From dad3cd8ed8afa86b651bb1a053421e7aa2b8c7ac Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期日, 05 五月 2024 16:31:09 +0800
Subject: [PATCH] #
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java | 345 +++++++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 298 insertions(+), 47 deletions(-)
diff --git a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java
index 2725023..4efdbd0 100644
--- a/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java
+++ b/zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/rcs/thread/FlowExecute.java
@@ -1,72 +1,323 @@
package com.zy.asrs.wcs.rcs.thread;
+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.framework.common.Cools;
+import com.zy.asrs.framework.exception.CoolException;
import com.zy.asrs.wcs.asrs.entity.param.FlowLogicCodeParam;
+import com.zy.asrs.wcs.core.domain.dto.MotionDto;
+import com.zy.asrs.wcs.core.entity.Motion;
+import com.zy.asrs.wcs.core.entity.Task;
+import com.zy.asrs.wcs.core.kernel.KernelService;
+import com.zy.asrs.wcs.core.service.TaskService;
+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.cache.SlaveConnection;
+import com.zy.asrs.wcs.rcs.entity.Device;
+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 org.apache.commons.codec.digest.DigestUtils;
+import org.apache.commons.codec.digest.Md5Crypt;
+import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;
+import java.util.ArrayList;
import java.util.List;
import java.util.Map;
@Component
public class FlowExecute {
+ @Autowired
+ private RedisUtil redisUtil;
+ @Autowired
+ private TaskService taskService;
+ @Autowired
+ private ShuttleDispatcher shuttleDispatcher;
+ @Autowired
+ private KernelService kernelService;
+
//鎵ц娴佺▼鍥�
- public boolean execute(List<FlowLogicCodeParam> list) {
- for (FlowLogicCodeParam param : list) {
- if (param.getId().equals("1")) {
- return executeFlow(param.getLogicTrue());
+ public boolean execute(List<JSONObject> list) {
+ String currentId = list.get(0).getString("id");
+
+ JSONObject devpType = list.get(0).getJSONObject("data").getJSONObject("devpType");
+ String staNo = devpType.getString("staNo");
+ //鎼滅储宸ヤ綔妗�
+ List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>()
+ .eq(Task::getOriginSite, staNo)
+ .eq(Task::getStatus, 1));
+
+ for (Task task : tasks) {
+ String redisKey = DigestUtils.md5Hex(JSON.toJSONString(list));
+
+ redisSet(redisKey, "motionList", new ArrayList<Motion>());
+ while (currentId != null) {
+ //鑾峰彇娴佺▼鍥�
+ JSONObject flow = findFLow(list, currentId);
+ if (flow == null) {
+ break;
+ }
+
+ //鎵ц
+ boolean result = executeFlow(task, flow, redisKey);
+
+ //鎵ц鍚庣画娴佺▼
+ if (Cools.isEmpty(flow.get("nextTrue")) && Cools.isEmpty(flow.get("nextFalse"))) {
+ break;//鏃犲悗缁祦绋�
+ }
+
+ //鏇存柊id
+ currentId = result ? flow.getString("nextTrue") : flow.getString("nextFalse");
}
+
+ System.out.println("鎵ц瀹屾垚");
+ redisUtil.del(redisKey);//閲婃斁缂撳瓨
}
- System.out.println(list);
- return false;
+ return true;
}
- private boolean executeFlow(List<Map<String, Object>> list) {
- for (Map<String, Object> map : list) {
- JSONObject data = (JSONObject) map.get("data");
- if (data.getString("type").equals("devp")) {
- JSONObject devp = data.getJSONObject("devpType");
- String devpNo = devp.getString("devpNo");//杈撻�佺嚎PLC
- String staNo = devp.getString("staNo");//绔欏彿
- Boolean enableStaStatus = devp.getBoolean("enableStaStatus");//鍒ゆ柇绔欑偣鐘舵��
- JSONArray staStatus = devp.getJSONArray("staStatus");//绔欑偣鐘舵�佸垪琛�
- String staJudgementFailExecute = devp.getString("staJudgementFailExecute");//鍒ゆ柇澶辫触鍚庢槸鍚︾户缁墽琛屾祦绋�
- Boolean writeWorkNoStatus = devp.getBoolean("writeWorkNoStatus");//鏄惁鍐欏叆宸ヤ綔鍙�
- Boolean writeStaNoStatus = devp.getBoolean("writeStaNoStatus");//鏄惁鍐欏叆鐩爣绔�
- String writeWorkNo = devp.getString("writeWorkNo");//鍐欏叆宸ヤ綔鍙锋暟鎹�
- String writeStaNo = devp.getString("writeStaNo");//鍐欏叆鐩爣绔欐暟鎹�
- if (enableStaStatus) {
- //鍒ゆ柇绔欑偣鐘舵��
- boolean statusFlag = true;//榛樿鍒ゆ柇閫氳繃
- for (Object status : staStatus) {
- System.out.println(status);
- }
+ private boolean executeFlow(Task task, JSONObject flow, String redisKey) {
+ System.out.println(flow.getString("id") + "琚墽琛�");
+ JSONObject data = flow.getJSONObject("data");
+ String type = data.getString("type");
+ boolean result = false;
+ if (type.equals("devp")) {
+ result = executeDevpFlow(task, data, redisKey);
+ } else if (type.equals("shuttle")) {
+ result = executeShuttleFlow(task, data, redisKey);
+ } else if (type.equals("lift")) {
+ result = executeLiftFlow(task, data, redisKey);
+ }
+ return result;
+ }
- if (!statusFlag) {
- //鍒ゆ柇涓嶉�氳繃
- if (staJudgementFailExecute.equals("stop")) {
- //鍒ゆ柇澶辫触鍚庝笉缁х画鎵ц
- return false;
- }
- }
-
- }
-
- if (writeWorkNoStatus) {
- //鍐欏叆宸ヤ綔鍙�
- }
-
- if (writeStaNoStatus) {
- //鍐欏叆鐩爣绔�
- }
- System.out.println(devp);
+ private JSONObject findFLow(List<JSONObject> list, String id) {
+ for (JSONObject flow : list) {
+ if (flow.getString("id").equals(id)) {
+ return flow;
}
- System.out.println(data);
+ }
+ return null;
+ }
+
+ private boolean executeDevpFlow(Task task, JSONObject data, String redisKey) {
+ JSONObject devpType = data.getJSONObject("devpType");
+ String staNo = devpType.getString("staNo");
+ //鎼滅储宸ヤ綔
+
+ return true;
+ }
+
+ private boolean executeShuttleFlow(Task task, JSONObject data, String redisKey) {
+ JSONObject shuttleType = data.getJSONObject("shuttleType");
+ String oper = shuttleType.getString("shuttleOper");
+ if (oper.equals("searchIdleShuttle")) {
+ //鎼滅储绌洪棽杞�
+ ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
+ if (shuttleThread == null) {
+ throw new CoolException("绌挎杞︿笉瀛樺湪");
+ }
+ //瀛樺叆缂撳瓨
+ redisSet(redisKey, "shuttleDevice", shuttleThread.getDevice());
+ return true;
+ } else if (oper.equals("judgeShuttleCurrentTaskLev")) {
+ //鍒ゆ柇灏忚溅鏄惁鍦ㄤ换鍔℃ゼ灞�
+ //鍙栧嚭缂撳瓨灏忚溅
+ Object shuttleDeviceObj = redisGet(redisKey, "shuttleDevice");
+ if (shuttleDeviceObj == null) {
+ throw new CoolException("绌挎杞︾紦瀛樹负绌�");
+ }
+ Device device = JSON.parseObject(String.valueOf(shuttleDeviceObj), Device.class);
+ if (device == null) {
+ throw new CoolException("绌挎杞﹁澶囦笉瀛樺湪");
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ throw new CoolException("绌挎杞︿笉瀛樺湪");
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ throw new CoolException("绌挎杞︿笉瀛樺湪");
+ }
+
+ //灏忚溅鍧愭爣
+ String shuttleLocNo = shuttleProtocol.getCurrentLocNo();
+ String taskLocNo = null;
+ if (task.getTaskSts() < 100) {
+ taskLocNo = task.getDestLoc();
+ } else if (task.getTaskSts() > 100 && task.getTaskSts() < 200) {
+ taskLocNo = task.getOriginLoc();
+ }
+
+ // 灏忚溅鍜屼换鍔℃ゼ灞備竴鑷�
+ if (Utils.getLev(shuttleLocNo) == Utils.getLev(taskLocNo)) {
+ return true;
+ }else {
+ return false;
+ }
}
- System.out.println(list);
- return false;
+ return true;
}
+ private boolean executeLiftFlow(Task task, JSONObject data, String redisKey) {
+ Object object = redisGet(redisKey, "motionList");
+ List<Motion> motionList = JSON.parseArray(JSON.toJSONString(object), Motion.class);
+
+ Object liftDeviceObj = redisGet(redisKey, "liftDevice");
+ if (liftDeviceObj == null) {
+ throw new CoolException("鎻愬崌鏈虹紦瀛樹负绌�");
+ }
+
+ Device device = JSON.parseObject(String.valueOf(liftDeviceObj), Device.class);
+ if (device == null) {
+ throw new CoolException("鎻愬崌鏈鸿澶囦笉瀛樺湪");
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getId().intValue());
+ if (liftThread == null) {
+ throw new CoolException("鎻愬崌鏈轰笉瀛樺湪");
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ throw new CoolException("鎻愬崌鏈轰笉瀛樺湪");
+ }
+
+ JSONObject liftType = data.getJSONObject("liftType");
+ String opera = liftType.getString("liftOper");
+ if (opera.equals("move")) {
+ //鎻愬崌鏈哄崌闄�
+ String sourceLevStr = liftType.getString("sourceLev");
+ String targetLevStr = liftType.getString("targetLev");
+ Integer sourceLev = getLiftOperaLev(sourceLevStr, task, redisKey);
+ Integer targetLev = getLiftOperaLev(targetLevStr, task, redisKey);
+
+ motionList.addAll(kernelService.liftMove(
+ MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ dto.setLev(sourceLev);
+ }))
+ , MotionDto.build((dto -> {
+ dto.setLiftNo(device.getId().intValue());
+ dto.setLev(targetLev);
+ }))
+ ));
+ }
+
+ return true;
+ }
+
+ private Integer getLiftOperaLev(String opera, Task task, String redisKey) {
+ if (opera.equals("sourceLev")) {
+ return Utils.getLev(task.getOriginLoc());
+ } else if (opera.equals("targetLev")) {
+ return Utils.getLev(task.getDestLoc());
+ } else if (opera.equals("shuttleLev")) {
+ //鍙栧嚭缂撳瓨灏忚溅
+ Object shuttleDeviceObj = redisGet(redisKey, "shuttleDevice");
+ if (shuttleDeviceObj == null) {
+ throw new CoolException("绌挎杞︾紦瀛樹负绌�");
+ }
+ Device device = JSON.parseObject(String.valueOf(shuttleDeviceObj), Device.class);
+ if (device == null) {
+ throw new CoolException("绌挎杞﹁澶囦笉瀛樺湪");
+ }
+
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getId().intValue());
+ if (shuttleThread == null) {
+ throw new CoolException("绌挎杞︿笉瀛樺湪");
+ }
+
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ throw new CoolException("绌挎杞︿笉瀛樺湪");
+ }
+
+ return Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ }
+
+ throw new CoolException("绫诲瀷寮傚父");
+ }
+
+ private boolean redisSet(String redisKey, String key, Object data) {
+ if (redisUtil.hasKey(redisKey)) {
+ Object obj = redisUtil.get(redisKey);
+ JSONObject object = JSON.parseObject(String.valueOf(obj));
+ object.put(key, data);
+ redisUtil.set(redisKey, JSON.toJSONString(object));
+ } else {
+ JSONObject object = new JSONObject();
+ object.put(key, data);
+ redisUtil.set(redisKey, JSON.toJSONString(object));
+ }
+ return true;
+ }
+
+ private Object redisGet(String redisKey, String key) {
+ if (redisUtil.hasKey(redisKey)) {
+ Object obj = redisUtil.get(redisKey);
+ JSONObject object = JSON.parseObject(String.valueOf(obj));
+ if (!object.containsKey(key)) {
+ return null;
+ }
+ return object.get(key);
+ }
+ return null;
+ }
+
+// private boolean executeFlow(List<Map<String, Object>> list) {
+// for (Map<String, Object> map : list) {
+// JSONObject data = (JSONObject) map.get("data");
+// if (data.getString("type").equals("devp")) {
+// JSONObject devp = data.getJSONObject("devpType");
+// String devpNo = devp.getString("devpNo");//杈撻�佺嚎PLC
+// String staNo = devp.getString("staNo");//绔欏彿
+// Boolean enableStaStatus = devp.getBoolean("enableStaStatus");//鍒ゆ柇绔欑偣鐘舵��
+// JSONArray staStatus = devp.getJSONArray("staStatus");//绔欑偣鐘舵�佸垪琛�
+// String staJudgementFailExecute = devp.getString("staJudgementFailExecute");//鍒ゆ柇澶辫触鍚庢槸鍚︾户缁墽琛屾祦绋�
+// Boolean writeWorkNoStatus = devp.getBoolean("writeWorkNoStatus");//鏄惁鍐欏叆宸ヤ綔鍙�
+// Boolean writeStaNoStatus = devp.getBoolean("writeStaNoStatus");//鏄惁鍐欏叆鐩爣绔�
+// String writeWorkNo = devp.getString("writeWorkNo");//鍐欏叆宸ヤ綔鍙锋暟鎹�
+// String writeStaNo = devp.getString("writeStaNo");//鍐欏叆鐩爣绔欐暟鎹�
+// if (enableStaStatus) {
+// //鍒ゆ柇绔欑偣鐘舵��
+// boolean statusFlag = true;//榛樿鍒ゆ柇閫氳繃
+// for (Object status : staStatus) {
+// System.out.println(status);
+// }
+//
+// if (!statusFlag) {
+// //鍒ゆ柇涓嶉�氳繃
+// if (staJudgementFailExecute.equals("stop")) {
+// //鍒ゆ柇澶辫触鍚庝笉缁х画鎵ц
+// return false;
+// }
+// }
+//
+// }
+//
+// if (writeWorkNoStatus) {
+// //鍐欏叆宸ヤ綔鍙�
+// }
+//
+// if (writeStaNoStatus) {
+// //鍐欏叆鐩爣绔�
+// }
+// System.out.println(devp);
+// }
+// System.out.println(data);
+// }
+//
+// System.out.println(list);
+// return false;
+// }
+
}
--
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