From 37348c5855649e98defe0f5b1557750cb7c84aa5 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 02 三月 2026 16:56:01 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/utils/StationOperateProcessUtils.java | 355 +++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 335 insertions(+), 20 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
index 627d207..1e8058c 100644
--- a/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/StationOperateProcessUtils.java
@@ -2,13 +2,19 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.alibaba.fastjson.serializer.SerializerFeature;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.core.common.Cools;
import com.core.exception.CoolException;
+import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.NotifyUtils;
import com.zy.common.entity.FindCrnNoResult;
+import com.zy.common.model.NavigateNode;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
+import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
@@ -34,15 +40,17 @@
@Autowired
private CommonService commonService;
@Autowired
- private BasCrnpService basCrnpService;
- @Autowired
- private BasDualCrnpService basDualCrnpService;
- @Autowired
private RedisUtil redisUtil;
@Autowired
private LocMastService locMastService;
@Autowired
private WmsOperateUtils wmsOperateUtils;
+ @Autowired
+ private NotifyUtils notifyUtils;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private BasStationService basStationService;
//鎵ц杈撻�佺珯鐐瑰叆搴撲换鍔�
public synchronized void stationInExecute() {
@@ -132,6 +140,8 @@
.eq("wrk_sts", WrkStsType.OUTBOUND_RUN_COMPLETE.sts)
.isNotNull("crn_no")
);
+ List<Integer> outOrderList = getAllOutOrderList();
+
for (WrkMast wrkMast : wrkMasts) {
Object infoObj = redisUtil.get(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
if (infoObj == null) {
@@ -161,7 +171,24 @@
&& stationProtocol.isLoading()
&& stationProtocol.getTaskNo() == 0
) {
- StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
+ Integer moveStaNo = wrkMast.getStaNo();
+
+ if (!outOrderList.isEmpty()) {
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
+ for (int i = nodes.size() - 1; i >= 0; i--) {
+ NavigateNode node = nodes.get(i);
+ JSONObject v = JSONObject.parseObject(node.getNodeValue());
+ if (v != null) {
+ Integer stationId = v.getInteger("stationId");
+ if (outOrderList.contains(stationId)) {
+ moveStaNo = stationId;
+ break;
+ }
+ }
+ }
+ }
+
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
if (command == null) {
News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
continue;
@@ -174,7 +201,6 @@
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
News.info("杈撻�佺珯鐐瑰嚭搴撳懡浠や笅鍙戞垚鍔燂紝绔欑偣鍙�={}锛屽伐浣滃彿={}锛屽懡浠ゆ暟鎹�={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
- redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
redisUtil.del(RedisKeyType.CRN_OUT_TASK_COMPLETE_STATION_INFO.key + wrkMast.getWrkNo());
}
}
@@ -231,9 +257,9 @@
wrkMast.setIoTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
+ notifyUtils.notify(String.valueOf(SlaveType.Devp), stationObjModel.getDeviceNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.STATION_OUT_TASK_RUN, null);
News.info("杈撻�佺珯鐐瑰嚭搴撳懡浠や笅鍙戞垚鍔燂紝绔欑偣鍙�={}锛屽伐浣滃彿={}锛屽懡浠ゆ暟鎹�={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
- redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
redisUtil.del(RedisKeyType.DUAL_CRN_OUT_TASK_STATION_INFO.key + wrkMast.getWrkNo());
}
}
@@ -249,26 +275,73 @@
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN.sts));
for (WrkMast wrkMast : wrkMasts) {
Integer wrkNo = wrkMast.getWrkNo();
+ Integer targetStaNo = wrkMast.getStaNo();
+
+ boolean complete = false;
+ BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
+ if (basStation == null) {
+ continue;
+ }
+
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+
+ Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
+ StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
+ if (stationProtocol == null) {
+ continue;
+ }
+
+ if (stationProtocol.getTaskNo().equals(wrkNo)) {
+ complete = true;
+ }
+
+ if (complete) {
+ wrkMast.setWrkSts(WrkStsType.STATION_RUN_COMPLETE.sts);
+ wrkMast.setIoTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ // 妫�娴嬩换鍔¤浆瀹屾垚
+ public synchronized void checkTaskToComplete() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts));
+ for (WrkMast wrkMast : wrkMasts) {
+ Integer wrkNo = wrkMast.getWrkNo();
+ Integer targetStaNo = wrkMast.getStaNo();
Object lock = redisUtil.get(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkNo);
if (lock != null) {
continue;
}
- boolean complete = true;
- List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
- for (BasDevp basDevp : basDevps) {
- StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
- if (stationThread == null) {
- continue;
- }
+ boolean complete = false;
+ BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", targetStaNo));
+ if (basStation == null) {
+ continue;
+ }
- List<StationProtocol> list = stationThread.getStatus();
- for (StationProtocol stationProtocol : list) {
- if (stationProtocol.getTaskNo().equals(wrkNo)) {
- complete = false;
- }
- }
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+
+ Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
+ StationProtocol stationProtocol = statusMap.get(basStation.getStationId());
+ if (stationProtocol == null) {
+ continue;
+ }
+
+ if (!stationProtocol.getTaskNo().equals(wrkNo)) {
+ complete = true;
}
if (complete) {
@@ -439,5 +512,247 @@
return currentStationTaskCount;
}
+ // 妫�娴嬪嚭搴撴帓搴�
+ public synchronized void checkStationOutOrder() {
+ List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ for (BasDevp basDevp : basDevps) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
+ if (stationThread == null) {
+ continue;
+ }
+ Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
+ List<StationObjModel> orderList = basDevp.getOutOrderList$();
+ for (StationObjModel stationObjModel : orderList) {
+ StationProtocol stationProtocol = statusMap.get(stationObjModel.getStationId());
+ if (stationProtocol == null) {
+ continue;
+ }
+
+ if (!stationProtocol.isAutoing()) {
+ continue;
+ }
+
+ if (!stationProtocol.isLoading()) {
+ continue;
+ }
+
+ if (stationProtocol.getTaskNo() <= 0) {
+ continue;
+ }
+
+ if (!stationProtocol.getStationId().equals(stationProtocol.getTargetStaNo())) {
+ continue;
+ }
+
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ if (Cools.isEmpty(wrkMast.getBatch())) {
+ continue;
+ }
+
+ if (Cools.isEmpty(wrkMast.getBatchSeq())) {
+ continue;
+ }
+
+ List<WrkMast> batchWrkList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .notIn("wrk_sts", WrkStsType.STATION_RUN_COMPLETE.sts, WrkStsType.COMPLETE_OUTBOUND.sts)
+ .eq("batch", wrkMast.getBatch())
+ .orderBy("batch")
+ );
+ if (batchWrkList.isEmpty()) {
+ continue;
+ }
+ WrkMast firstWrkMast = batchWrkList.get(0);
+ Integer currentBatchSeq = firstWrkMast.getBatchSeq();
+
+ List<NavigateNode> initPath = navigateUtils.calcByStationId(wrkMast.getSourceStaNo(), wrkMast.getStaNo());
+
+ String commandType = "none";
+ Integer seq = getOutStationBatchSeq(initPath, stationProtocol.getStationId(), wrkMast.getBatch());
+ if (seq == null) {
+ if (currentBatchSeq.equals(wrkMast.getBatchSeq())) {
+ commandType = "toTarget";
+ }else {
+ commandType = "toCircle";
+ }
+ }else {
+ seq++;
+ if (seq.equals(wrkMast.getBatchSeq()) && currentBatchSeq.equals(wrkMast.getBatchSeq())) {
+ commandType = "toTarget";
+ }else {
+ commandType = "toCircle";
+ }
+ }
+
+ if (commandType.equals("toTarget")) {
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), wrkMast.getStaNo(), 0);
+ if (command == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
+ continue;
+ }
+ MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
+ News.info("{}浠诲姟鐩存帴鍘荤洰鏍囩偣", wrkMast.getWrkNo());
+ } else if (commandType.equals("toCircle")) {
+ Integer circleTarget = null;
+ for (NavigateNode node : initPath) {
+ JSONObject v = JSONObject.parseObject(node.getNodeValue());
+ if (v != null) {
+ Integer stationId = v.getInteger("stationId");
+ try {
+ List<NavigateNode> enableMovePath = navigateUtils.calcByStationId(stationProtocol.getStationId(), stationId);
+ if (enableMovePath.isEmpty()) {
+ continue;
+ }
+ } catch (Exception e) {
+ continue;
+ }
+
+ circleTarget = stationId;
+ break;
+ }
+ }
+
+ if (circleTarget == null) {
+ continue;
+ }
+
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), circleTarget, 0);
+ if (command == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
+ continue;
+ }
+ MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
+ redisUtil.set(RedisKeyType.WATCH_CIRCLE_STATION_.key + wrkMast.getWrkNo(), JSON.toJSONString(command, SerializerFeature.DisableCircularReferenceDetect), 60 * 60 * 24);
+ News.info("{}浠诲姟杩涜缁曞湀", wrkMast.getWrkNo());
+ }
+ }
+ }
+ }
+
+ // 鐩戞帶缁曞湀绔欑偣
+ public synchronized void watchCircleStation() {
+ List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ for (BasDevp basDevp : basDevps) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getId());
+ if (stationThread == null) {
+ continue;
+ }
+
+ List<Integer> outOrderList = basDevp.getOutOrderIntList();
+
+ for (StationProtocol stationProtocol : stationThread.getStatus()) {
+ if (!stationProtocol.isAutoing()) {
+ continue;
+ }
+
+ if (!stationProtocol.isLoading()) {
+ continue;
+ }
+
+ if (stationProtocol.getTaskNo() <= 0) {
+ continue;
+ }
+
+ Object circleObj = redisUtil.get(RedisKeyType.WATCH_CIRCLE_STATION_.key + stationProtocol.getTaskNo());
+ if (circleObj == null) {
+ continue;
+ }
+
+ StationCommand circleCommand = JSON.parseObject(circleObj.toString(), StationCommand.class);
+ if (!stationProtocol.getStationId().equals(circleCommand.getTargetStaNo())) {
+ continue;
+ }
+
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ Integer moveStaNo = wrkMast.getStaNo();
+
+ if (!outOrderList.isEmpty()) {
+ List<NavigateNode> nodes = navigateUtils.calcByStationId(stationProtocol.getStationId(), wrkMast.getStaNo());
+ for (int i = nodes.size() - 1; i >= 0; i--) {
+ NavigateNode node = nodes.get(i);
+ JSONObject v = JSONObject.parseObject(node.getNodeValue());
+ if (v != null) {
+ Integer stationId = v.getInteger("stationId");
+ if (outOrderList.contains(stationId)) {
+ moveStaNo = stationId;
+ break;
+ }
+ }
+ }
+ }
+
+ StationCommand command = stationThread.getCommand(StationCommandType.MOVE, wrkMast.getWrkNo(), stationProtocol.getStationId(), moveStaNo, 0);
+ if (command == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "鑾峰彇杈撻�佺嚎鍛戒护澶辫触");
+ continue;
+ }
+ MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
+ }
+ }
+ }
+
+ public List<Integer> getAllOutOrderList() {
+ List<Integer> list = new ArrayList<>();
+ List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>());
+ for (BasDevp basDevp : basDevps) {
+ List<Integer> orderList = basDevp.getOutOrderIntList();
+ list.addAll(orderList);
+ }
+ return list;
+ }
+
+ public Integer getOutStationBatchSeq(List<NavigateNode> pathList, Integer searchStationId, String searchBatch) {
+ List<Integer> checkList = new ArrayList<>();
+ for (int i = pathList.size() - 1; i >= 0; i--) {
+ NavigateNode node = pathList.get(i);
+ JSONObject v = JSONObject.parseObject(node.getNodeValue());
+ if (v != null) {
+ Integer stationId = v.getInteger("stationId");
+ if (searchStationId.equals(stationId)) {
+ break;
+ } else {
+ checkList.add(stationId);
+ }
+ }
+ }
+
+ HashMap<String, Integer> batchMap = new HashMap<>();
+ for (Integer station : checkList) {
+ BasStation basStation = basStationService.selectOne(new EntityWrapper<BasStation>().eq("station_id", station));
+ if (basStation == null) {
+ continue;
+ }
+
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basStation.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+ Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
+ StationProtocol checkStationProtocol = statusMap.get(station);
+ if (checkStationProtocol == null) {
+ continue;
+ }
+ if (checkStationProtocol.getTaskNo() > 0) {
+ WrkMast checkWrkMast = wrkMastService.selectByWorkNo(checkStationProtocol.getTaskNo());
+ if (checkWrkMast == null) {
+ continue;
+ }
+
+ if (!Cools.isEmpty(checkWrkMast.getBatch())) {
+ batchMap.put(checkWrkMast.getBatch(), checkWrkMast.getBatchSeq());
+ }
+ }
+ }
+
+ Integer seq = batchMap.get(searchBatch);
+ return seq;
+ }
}
--
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