From 5d5d6b55f439a9cb42d948e816a9db70e3fb2805 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 31 三月 2026 08:14:53 +0800
Subject: [PATCH] #堆垛机移动
---
src/main/java/com/zy/asrs/task/WrkAnalysisStationArrivalScanner.java | 92 +++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 91 insertions(+), 1 deletions(-)
diff --git a/src/main/java/com/zy/asrs/task/WrkAnalysisStationArrivalScanner.java b/src/main/java/com/zy/asrs/task/WrkAnalysisStationArrivalScanner.java
index cf33ff0..f299636 100644
--- a/src/main/java/com/zy/asrs/task/WrkAnalysisStationArrivalScanner.java
+++ b/src/main/java/com/zy/asrs/task/WrkAnalysisStationArrivalScanner.java
@@ -1,17 +1,27 @@
package com.zy.asrs.task;
import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.core.common.Cools;
+import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.BasStation;
import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.BasStationService;
import com.zy.asrs.service.WrkAnalysisService;
import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.Utils;
+import com.zy.common.entity.FindCrnNoResult;
+import com.zy.common.service.CommonService;
import com.zy.core.News;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.SlaveType;
import com.zy.core.enums.WrkStsType;
+import com.zy.core.model.StationObjModel;
+import com.zy.core.move.StationMoveCoordinator;
+import com.zy.core.move.StationMoveSession;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.thread.StationThread;
+import com.zy.core.utils.CrnOperateProcessUtils;
import com.zy.core.utils.StationOperateProcessUtils;
import org.springframework.scheduling.annotation.Scheduled;
import org.springframework.stereotype.Component;
@@ -19,6 +29,7 @@
import java.util.Date;
import java.util.List;
import java.util.Map;
+import java.util.Objects;
@Component
public class WrkAnalysisStationArrivalScanner {
@@ -27,15 +38,27 @@
private final BasStationService basStationService;
private final WrkAnalysisService wrkAnalysisService;
private final StationOperateProcessUtils stationOperateProcessUtils;
+ private final StationMoveCoordinator stationMoveCoordinator;
+ private final CommonService commonService;
+ private final BasCrnpService basCrnpService;
+ private final CrnOperateProcessUtils crnOperateProcessUtils;
public WrkAnalysisStationArrivalScanner(WrkMastService wrkMastService,
BasStationService basStationService,
WrkAnalysisService wrkAnalysisService,
- StationOperateProcessUtils stationOperateProcessUtils) {
+ StationOperateProcessUtils stationOperateProcessUtils,
+ StationMoveCoordinator stationMoveCoordinator,
+ CommonService commonService,
+ BasCrnpService basCrnpService,
+ CrnOperateProcessUtils crnOperateProcessUtils) {
this.wrkMastService = wrkMastService;
this.basStationService = basStationService;
this.wrkAnalysisService = wrkAnalysisService;
this.stationOperateProcessUtils = stationOperateProcessUtils;
+ this.stationMoveCoordinator = stationMoveCoordinator;
+ this.commonService = commonService;
+ this.basCrnpService = basCrnpService;
+ this.crnOperateProcessUtils = crnOperateProcessUtils;
}
@Scheduled(fixedDelay = 1000L)
@@ -66,6 +89,7 @@
}
Map<Integer, StationProtocol> statusMap = stationThread.getStatusMap();
StationProtocol stationProtocol = statusMap == null ? null : statusMap.get(basStation.getStationId());
+ tryDispatchInboundCrnMove(wrkMast, stationProtocol);
boolean arrived = stationProtocol != null
&& wrkMast.getWrkNo().equals(stationProtocol.getTaskNo())
&& stationProtocol.isLoading();
@@ -78,4 +102,70 @@
}
}
}
+
+ private void tryDispatchInboundCrnMove(WrkMast wrkMast, StationProtocol targetStationProtocol) {
+ if (wrkMast == null || wrkMast.getWrkNo() == null || wrkMast.getStaNo() == null || Cools.isEmpty(wrkMast.getLocNo())) {
+ return;
+ }
+ if (targetStationProtocol != null
+ && targetStationProtocol.isLoading()
+ && targetStationProtocol.getTaskNo() > 0
+ && targetStationProtocol.isInEnable()) {
+ return;
+ }
+
+ StationMoveSession session = stationMoveCoordinator == null ? null : stationMoveCoordinator.loadSession(wrkMast.getWrkNo());
+ if (!isInboundCrnMoveDispatchWindow(wrkMast, session)) {
+ return;
+ }
+
+ FindCrnNoResult findCrnNoResult = commonService.findCrnNoByLocNo(wrkMast.getLocNo());
+ if (findCrnNoResult == null || !Objects.equals(findCrnNoResult.getCrnType(), SlaveType.Crn) || findCrnNoResult.getCrnNo() == null) {
+ return;
+ }
+
+ BasCrnp basCrnp = basCrnpService.getOne(new QueryWrapper<BasCrnp>()
+ .eq("crn_no", findCrnNoResult.getCrnNo())
+ .last("limit 1"));
+ if (basCrnp == null) {
+ return;
+ }
+
+ for (StationObjModel stationObjModel : basCrnp.getInStationList$()) {
+ if (stationObjModel == null || !Objects.equals(stationObjModel.getStationId(), wrkMast.getStaNo())) {
+ continue;
+ }
+ if (stationObjModel.getDeviceRow() == null || stationObjModel.getDeviceBay() == null || stationObjModel.getDeviceLev() == null) {
+ continue;
+ }
+ String inletLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
+ boolean dispatched = crnOperateProcessUtils.dispatchCrnMove(findCrnNoResult.getCrnNo(), inletLocNo);
+ if (dispatched) {
+ News.info("鍏ュ簱浠诲姟鍗冲皢鍒拌揪鍏ュ簱鍙ｏ紝宸茶Е鍙戝爢鍨涙満棰勭Щ杞︼紝宸ヤ綔鍙�={}锛屽爢鍨涙満鍙�={}锛屽叆搴撳彛浣嶇疆={}",
+ wrkMast.getWrkNo(), findCrnNoResult.getCrnNo(), inletLocNo);
+ }
+ return;
+ }
+ }
+
+ private boolean isInboundCrnMoveDispatchWindow(WrkMast wrkMast, StationMoveSession session) {
+ if (wrkMast == null || session == null || !session.isActive() || wrkMast.getStaNo() == null) {
+ return false;
+ }
+ List<Integer> fullPathStationIds = session.getFullPathStationIds();
+ Integer currentStationId = session.getCurrentStationId();
+ if (fullPathStationIds == null || fullPathStationIds.isEmpty() || currentStationId == null) {
+ return false;
+ }
+ int currentIndex = fullPathStationIds.lastIndexOf(currentStationId);
+ if (currentIndex < 0 || currentIndex >= fullPathStationIds.size() - 1) {
+ return false;
+ }
+ int remainingStationCount = fullPathStationIds.size() - currentIndex - 1;
+ if (remainingStationCount != 1) {
+ return false;
+ }
+ Integer nextStationId = fullPathStationIds.get(currentIndex + 1);
+ return Objects.equals(nextStationId, wrkMast.getStaNo());
+ }
}
--
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