From 77ba9a8e95927efc361268c005ae907e709da2c4 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期三, 12 六月 2024 16:55:35 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java | 936 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 933 insertions(+), 3 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 488dd34..bc42ae0 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
@@ -1,14 +1,51 @@
package com.zy.asrs.wcs.core.service.impl;
import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.zy.asrs.common.domain.dto.StartupDto;
+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.SnowflakeIdWorker;
+import com.zy.asrs.framework.exception.CoolException;
+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.entity.*;
+import com.zy.asrs.wcs.core.kernel.AnalyzeService;
+import com.zy.asrs.wcs.core.model.MapNode;
+import com.zy.asrs.wcs.core.model.enums.DeviceCtgType;
+import com.zy.asrs.wcs.core.model.enums.MotionStsType;
+import com.zy.asrs.wcs.core.model.enums.TaskCtgType;
+import com.zy.asrs.wcs.core.model.enums.TaskStsType;
+import com.zy.asrs.wcs.core.service.*;
+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.rcs.News;
+import com.zy.asrs.wcs.rcs.cache.SlaveConnection;
+import com.zy.asrs.wcs.rcs.constant.DeviceRedisConstant;
+import com.zy.asrs.wcs.rcs.entity.Device;
+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.ShuttleProtocol;
+import com.zy.asrs.wcs.rcs.model.protocol.StaProtocol;
+import com.zy.asrs.wcs.rcs.service.DeviceService;
+import com.zy.asrs.wcs.rcs.thread.BarcodeThread;
+import com.zy.asrs.wcs.rcs.thread.DevpThread;
+import com.zy.asrs.wcs.rcs.thread.LedThread;
+import com.zy.asrs.wcs.rcs.thread.ShuttleThread;
+import com.zy.asrs.wcs.system.entity.Dict;
+import com.zy.asrs.wcs.system.service.DictService;
import lombok.extern.slf4j.Slf4j;
+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.Date;
-import java.util.List;
+import java.util.*;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -19,12 +56,905 @@
@Transactional
public class MainServiceImpl {
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private AnalyzeService analyzeService;
+ @Autowired
+ private MotionService motionService;
+ @Autowired
+ private DeviceService deviceService;
+ @Autowired
+ private LocCtgService locCtgService;
+ @Autowired
+ private LocService locService;
+ @Autowired
+ private SnowflakeIdWorker snowflakeIdWorker;
+ @Autowired
+ private TaskCtgService taskCtgService;
+ @Autowired
+ private DictService dictService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private BasConveyorService basConveyorService;
+ @Autowired
+ private BasConveyorStaService basConveyorStaService;
+ @Autowired
+ private BasLedService basLedService;
+
/**
* 缁勬墭
* 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
*/
public synchronized void generateInboundWrk() {
+ 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)) {
+ // 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.getStaNo());
+ if (staProtocol == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ Short workNo = staProtocol.getWorkNo();
+ // 灏哄妫�娴嬪紓甯�
+ boolean back = false;
+ String errMsg = "寮傚父锛�";
+ if (staProtocol.isFrontErr()) {
+ errMsg = errMsg + "鍓嶈秴闄愶紱";
+ back = true;
+ }
+ if (staProtocol.isBackErr()) {
+ errMsg = errMsg + "鍚庤秴闄�";
+ back = true;
+ }
+ if (staProtocol.isHighErr()) {
+ errMsg = errMsg + "楂樿秴闄�";
+ back = true;
+ }
+ if (staProtocol.isLeftErr()) {
+ errMsg = errMsg + "宸﹁秴闄�";
+ back = true;
+ }
+ if (staProtocol.isRightErr()) {
+ errMsg = errMsg + "鍙宠秴闄�";
+ back = true;
+ }
+ if (staProtocol.isWeightErr()) {
+ errMsg = errMsg + "瓒呴噸";
+ back = true;
+ }
+ if (staProtocol.isBarcodeErr()) {
+ errMsg = errMsg + "鎵爜澶辫触";
+ back = true;
+ }
+ // 閫�鍥�
+ if (back) {
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ ledThread.error(errMsg);
+ }
+ continue;
+ }
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
+ if (staProtocol.isAutoing() && staProtocol.isLoading()
+ && staProtocol.isInEnable()
+ && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
+ ) {
+
+ // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ 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{}", inSta.getBarcode(), barcode);
+ if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode) || "00000000".equals(barcode)) {
+ staProtocol.setWorkNo((short) 32002);
+ staProtocol.setStaNo(inSta.getBackSta().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+ devpThread.writeWorkSta(staProtocol.getSiteId(), (short) 32002, inSta.getBackSta().shortValue());
+
+ // led 寮傚父鏄剧ず
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ if (ledThread != null) {
+ String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
+ ledThread.error(errorMsg);
+ }
+ continue;
+ }
+ }
+
+ //鑾峰彇鍏ュ簱浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.IN))
+ .eq(TaskCtg::getStatus, 1));
+
+ // 鍒ゆ柇閲嶅宸ヤ綔妗�
+ Task task1 = taskService.getOne(new LambdaQueryWrapper<Task>()
+ .eq(Task::getOriginSite, inSta.getStaNo())
+ .eq(Task::getTaskCtg, taskCtg.getId())
+ .in(Task::getTaskSts, 1, 2, 3)
+ .eq(Task::getZpallet, barcode));
+ if (task1 != null) {
+ News.error("宸ヤ綔妗ｅ凡瀛樺湪,宸ヤ綔鍙�={}", task1.getTaskNo());
+ continue;
+ }
+
+ try {
+ //鑾峰彇WMS鍦板潃
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "WMS_URL").eq(Dict::getStatus, 1));
+ if (dict == null) {
+ News.error("WMS鍦板潃鏈厤缃�");
+ continue;
+ }
+ String wmsUrl = dict.getValue();
+
+ SearchLocParam param = new SearchLocParam();
+ param.setBarcode(barcode);
+ param.setIoType(1);
+ param.setSourceStaNo(inSta.getStaNo());
+ param.setLocType1(staProtocol.getLocType1().shortValue());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/rpc/pakin/loc/v2")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ StartupDto dto = jsonObject.getObject("data", StartupDto.class);
+ devpThread.writeWorkSta(staProtocol.getSiteId(), dto.getWorkNo().shortValue(), dto.getStaNo().shortValue());
+ devpThread.setPakMk(staProtocol.getSiteId(), false);
+
+ } else if (code == 500) {
+ if (ledThread != null) {
+ String errorMsg = jsonObject.getString("msg");
+ if (!Cools.isEmpty(errorMsg)) {
+ ledThread.error(errorMsg);
+ ledThread.setLedMk(false);
+ }
+ }
+ News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response);
+ } else if (code == 700) {
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setRollback102(1);//102绔欏洖閫�淇″彿
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+
+ // led 寮傚父鏄剧ず
+ if (ledThread != null) {
+ String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
+ ledThread.error(errorMsg);
+ ledThread.setLedMk(false);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
+ }
+ }
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ /**
+ * 鍒濆鍖栧疄鏃跺湴鍥�
+ */
+ public synchronized void initRealtimeBasMap() {
+ try {
+ List<Dict> dicts = dictService.list(new LambdaQueryWrapper<Dict>()
+ .like(Dict::getFlag, "map-")
+ .eq(Dict::getStatus, 1));
+
+ TreeMap<Integer, ArrayList<ArrayList<MapNode>>> levData = new TreeMap<>();
+ for (Dict dict : dicts) {
+ String[] split = dict.getFlag().split("-");
+ int lev = Integer.parseInt(split[1]);
+
+ Object data = redisUtil.get(DeviceRedisConstant.MAP + lev);
+ if (data != null) {
+ continue;
+ }
+
+ TreeMap<Integer, List<JSONObject>> rows = new TreeMap<>();
+ //鎺掑簭Row
+ JSONArray value = JSON.parseArray(dict.getValue());
+ for (Object o : value) {
+ JSONObject item = JSON.parseObject(o.toString());
+ if (item.getString("type").equals("SHELF")) {
+ JSONObject property = JSON.parseObject(item.getString("property"));
+ Integer row1 = property.getInteger("row");
+ ArrayList<JSONObject> bays = new ArrayList<>();
+ if (rows.containsKey(row1)) {
+ bays.addAll(rows.get(row1));
+ }
+ bays.add(property);
+ rows.put(row1, bays);
+ }
+ }
+
+ ArrayList<ArrayList<MapNode>> list = new ArrayList<>();
+ //鎺掑簭Bay
+ for (Map.Entry<Integer, List<JSONObject>> entry : rows.entrySet()) {
+ ArrayList<MapNode> nodes = new ArrayList<>();
+ for (JSONObject object : entry.getValue()) {
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(object.getInteger("shelfType"));
+ mapNode.setTop(object.getInteger("top"));
+ mapNode.setBottom(object.getInteger("bottom"));
+ mapNode.setLeft(object.getInteger("left"));
+ mapNode.setRight(object.getInteger("right"));
+ mapNode.setRow(object.getInteger("row"));
+ mapNode.setBay(object.getInteger("bay"));
+ mapNode.setNo(object.getString("row") + "-" + object.getString("bay"));
+ mapNode.setXBase(object.getInteger("refx"));
+ mapNode.setYBase(object.getInteger("refy"));
+ nodes.add(mapNode);
+ }
+
+ Collections.sort(nodes, new Comparator<MapNode>() {
+ @Override
+ public int compare(MapNode o1, MapNode o2) {
+ return Integer.compare(o1.getBay(), o2.getBay());
+ }
+ });
+
+ ArrayList<MapNode> sortNodes = new ArrayList<>();
+ int defaultBay = 1;//榛樿浠�1鍒楀紑濮�
+ for (MapNode node : nodes) {
+ if (node.getBay() == defaultBay) {
+ defaultBay++;
+ sortNodes.add(node);
+ continue;
+ }
+
+ //瀛樺湪绌虹己鑺傜偣锛岃嚜鍔ㄨˉ瓒�
+ for (int i = defaultBay; i < node.getBay(); i++) {
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(-1);
+ mapNode.setTop(1000);
+ mapNode.setBottom(1000);
+ mapNode.setLeft(1000);
+ mapNode.setRight(1000);
+ mapNode.setRow(node.getRow());
+ mapNode.setBay(i);
+ mapNode.setNo(node.getRow() + "-" + i);
+ mapNode.setXBase(0);
+ mapNode.setYBase(0);
+ sortNodes.add(mapNode);
+ }
+
+ defaultBay = node.getBay() + 1;
+ sortNodes.add(node);
+ }
+
+ list.add(sortNodes);
+ }
+
+ levData.put(lev, list);
+ }
+
+ for (Map.Entry<Integer, ArrayList<ArrayList<MapNode>>> entry : levData.entrySet()) {
+ ArrayList<ArrayList<MapNode>> lists = entry.getValue();//鑾峰彇鍦板浘
+
+ MapNode mapNode = new MapNode();
+ mapNode.setValue(-1);
+ mapNode.setTop(1000);
+ mapNode.setBottom(1000);
+ mapNode.setLeft(1000);
+ mapNode.setRight(1000);
+ mapNode.setRow(0);
+ mapNode.setBay(0);
+ mapNode.setNo("0-0");
+ mapNode.setXBase(0);
+ mapNode.setYBase(0);
+
+ //鑾峰彇鏈�闀縭ow
+ int row = 0;
+ //缁欐瘡涓猺ow棣栧熬澧炲姞-1鑺傜偣
+ for (ArrayList<MapNode> list : lists) {
+ if (list.size() > row) {
+ row = list.size();
+ }
+
+ list.add(0, mapNode.clone());
+ list.add(mapNode.clone());
+ }
+
+ //鏈�鍚庝竴娆℃娴嬪湴鍥捐妭鐐规槸鍚﹀畬鏁达紝鍦板浘鐭╅樀row鍧囪杈惧埌鏈�闀縭ow
+ for (ArrayList<MapNode> list : lists) {
+ int len = (row + 2);//row+2鏄洜涓哄ご鑺傜偣鍜屽熬鑺傜偣瀛樺湪浜轰负娣诲姞鐨�-1鑺傜偣
+ if (list.size() == len) {
+ continue;
+ }
+ //鑺傜偣闀垮害涓嶆弧瓒筹紝杩涜琛ヨ冻
+ for (int i = list.size(); i < len; i++) {
+ list.add(mapNode.clone());
+ }
+ }
+
+
+ ArrayList<MapNode> headNodes = new ArrayList<>();
+ ArrayList<MapNode> footerNodes = new ArrayList<>();
+ for (int i = 0; i < row+2; i++) {
+ headNodes.add(mapNode.clone());
+ footerNodes.add(mapNode.clone());
+ }
+
+ lists.add(0, headNodes);
+ lists.add(footerNodes);
+
+ Integer lev = entry.getKey();
+ Date now = new Date();
+ RedisMapDto map = new RedisMapDto();
+ map.setData(JSON.toJSONString(lists));
+ map.setCreateTime(now);
+ map.setUpdateTime(now);
+ map.setLev(lev);
+
+ //灏嗗湴鍥炬暟鎹瓨鍏edis
+ redisUtil.set(DeviceRedisConstant.MAP + lev, JSON.toJSONString(map));
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ // 瑙ｆ瀽鍏ュ簱宸ヤ綔妗�
+ public synchronized void analyzeInBoundTask() {
+ for (Task task : taskService.selectWaitAnalyzeInBoundTask()) {
+ 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.generateMotion(task);
+ if (motionList.isEmpty()) {
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
+
+ // 鏇存柊宸ヤ綔涓绘。
+ task.setTaskSts(TaskStsType.ANALYZE_INBOUND.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());
+ }
+ }
+ }
+
+ /**
+ * 鍑哄簱 ====>> 鍚屼竴鏃堕棿涓�鍙扮┛姊溅鍙兘鏈変竴涓嚭搴撲换鍔�
+ */
+ public synchronized void analyzeOutBoundTask() {
+ List<Task> tasks = taskService.selectPakOut();
+ if (tasks.isEmpty()) {
+ return;
+ }
+
+ for (Task task : tasks) {
+ BasConveyorSta originStaObj = basConveyorStaService.selectBySiteNo(task.getOriginSite());//鑾峰彇婧愮珯
+ if (originStaObj == null) {
+ continue;
+ }
+
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, originStaObj.getConveyorId().intValue());
+ StaProtocol staProtocol = devpThread.getStation().get(Integer.parseInt(task.getOriginSite()));//婧愮珯
+ StaProtocol staProtocol1 = devpThread.getStation().get(Integer.parseInt(task.getDestSite()));//鐩爣绔�
+ if (staProtocol == null || staProtocol1 == null) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ staProtocol1 = staProtocol1.clone();
+ }
+
+ // 鍒ゆ柇鍫嗗灈鏈哄嚭搴撶珯鐘舵��
+ if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
+ if (!(staProtocol1.isAutoing() && !staProtocol1.isLoading() && staProtocol1.getWorkNo() == 0 && staProtocol1.isOutEnable())) {
+ continue;
+ }
+
+// //鍚屽簱浣嶇粍鏍￠獙
+// List<String> outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo());
+// List<LocMast> outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc);
+// if (!outerLocMasts.isEmpty()) {
+// News.info("{}浠诲姟锛屾祬搴撲綅瀛樺湪璐х墿锛岀郴缁熺瓑寰呬腑", wrkMast.getWrkNo());
+// continue;//娴呭簱浣嶅瓨鍦ㄦ湭鎵ц浠诲姟
+// }
+
+ 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.generateMotion(task);
+ if (Cools.isEmpty(motionList)) {
+ log.error("鍑哄簱 ===>> 鏆傛椂娌℃湁绌洪棽灏忚溅, 浠诲姟鍙�={}", task.getTaskNo());
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
+
+ // 鏇存柊宸ヤ綔涓绘。
+ task.setTaskSts(TaskStsType.ANALYZE_OUTBOUND.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.generateMotion(task);
+ if (motionList.isEmpty()) {
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
+
+ // 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());
+ }
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數
+ */
+ public synchronized void loopShuttleCharge() {
+ // 鑾峰彇鍏呯數妗╁簱浣嶇被鍨�
+ LocCtg locCtg = locCtgService.getOne(new LambdaQueryWrapper<LocCtg>()
+ .eq(LocCtg::getFlag, "CHARGE")
+ .eq(LocCtg::getStatus, 1));
+ if (locCtg == null) {
+ return;
+ }
+
+ //鑾峰彇鍏呯數浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.CHARGE))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return;
+ }
+
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getStatus, 1));
+ 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());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (!shuttleProtocol.getProtocolStatusType().equals(ShuttleProtocolStatusType.IDLE)) {
+ continue;
+ }
+
+ if (!shuttleThread.isRequireCharge()) {
+ continue;
+ }
+
+ String currentLocNo = shuttleProtocol.getCurrentLocNo();
+ int lev = Utils.getLev(currentLocNo);//鑾峰彇灏忚溅妤煎眰
+ //鎼滅储灏忚溅褰撳墠妤煎眰鍏呯數妗�
+ ArrayList<Loc> allChargeLoc = new ArrayList<>();
+ List<Loc> list1 = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocCtg, locCtg.getId())
+ .eq(Loc::getStatus, 1)
+ .eq(Loc::getLev, lev));
+ if (!list1.isEmpty()) {
+ allChargeLoc.addAll(list1);
+ }
+
+ //鎼滅储鍏朵粬妤煎眰鍏呯數妗�
+ List<Loc> list2 = locService.list(new LambdaQueryWrapper<Loc>()
+ .eq(Loc::getLocCtg, locCtg.getId())
+ .eq(Loc::getStatus, 1)
+ .notIn(Loc::getLev, lev));
+ if (!list2.isEmpty()) {
+ allChargeLoc.addAll(list2);
+ }
+
+ //娌℃湁鎵惧埌鍏呯數妗�
+ if (allChargeLoc.isEmpty()) {
+ continue;
+ }
+
+ //閫夋嫨绌洪棽鍏呯數妗�
+ Loc chargeLoc = null;
+ for (Loc loc : allChargeLoc) {
+ // 鍒ゆ柇鍏呯數浣嶆槸鍚﹁鍗犵敤(杞﹁締浣嶇疆)
+ if (Utils.hasShuttleInLoc(loc.getLocNo(), device.getId())) {
+ continue;
+ }
+
+ // 鐩樼偣鍏呯數浣嶆槸鍚﹀瓨鍦ㄤ换鍔℃。
+ List<Task> tasks = taskService.hasChargeInLoc(loc.getLocNo());
+ if (!tasks.isEmpty()) {
+ continue;
+ }
+
+ chargeLoc = loc;
+ break;
+ }
+
+ if (chargeLoc == null) {
+ continue;//鏈壘鍒板厖鐢垫々
+ }
+
+ if (motionService.count(new LambdaQueryWrapper<Motion>()
+ .eq(Motion::getDeviceCtg, DeviceCtgType.SHUTTLE.val())
+ .eq(Motion::getDevice, device.getDeviceNo())
+ .eq(Motion::getMotionSts, MotionStsType.EXECUTING.val())) > 0) {
+ continue;
+ }
+
+ //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
+ if (!shuttleThread.isRequireCharge()) {
+ continue;
+ }
+
+ Task taskCharge = taskService.selectChargeWorking(Integer.valueOf(device.getDeviceNo()));
+ if (taskCharge != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ String chargeLocNo = chargeLoc.getLocNo();
+ Task task = new Task();
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
+ task.setTaskNo(String.valueOf(Utils.getTaskNo("CHARGE")));
+ task.setTaskSts(TaskStsType.NEW_CHARGE.sts);
+ task.setTaskCtg(taskCtg.getId());
+ task.setPriority(10);
+ task.setOriginSite(null);
+ task.setOriginLoc(null);
+ task.setDestSite(null);
+ task.setDestLoc(chargeLocNo);
+ task.setIoTime(new Date());
+ task.setStartTime(new Date());
+ task.setHostId(device.getHostId());
+ task.setStatus(1);
+ 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.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;
+ }
+
+ News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", device.getDeviceNo());
+ }
+ }
+
+ /**
+ * 鍥涘悜绌挎杞︾數閲忔娴� ===>> 婊＄數鍚庡洖鍒板緟鏈轰綅
+ */
+ public synchronized void loopShuttleToStandbyCauseCharge() {
+ Integer enoughPower = 90;
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>()
+ .eq(Dict::getFlag, "chargeMaxValue")
+ .eq(Dict::getStatus, 1));
+ if (dict != null) {
+ enoughPower = Integer.parseInt(dict.getValue());
+ }
+
+ //鑾峰彇杩佺Щ浠诲姟绫诲瀷
+ TaskCtg taskCtg = taskCtgService.getOne(new LambdaQueryWrapper<TaskCtg>()
+ .eq(TaskCtg::getFlag, String.valueOf(TaskCtgType.MOVE))
+ .eq(TaskCtg::getStatus, 1));
+ if (taskCtg == null) {
+ return;
+ }
+
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.SHUTTLE.val())
+ .eq(Device::getStatus, 1));
+ 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());
+ if (shuttleThread == null) {
+ continue;
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
+ }
+
+ if (!shuttleThread.isCharging()) {
+ continue;
+ }
+
+ if (!shuttleThread.isChargingCompleted()) {
+ continue;
+ }
+
+ //鏌ユ壘鍏呯數浠诲姟
+ Task chargeTask = taskService.getOne(new LambdaQueryWrapper<Task>()
+ .eq(Task::getTaskSts, TaskStsType.CHARGE_WORKING.sts)
+ .eq(Task::getShuttleNo, device.getDeviceNo()));
+ if (chargeTask == null) {
+ continue;
+ }
+
+ //鍏呯數瀹屾垚
+ // 宸叉湁杩佺Щ浠诲姟
+ if (taskService.selectMoveWorking(Integer.valueOf(device.getDeviceNo())) != null) {
+ continue;
+ }
+
+ //鑾峰彇閬胯浣嶇疆
+ String standByLocNo = shuttleDispatcher.searchStandByLocNo(Integer.valueOf(device.getDeviceNo()), device.getHostId(), shuttleThread.getStatus().getCurrentLocNo());
+
+ Task task = new Task();
+ task.setUuid(String.valueOf(snowflakeIdWorker.nextId()));
+ task.setTaskNo(String.valueOf(Utils.getTaskNo("MOVE")));
+ task.setTaskSts(TaskStsType.NEW_MOVE.sts);
+ task.setTaskCtg(taskCtg.getId());
+ task.setPriority(10);
+ task.setOriginSite(null);
+ task.setOriginLoc(null);
+ task.setDestSite(null);
+ task.setDestLoc(standByLocNo); // 閬胯浣嶇疆
+ task.setIoTime(new Date());
+ task.setStartTime(new Date());
+ task.setHostId(device.getHostId());
+ task.setStatus(1);
+ task.setMemo("charge");
+ task.setShuttleNo(Integer.valueOf(device.getDeviceNo()));
+
+ // generate motion list
+ List<Motion> motionList = analyzeService.generateShuttleChargeWrkComplete(task);
+ if (Cools.isEmpty(motionList)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅杩佺Щ浠诲姟澶辫触!!!", device.getDeviceNo());
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()));
+
+ task.setTaskSts(TaskStsType.ANALYZE_MOVE.sts);
+
+ if (!taskService.save(task)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅杩佺Щ浠诲姟澶辫触!!!", device.getDeviceNo());
+ continue;
+ }
+
+ chargeTask.setTaskSts(TaskStsType.COMPLETE_CHARGE.sts);
+ chargeTask.setIoTime(new Date());
+ taskService.updateById(chargeTask);
+ }
+ }
+
+ /**
+ * 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
+ */
+ public void ledExecute() {
+ // 閬嶅巻LED
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.LED.val())
+ .eq(Device::getStatus, 1));
+ for (Device ledDevice : list) {
+ //鑾峰彇led鏁版嵁
+ BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
+ .eq(BasLed::getDeviceId, ledDevice.getId()));
+ List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);
+
+ // 鑾峰彇杈撻�佺嚎plc绾跨▼
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, led.getConveyorId().intValue());
+ // 鍛戒护闆嗗悎
+ List<LedCommand> commands = new ArrayList<>();
+ // 宸ヤ綔妗ｉ泦鍚�
+ List<Task> tasks = new ArrayList<>();
+ for (Integer staNo : staArr) {
+ // 鑾峰彇鍙夎溅绔欑偣
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
+ continue;
+ } else {
+ staProtocol = staProtocol.clone();
+ }
+ // 鑾峰彇宸ヤ綔妗ｆ暟鎹�
+ Task task = taskService.getOne(new LambdaQueryWrapper<Task>().eq(Task::getTaskNo, staProtocol.getWorkNo()));
+ if (null == task) {
+ continue;
+ }
+
+ tasks.add(task);
+ // 缁勮鍛戒护
+ LedCommand ledCommand = new LedCommand();
+ ledCommand.setWorkNo(task.getTaskNo());
+ ledCommand.setIoType(task.getTaskCtg().intValue());
+ ledCommand.setTitle(task.getTaskCtg$());
+ ledCommand.setSourceLocNo(task.getOriginLoc());
+ ledCommand.setLocNo(task.getDestLoc());
+ ledCommand.setStaNo(Integer.parseInt(task.getDestSite()));
+
+ try {
+ //鑾峰彇WMS鍦板潃
+ Dict dict = dictService.getOne(new LambdaQueryWrapper<Dict>().eq(Dict::getFlag, "WMS_URL").eq(Dict::getStatus, 1));
+ if (dict != null) {
+ String wmsUrl = dict.getValue();
+
+ HashMap<String, Object> param = new HashMap<>();
+ param.put("taskNo", task.getTaskNo());
+ String response = new HttpHandler.Builder()
+ .setUri(wmsUrl)
+ .setPath("/queryTask")
+ .setJson(JSON.toJSONString(param))
+ .build()
+ .doPost();
+ JSONObject jsonObject = JSON.parseObject(response);
+ Integer code = jsonObject.getInteger("code");
+ if (code.equals(200)) {
+ List<MatDto> matDtos = JSON.parseArray(jsonObject.getString("data"), MatDto.class);
+ ledCommand.setMatDtos(matDtos);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ commands.add(ledCommand);
+ }
+ // 鑾峰彇LED绾跨▼
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
+ // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
+ if (!commands.isEmpty()) {
+ ledThread.write(commands);
+ ledThread.setLedMk(false);
+ }
+ }
+ }
+
+ /**
+ * 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
+ */
+ public void ledReset() {
+ // 鏍规嵁杈撻�佺嚎plc閬嶅巻
+ List<Device> list = deviceService.list(new LambdaQueryWrapper<Device>()
+ .eq(Device::getDeviceType, DeviceCtgType.LED.val())
+ .eq(Device::getStatus, 1));
+ for (Device ledDevice : list) {
+ //鑾峰彇led鏁版嵁
+ BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
+ .eq(BasLed::getDeviceId, ledDevice.getId()));
+ List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);
+
+ // 鑾峰彇杈撻�佺嚎plc绾跨▼
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, led.getConveyorId().intValue());
+ // 鍛戒护闆嗗悎
+ boolean reset = true;
+ for (Integer staNo : staArr) {
+ // 鑾峰彇鍙夎溅绔欑偣
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) {
+ continue;
+ }
+ if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
+ reset = false;
+ break;
+ }
+ }
+ // 鑾峰彇led绾跨▼
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
+ // led鏄剧ず榛樿鍐呭
+ if (reset && !ledThread.isLedMk()) {
+ ledThread.errorReset();
+ ledThread.setLedMk(true);
+ }
+ }
+
+ for (Device ledDevice : list) {
+ //鑾峰彇led鏁版嵁
+ BasLed led = basLedService.getOne(new LambdaQueryWrapper<BasLed>()
+ .eq(BasLed::getDeviceId, ledDevice.getId()));
+ List<Integer> staArr = JSON.parseArray(led.getSta(), Integer.class);
+
+ // 鑾峰彇杈撻�佺嚎plc绾跨▼
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Conveyor, led.getConveyorId().intValue());
+ // 鍛戒护闆嗗悎
+ boolean reset = true;
+ for (Integer staNo : staArr) {
+ // 鑾峰彇鍙夎溅绔欑偣
+ StaProtocol staProtocol = devpThread.getStation().get(staNo);
+ if (staProtocol == null) { continue; }
+ if (staProtocol.getWorkNo() != 0) {
+ reset = false;
+ break;
+ }
+ }
+ // 鑾峰彇led绾跨▼
+ LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, ledDevice.getId().intValue());
+ // led鏄剧ず榛樿鍐呭
+ if (reset && !ledThread.isLedMk()) {
+ ledThread.reset();
+ ledThread.setLedMk(true);
+ }
+ }
}
}
--
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