From 8b8a2086509e28bb902166aa35e4c287eb906621 Mon Sep 17 00:00:00 2001
From: zjj <3272660260@qq.com>
Date: 星期一, 30 六月 2025 15:28:39 +0800
Subject: [PATCH] #禁止跨层
---
zy-asrs-wcs/src/main/java/com/zy/asrs/wcs/core/service/impl/MainServiceImpl.java | 130 +++++++++++++++++++++++++++++++++++++------
1 files changed, 111 insertions(+), 19 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 33e391f..66eacea 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
@@ -23,10 +23,7 @@
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;
@@ -95,6 +92,8 @@
private OpenUtils openUtils;
@Autowired
private LiftAction liftAction;
+ @Autowired
+ private NavigateUtils navigateUtils;
/**
* 缁勬墭
@@ -102,6 +101,10 @@
*/
public synchronized void generateInboundWrk() {
try {
+ List<Task> tasks = taskService.list(new LambdaQueryWrapper<Task>().eq(Task::getTaskCtg,7));
+ if (!Cools.isEmpty(tasks)){
+ return;
+ }
// 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())
@@ -169,6 +172,7 @@
if (staProtocol.isAutoing() && staProtocol.isLoading()
&& staProtocol.isInEnable()
&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
+ && staProtocol.getIsIn() == (short)1
&& staProtocol.isPakMk()
) {
@@ -377,6 +381,31 @@
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;
}
@@ -610,10 +639,19 @@
) {
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) {
+ if (!Cools.isEmpty(task.getLiftNo())) {
+ if (task.getLiftNo() > 0) {
+ task.setLiftNo(0);
+ task.setUpdateTime(new Date());
+ if (!taskService.updateById(task)) {
+ News.info("{}浠诲姟鏇存柊閲婃斁鎻愬崌鏈哄け璐�", task.getTaskNo());
+ }
+ }
+ }
+
if (Cools.isEmpty(task.getShuttleNo())) {
//鍒嗛厤灏忚溅
//鎼滅储绌洪棽杞�
@@ -634,6 +672,11 @@
// generate motion list
List<Motion> motionList = analyzeService.generateMotion(task);
if (motionList.isEmpty()) {
+ task.setShuttleNo(null);//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;
}
motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
@@ -772,15 +815,13 @@
// 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
-// }
+ //妫�娴嬭揣鐗╂槸鍚﹀彲鍑�
+ boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(task.getOriginLoc(), task.getHostId());
+ if(!checkLocPathIsAvailable) {
+ continue;
+ }
- if (Cools.isEmpty(task.getShuttleNo())) {
+ if (Cools.isEmpty(task.getShuttleNo()) || task.getShuttleNo() ==0) {
//鍒嗛厤灏忚溅
//鎼滅储绌洪棽杞�
ShuttleThread shuttleThread = shuttleDispatcher.searchIdleShuttle(task);
@@ -800,6 +841,11 @@
// generate motion list
List<Motion> motionList = analyzeService.generateMotion(task);
if (Cools.isEmpty(motionList)) {
+ task.setShuttleNo(0);//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());
+ }
log.error("鍑哄簱 ===>> 鏆傛椂娌℃湁绌洪棽灏忚溅, 浠诲姟鍙�={}", task.getTaskNo());
continue;
}
@@ -839,6 +885,11 @@
// generate motion list
List<Motion> motionList = analyzeService.generateShuttleMoveMotion(task);
if (motionList.isEmpty()) {
+ task.setShuttleNo(null);//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;
}
motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
@@ -900,12 +951,12 @@
}
//鎼滅储鍏朵粬妤煎眰鍏呯數妗�
- List<ShuttleChargeSta> list2 = shuttleChargeStaService.list(new LambdaQueryWrapper<ShuttleChargeSta>()
- .notIn(ShuttleChargeSta::getDeviceLev, lev)
- .eq(ShuttleChargeSta::getStatus, 1));
- if (!list2.isEmpty()) {
- allChargeLoc.addAll(list2);
- }
+// List<ShuttleChargeSta> list2 = shuttleChargeStaService.list(new LambdaQueryWrapper<ShuttleChargeSta>()
+// .notIn(ShuttleChargeSta::getDeviceLev, lev)
+// .eq(ShuttleChargeSta::getStatus, 1));
+// if (!list2.isEmpty()) {
+// allChargeLoc.addAll(list2);
+// }
//娌℃湁鎵惧埌鍏呯數妗�
if (allChargeLoc.isEmpty()) {
@@ -1256,4 +1307,45 @@
}
}
+ // 瑙ｆ瀽灏忚溅杞借揣绉诲姩宸ヤ綔妗�
+ public synchronized void analyzeLadenMoveTask() {
+ for (Task task : taskService.selectWaitAnalyzeLadenMoveTask()) {
+ //妫�娴嬭揣鐗╂槸鍚﹀彲鍑�
+ boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(task.getOriginLoc(), task.getHostId());
+ if(!checkLocPathIsAvailable) {
+ continue;
+ }
+
+ 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.generateShuttleLadenMoveMotion(task);
+ if (motionList.isEmpty()) {
+ continue;
+ }
+ motionService.batchInsert(motionList, task.getUuid(), Integer.valueOf(task.getTaskNo()), task.getHostId());
+
+ // 鏇存柊宸ヤ綔涓绘。
+ task.setTaskSts(TaskStsType.ANALYZE_LADEN_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());
+ }
+ }
+ }
}
--
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