocs);
- dto.setSync(0);//寮傛鎵ц
- dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
- })),
- MotionCtgType.SHUTTLE_MOVE_STANDBY
- ));
-
- // 鎻愬崌鏈鸿浇璐хЩ鍔�
- motionList.addAll(kernelService.liftMoveGoods(
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(task.getOriginLoc()));
- dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
- }))
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
- dto.setStaNo(31001);//鍑哄簱绔欑偣
- dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
- dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
-
- // 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
-// motionList.addAll(kernelService.conveyorOutbound(
-// MotionDto.build((dto -> {
-// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
-// dto.setStaNo(basConveyorPath.getDeviceStn());
-// })),
-// MotionDto.build((dto -> {
-// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
-// dto.setStaNo(basConveyorPath.getStnNo());
-// })),
-// MotionCtgType.CONVEYOR_OUTBOUND
-// ));
-
- /**
- * 浜屻�佸嚭搴撹捣濮嬪眰娌℃湁绌挎杞�
- */
- } else {
-
- // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣嶅緟鏈轰綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoMemo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 閿佸畾鎹㈠眰璺緞
- motionList.addAll(kernelService.mapLockPath(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(JSON.toJSONString(lockPath));
- }))
- ));
-
- // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
+ // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌鍑哄簱灞�
motionList.addAll(kernelService.liftMove(
null
, MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(shuttleLocNo));
+ dto.setLev(Utils.getLev(originLoc));
}))
));
- // 閿佸畾鎻愬崌鏈�
- motionList.addAll(kernelService.liftLock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 绌挎杞﹀緟鏈轰綅鑷虫彁鍗囨満
+ // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄簱浣�
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoMemo);
+ dto.setLocNo(standbyLocNoTo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
- dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLocNo(liftLocNoTo);
})),
- MotionCtgType.SHUTTLE_MOVE_TO_LIFT
- ));
-
- // 瑙ｉ攣鎻愬崌鏈�
- motionList.addAll(kernelService.liftUnlock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 鎻愬崌鏈烘惉杞� 鑷� 鐩爣浣嶇疆灞�
- motionList.addAll(kernelService.liftMoveShuttle(
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(shuttleLocNo));
- })),
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(liftLocNoFrom));
- }))
- ));
-
- // 閿佸畾鎻愬崌鏈�
- motionList.addAll(kernelService.liftLock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 鏇存柊灏忚溅鍧愭爣
- motionList.addAll(kernelService.shuttleUpdateLocation(
- null
- , MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
- }))
- ));
-
- // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄緟鏈轰綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoFrom);
- })),
- MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
- ));
-
- // 瑙ｉ攣鎻愬崌鏈�
- motionList.addAll(kernelService.liftUnlock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
- }))
- ));
-
- // 瑙ｉ攣鎹㈠眰璺緞
- motionList.addAll(kernelService.mapUnlockPath(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(JSON.toJSONString(lockPath));
- }))
- ));
-
- // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鍑哄簱搴撲綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(originLoc);
- })),
MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 绌挎杞﹀嚭搴撻《鍗�
- motionList.addAll(kernelService.shuttleAction(
- null,
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- })),
- MotionCtgType.SHUTTLE_PALLET_LIFT
- ));
-
- if (!originLoc.equals(lastPathStartLoc)) {
- // 绌挎杞﹁浇璐у嚭搴撹嚦鏈�鍚庝竴娈佃矾寰勭瓑寰�
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(originLoc);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(lastPathStartLoc);
- })),
- MotionCtgType.SHUTTLE_TRANSPORT
- ));
- }
-
- // 绌挎杞﹁浇璐ц嚦鎻愬崌鏈哄緟鏈轰綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(lastPathStartLoc);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
- dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//杈撻�佺珯
- })),
- MotionCtgType.SHUTTLE_TRANSPORT_TO_CONVEYOR
));
// 绌挎杞﹀嚭搴撴墭鐩樹笅闄�
@@ -834,12 +408,12 @@
motionList.addAll(kernelService.shuttleMove(
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
+ dto.setLocNo(liftLocNoTo);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocs);
+ dto.setLocNo(standbyLocNoTo);
dto.setSync(0);//寮傛鎵ц
dto.setReleaseShuttle(1);//鎵ц瀹屾垚鍚庨噴鏀惧皬杞�
})),
@@ -851,29 +425,15 @@
MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
dto.setLev(Utils.getLev(task.getOriginLoc()));
- dto.setStaNo(getStaByLev(Utils.getLev(task.getOriginLoc())));//璧峰绔欑偣
+ dto.setStaNo(Integer.parseInt(task.getOriginSite()));//璧峰绔欑偣
}))
, MotionDto.build((dto -> {
dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(1);//鍏夋嘲1灞傛槸杈撻�佺嚎灞�
- dto.setStaNo(31001);//鍑哄簱绔欑偣
+ dto.setStaNo(Integer.parseInt(task.getDestSite()));//鍑哄簱绔欑偣
dto.setDevpNo(basConveyorStaOrigin.getConveyorDeviceId().intValue());
dto.setReleaseLift(1);//鎵ц瀹屾垚鍚庨噴鏀炬彁鍗囨満
}))
));
-
- // 杈撻�佺嚎杩愯緭鑷冲嚭搴撳彛
-// motionList.addAll(kernelService.conveyorOutbound(
-// MotionDto.build((dto -> {
-// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
-// dto.setStaNo(basConveyorPath.getDeviceStn());
-// })),
-// MotionDto.build((dto -> {
-// dto.setDevpNo(basConveyorPath.getDeviceId().intValue());
-// dto.setStaNo(basConveyorPath.getStnNo());
-// })),
-// MotionCtgType.CONVEYOR_OUTBOUND
-// ));
}
@@ -915,51 +475,12 @@
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
- //鑾峰彇璺濈鐩爣浣嶇疆鏈�杩戠殑绌洪棽鍙崲灞傛彁鍗囨満
- LiftThread liftThread = liftDispatcher.searchIdleLift(shuttleLocNo, task.getHostId(), true);
- if (liftThread == null) {
- return motionList;
- }
- Device transferLiftDevice = liftThread.getDevice();
-
- LiftProtocol liftProtocol = liftThread.getStatus();
- if (liftProtocol == null || liftProtocol.getLiftNo() == null) {
- return motionList;
- }
-
//妫�娴嬬┛姊溅鏄惁鏈変换鍔＄粦瀹�
boolean shuttleResult = Utils.checkShuttleHasBinding(shuttleDevice, task.getTaskNo());
if (shuttleResult) {
//瀛樺湪浠诲姟锛岀姝㈣В鏋�
return motionList;
}
-
- //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(shuttleLocNo))
- .eq(ShuttleStandby::getStatus, 1));
-
- //鑾峰彇灏忚溅寰呮満搴撲綅 ==> 鍑烘彁鍗囨満
- ShuttleStandby shuttleStandbyFrom = shuttleStandbyService.getOne(new LambdaQueryWrapper<ShuttleStandby>()
- .eq(ShuttleStandby::getDeviceId, transferLiftDevice.getId())
- .eq(ShuttleStandby::getDeviceLev, Utils.getLev(chargeLocNo))
- .eq(ShuttleStandby::getStatus, 1));
- if (shuttleStandbyTo == null || shuttleStandbyFrom == null) {
- return motionList;
- }
-
- //绌挎杞﹁繘鎻愬崌鏈哄簱浣嶅彿
- String liftLocNoTo = shuttleStandbyTo.getDeviceLoc();
-
- //绌挎杞﹀嚭鎻愬崌鏈哄簱浣嶅彿
- String liftLocNoFrom = shuttleStandbyFrom.getDeviceLoc();
-
- //绌挎杞﹁繘鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
- String standbyLocNoTo = shuttleStandbyTo.getDeviceStandbyLoc();
-
- //绌挎杞﹀嚭鎻愬崌鏈哄緟鏈轰綅搴撲綅鍙�
- String standbyLocNoFrom = shuttleStandbyFrom.getDeviceStandbyLoc();
// 鍒ゆ柇绌挎杞︽槸鍚﹀湪鍏呯數灞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(chargeLocNo)) {
@@ -969,128 +490,6 @@
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(chargeLocNo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- } else {
-
- // 绌挎杞﹁蛋琛岃嚦鎻愬崌鏈哄緟鏈轰綅
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(shuttleLocNo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoTo);
- })),
- MotionCtgType.SHUTTLE_MOVE
- ));
-
- // 鎻愬崌鏈虹┖杞界Щ鍔ㄥ埌绌挎杞﹀眰
- motionList.addAll(kernelService.liftMove(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(shuttleLocNo));
- }))
- ));
-
- // 閿佸畾鎻愬崌鏈�
- motionList.addAll(kernelService.liftLock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鎻愬崌鏈�
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoTo);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoTo);
- })),
- MotionCtgType.SHUTTLE_MOVE_TO_LIFT
- ));
-
- // 瑙ｉ攣鎻愬崌鏈�
- motionList.addAll(kernelService.liftUnlock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 鎻愬崌鏈烘惉杞� 鑷� 鍏呯數灞�
- motionList.addAll(kernelService.liftMoveShuttle(
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(shuttleLocNo));
- })),
- MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLev(Utils.getLev(chargeLocNo));
- }))
- ));
-
- // 閿佸畾鎻愬崌鏈�
- motionList.addAll(kernelService.liftLock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 鏇存柊灏忚溅鍧愭爣
- motionList.addAll(kernelService.shuttleUpdateLocation(
- null
- , MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
- }))
- ));
-
- // 绌挎杞︽彁鍗囨満鑷虫彁鍗囨満寰呮満浣�
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- dto.setLocNo(liftLocNoFrom);
- })),
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setShuttleDevice(shuttleDevice);
- dto.setLocNo(standbyLocNoFrom);
- })),
- MotionCtgType.SHUTTLE_MOVE_FROM_LIFT
- ));
-
- // 瑙ｉ攣鎻愬崌鏈�
- motionList.addAll(kernelService.liftUnlock(
- null
- , MotionDto.build((dto -> {
- dto.setLiftNo(transferLiftDevice.getId().intValue());
- }))
- ));
-
- // 绌挎杞︽彁鍗囨満寰呮満浣嶈嚦鍏呯數浣�
- motionList.addAll(kernelService.shuttleMove(
- MotionDto.build((dto -> {
- dto.setShuttleNo(shuttleDevice.getId().intValue());
- dto.setLocNo(standbyLocNoFrom);
})),
MotionDto.build((dto -> {
dto.setShuttleNo(shuttleDevice.getId().intValue());
@@ -1204,7 +603,7 @@
return motionList;
}
- String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+ String shuttleLocNo = task.getOriginLoc();
// 鍒ゆ柇绌挎杞︽槸鍚﹀湪鐩爣灞�
if (Utils.getLev(shuttleLocNo) == Utils.getLev(locNo)) {
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..1ceaf1b 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�
@@ -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 +503,46 @@
}
}
+ //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();
+
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 +734,6 @@
// 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 +743,54 @@
// 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 +925,6 @@
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 +1006,7 @@
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());
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/OpenUtils.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/OpenUtils.java
index e5b014c..b1e3cf3 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/OpenUtils.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/OpenUtils.java
@@ -399,7 +399,7 @@
task.setTaskCtg(taskCtg.getId());
task.setPriority(priority);
task.setOriginSite(null);
- task.setOriginLoc(null);
+ task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
task.setDestSite(null);
task.setDestLoc(param.getDestLoc());
task.setIoTime(new Date());
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
index 1808c65..1971cbf 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/utils/ShuttleDispatcher.java
@@ -1,7 +1,6 @@
package com.zy.asrs.wcs.core.utils;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONArray;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.zy.asrs.framework.common.Cools;
import com.zy.asrs.framework.common.SnowflakeIdWorker;
@@ -24,6 +23,7 @@
import com.zy.asrs.wcs.system.service.DictService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
import java.util.*;
@@ -58,6 +58,63 @@
private DictService dictService;
@Autowired
private NavigateUtils navigateUtils;
+
+ /**
+ * 璋冨害杞﹁締
+ */
+ public Device dispatchShuttle(Task task, String locNo) {
+ ArrayList<ShuttleThread> sameLev = new ArrayList<>();//鐩稿悓妤煎眰鐨勭┛姊溅
+ ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
+
+ ShuttleThread resThread = null;
+ int lev = Utils.getLev(locNo);
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getHostId, task.getHostId())
+ .eq(Device::getStatus, 1));
+ //鑾峰彇鍚屽眰灏忚溅
+ List<Device> currentLevDevices = new ArrayList<>();
+ //鑾峰彇璺ㄥ眰灏忚溅
+ HashMap<Integer, List<Device>> diffLevDeviceMap = new HashMap<>();
+ for (Device device : list) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ continue;
+ }
+
+ int shuttleLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ if (shuttleLev == lev) {
+ currentLevDevices.add(device);
+ } else {
+ List<Device> devices = null;
+ if (diffLevDeviceMap.containsKey(shuttleLev)) {
+ devices = diffLevDeviceMap.get(shuttleLev);
+ } else {
+ devices = new ArrayList<>();
+ }
+ devices.add(device);
+ diffLevDeviceMap.put(shuttleLev, devices);
+ }
+ }
+
+ //鎼滅储鍚屽眰
+ resThread = this.searchCurrentLevShuttle(currentLevDevices, locNo);
+
+ //鍚屽眰娌℃湁鎼滅储鍒板悎閫傚皬杞︼紝璺ㄦゼ灞傛悳绱�
+ if (resThread == null) {
+ resThread = this.searchDiffLevShuttle(diffLevDeviceMap, locNo, task);
+ }
+
+ Task result = generateMoveTask(resThread.getDevice(), locNo);
+ if (result != null) {
+ return resThread.getDevice();
+ }
+
+ News.info("{}鐩爣搴撲綅娌℃湁鎼滅储鍒板彲鐢ㄧ┛姊溅", locNo);
+ return null;
+ }
public synchronized ShuttleThread searchIdleShuttle(Task task) {
String locNo = taskService.judgeInbound(task) ? task.getDestLoc() : task.getOriginLoc();
@@ -318,6 +375,11 @@
return null;
}
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return null;
+ }
+
Task task = new Task();
task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
@@ -325,7 +387,7 @@
task.setTaskCtg(taskCtg.getId());
task.setPriority(10);
task.setOriginSite(null);
- task.setOriginLoc(null);
+ task.setOriginLoc(shuttleProtocol.getCurrentLocNo());
task.setDestSite(null);
task.setDestLoc(locNo); // 杩佺Щ浣嶇疆
task.setIoTime(new Date());
@@ -567,5 +629,26 @@
return lastPathStartLoc;
}
+ //鑾峰彇灏忚溅鍧愭爣
+ public String findShuttleLocNo(Integer shuttleNo, Long hostId) {
+ Device device = deviceService.getOne(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getDeviceNo, shuttleNo)
+ .eq(Device::getHostId, hostId)
+ .eq(Device::getStatus, 1));
+ if(device == null) {
+ return null;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
+ return null;
+ }
+
+ return shuttleProtocol.getCurrentLocNo();
+ }
+
}
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
index 40b243c..ab95590 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/impl/NyShuttleThread.java
@@ -403,6 +403,9 @@
String requestType = resultBody.getString("requestType");
Integer requestId = resultHeader.getInteger("requestId");
if (requestType.equals("init")) {
+ removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
+ socketResults.remove(removeIdx);
+
Integer code = resultBody.getInteger("code");
//灏忚溅澶嶄綅璇锋眰
ShuttleCommand initCommand = getInitCommand(requestId, code);
@@ -410,16 +413,11 @@
NyShuttleHttpCommand httpCommand = JSON.parseObject(initCommand.getBody(), NyShuttleHttpCommand.class);
JSONObject requestResult = requestCommand(httpCommand);
- removeIdx = i;//姝ゆ暟鎹凡缁忓鐞嗭紝浠庣粨鏋滈泦涓墧闄�
log.info(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
OutputQueue.SHUTTLE.offer(MessageFormat.format("銆恵0}銆戝洓鍚戣溅澶嶄綅涓婃姤 ===>> [code:{1}] [ip:{2}] [port:{3}]", device.getId(), code, device.getIp(), device.getPort()));
break;
}
- }
-
- if (removeIdx != -1) {
- socketResults.remove(removeIdx);
}
} catch (Exception e) {
e.printStackTrace();
--
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