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/core/utils/CrnOperateProcessUtils.java | 206 +++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 204 insertions(+), 2 deletions(-)
diff --git a/src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java b/src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java
index ec4c22d..614f005 100644
--- a/src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java
@@ -40,8 +40,11 @@
import java.util.Comparator;
import java.util.Date;
import java.util.HashMap;
+import java.util.HashSet;
import java.util.List;
import java.util.Map;
+import java.util.Objects;
+import java.util.Set;
@Component
public class CrnOperateProcessUtils {
@@ -83,11 +86,16 @@
//鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
public synchronized void crnIoExecuteNormal() {
+ Set<Integer> crnMoveBlockedCrnNos = executeCrnMoveTask();
+
List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
Map<Integer, BasCrnp> dispatchCrnMap = new HashMap<>();
Map<Integer, CrnThread> dispatchThreadMap = new HashMap<>();
Map<Integer, CrnProtocol> dispatchProtocolMap = new HashMap<>();
for (BasCrnp basCrnp : basCrnps) {
+ if (basCrnp == null || basCrnp.getCrnNo() == null || crnMoveBlockedCrnNos.contains(basCrnp.getCrnNo())) {
+ continue;
+ }
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
if (crnThread == null) {
continue;
@@ -100,7 +108,7 @@
long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
.eq("crn_no", basCrnp.getCrnNo())
- .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts));
+ .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts, WrkStsType.CRN_MOVE_RUN.sts));
if (runningCount > 0) {
continue;
}
@@ -655,6 +663,8 @@
}else if(wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_RUN.sts){
updateWrkSts = WrkStsType.COMPLETE_LOC_MOVE.sts;
notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_COMPLETE, null);
+ }else if(wrkMast.getWrkSts() == WrkStsType.CRN_MOVE_RUN.sts){
+ updateWrkSts = WrkStsType.COMPLETE_CRN_MOVE.sts;
}else{
News.error("鍫嗗灈鏈哄浜庣瓑寰呯‘璁や笖浠诲姟瀹屾垚鐘舵�侊紝浣嗗伐浣滅姸鎬佸紓甯搞�傚爢鍨涙満鍙�={}锛屽伐浣滃彿={}", basCrnp.getCrnNo(), crnProtocol.getTaskNo());
continue;
@@ -677,9 +687,14 @@
}
public synchronized void plannerExecute() {
+ Set<Integer> crnMoveBlockedCrnNos = executeCrnMoveTask();
+
int nowSec = (int) (System.currentTimeMillis() / 1000);
List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
for (BasCrnp basCrnp : basCrnps) {
+ if (basCrnp == null || basCrnp.getCrnNo() == null || crnMoveBlockedCrnNos.contains(basCrnp.getCrnNo())) {
+ continue;
+ }
String key = RedisKeyType.PLANNER_SCHEDULE.key + "CRN-" + basCrnp.getCrnNo();
List<Object> items = redisUtil.lGet(key, 0, -1);
if (items == null || items.isEmpty()) {
@@ -696,7 +711,7 @@
}
List<WrkMast> running = wrkMastService.list(new QueryWrapper<WrkMast>()
.eq("crn_no", basCrnp.getCrnNo())
- .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts)
+ .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts, WrkStsType.CRN_MOVE_RUN.sts)
);
if (!running.isEmpty()) {
continue;
@@ -827,6 +842,114 @@
return false;
}
+ private Set<Integer> executeCrnMoveTask() {
+ List<WrkMast> pendingTaskQueue = wrkMastService.list(new QueryWrapper<WrkMast>()
+ .eq("io_type", WrkIoType.CRN_MOVE.id)
+ .eq("wrk_sts", WrkStsType.NEW_CRN_MOVE.sts)
+ .orderByAsc("appe_time")
+ .orderByAsc("wrk_no"));
+ Set<Integer> blockedCrnNoSet = new HashSet<>();
+ for (WrkMast wrkMast : pendingTaskQueue) {
+ if (wrkMast != null && wrkMast.getCrnNo() != null) {
+ blockedCrnNoSet.add(wrkMast.getCrnNo());
+ }
+ }
+ if (blockedCrnNoSet.isEmpty()) {
+ return blockedCrnNoSet;
+ }
+
+ List<BasCrnp> basCrnps = basCrnpService.list(new QueryWrapper<>());
+ Map<Integer, CrnThread> dispatchThreadMap = new HashMap<>();
+ Map<Integer, CrnProtocol> dispatchProtocolMap = new HashMap<>();
+ for (BasCrnp basCrnp : basCrnps) {
+ if (basCrnp == null || basCrnp.getCrnNo() == null) {
+ continue;
+ }
+
+ Integer crnNo = basCrnp.getCrnNo();
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ continue;
+ }
+
+ CrnProtocol crnProtocol = crnThread.getStatus();
+ if (crnProtocol == null) {
+ continue;
+ }
+
+ long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
+ .eq("crn_no", crnNo)
+ .in("wrk_sts",
+ WrkStsType.INBOUND_RUN.sts,
+ WrkStsType.OUTBOUND_RUN.sts,
+ WrkStsType.LOC_MOVE_RUN.sts,
+ WrkStsType.CRN_MOVE_RUN.sts));
+ if (runningCount > 0) {
+ continue;
+ }
+
+ if (!Objects.equals(crnProtocol.getMode(), CrnModeType.AUTO.id)
+ || !Objects.equals(crnProtocol.getTaskNo(), 0)
+ || !Objects.equals(crnProtocol.getStatus(), CrnStatusType.IDLE.id)
+ || !Objects.equals(crnProtocol.getLoaded(), 0)
+ || !Objects.equals(crnProtocol.getForkPos(), 0)
+ || !Objects.equals(crnProtocol.getAlarm(), 0)) {
+ continue;
+ }
+
+ Object clearLock = redisUtil.get(RedisKeyType.CLEAR_CRN_TASK_LIMIT.key + crnNo);
+ if (clearLock != null) {
+ continue;
+ }
+
+ dispatchThreadMap.put(crnNo, crnThread);
+ dispatchProtocolMap.put(crnNo, crnProtocol);
+ }
+
+ if (dispatchThreadMap.isEmpty()) {
+ return blockedCrnNoSet;
+ }
+
+ List<WrkMast> taskQueue = wrkMastService.list(new QueryWrapper<WrkMast>()
+ .in("crn_no", new ArrayList<>(dispatchThreadMap.keySet()))
+ .eq("io_type", WrkIoType.CRN_MOVE.id)
+ .eq("wrk_sts", WrkStsType.NEW_CRN_MOVE.sts)
+ .orderByAsc("appe_time")
+ .orderByAsc("wrk_no"));
+
+ for (WrkMast wrkMast : taskQueue) {
+ if (wrkMast == null || wrkMast.getCrnNo() == null || Cools.isEmpty(wrkMast.getLocNo())) {
+ continue;
+ }
+
+ Integer crnNo = wrkMast.getCrnNo();
+ CrnThread crnThread = dispatchThreadMap.get(crnNo);
+ if (crnThread == null || dispatchProtocolMap.get(crnNo) == null) {
+ continue;
+ }
+
+ CrnCommand moveCommand = crnThread.getMoveCommand(wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
+ if (moveCommand == null) {
+ continue;
+ }
+
+ Date now = new Date();
+ wrkMast.setWrkSts(WrkStsType.CRN_MOVE_RUN.sts);
+ wrkMast.setCrnNo(crnNo);
+ wrkMast.setSystemMsg("");
+ wrkMast.setIoTime(now);
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ wrkAnalysisService.markCraneStart(wrkMast, now);
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, moveCommand));
+ News.info("鍫嗗灈鏈虹Щ鍔ㄥ懡浠や笅鍙戞垚鍔燂紝鍫嗗灈鏈哄彿={}锛屽伐浣滃彿={}锛岀洰鏍囦綅={}锛屼换鍔℃暟鎹�={}",
+ crnNo, wrkMast.getWrkNo(), wrkMast.getLocNo(), JSON.toJSON(moveCommand));
+ return blockedCrnNoSet;
+ }
+ }
+ return blockedCrnNoSet;
+ }
+
//妫�娴嬫祬搴撲綅鐘舵��
public synchronized boolean checkShallowLocStatus(String locNo, Integer taskNo) {
String checkDeepLocOutTaskBlockReport = "Y";
@@ -889,4 +1012,83 @@
return false;
}
+ //璋冨害鍫嗗灈鏈虹Щ鍔�
+ public synchronized boolean dispatchCrnMove(Integer crnNo, String targetLocNo) {
+ if (crnNo == null || Cools.isEmpty(targetLocNo)) {
+ return false;
+ }
+
+ int targetRow = Utils.getRow(targetLocNo);
+ int targetBay = Utils.getBay(targetLocNo);
+ int targetLev = Utils.getLev(targetLocNo);
+ try {
+ targetRow = Utils.getRow(targetLocNo);
+ targetBay = Utils.getBay(targetLocNo);
+ targetLev = Utils.getLev(targetLocNo);
+ } catch (Exception e) {
+ News.error("鐢熸垚鍫嗗灈鏈虹Щ鍔ㄤ换鍔″け璐ワ紝鐩爣浣�:{} 瑙ｆ瀽寮傚父", targetLocNo);
+ return false;
+ }
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
+ if (crnThread == null) {
+ return false;
+ }
+
+ CrnProtocol crnProtocol = crnThread.getStatus();
+ if (crnProtocol == null) {
+ return false;
+ }
+
+ if (crnProtocol.getBay() == targetBay) {
+ return false;
+ }
+
+ if (crnProtocol.getLevel() == targetLev) {
+ return false;
+ }
+
+ long runningCount = wrkMastService.count(new QueryWrapper<WrkMast>()
+ .eq("crn_no", crnNo)
+ .in("wrk_sts",
+ WrkStsType.INBOUND_RUN.sts,
+ WrkStsType.OUTBOUND_RUN.sts,
+ WrkStsType.LOC_MOVE_RUN.sts,
+ WrkStsType.CRN_MOVE_RUN.sts));
+ if (runningCount > 0) {
+ News.info("鍫嗗灈鏈�:{} 瀛樺湪鎵ц涓殑浠诲姟锛屾殏涓嶇敓鎴愮Щ鍔ㄤ换鍔�", crnNo);
+ return false;
+ }
+
+ WrkMast activeTask = wrkMastService.getOne(new QueryWrapper<WrkMast>()
+ .eq("crn_no", crnNo)
+ .eq("io_type", WrkIoType.CRN_MOVE.id)
+ .in("wrk_sts", WrkStsType.NEW_CRN_MOVE.sts, WrkStsType.CRN_MOVE_RUN.sts, WrkStsType.CRN_MOVE_MANUAL.sts)
+ .orderByDesc("appe_time")
+ .last("limit 1"));
+ if (activeTask != null) {
+ News.info("鍫嗗灈鏈�:{} 宸插瓨鍦ㄦ湭瀹屾垚绉诲姩浠诲姟锛屽伐浣滃彿={}", crnNo, activeTask.getWrkNo());
+ return false;
+ }
+
+ Date now = new Date();
+ WrkMast wrkMast = new WrkMast();
+ wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.CRN_MOVE.id));
+ wrkMast.setIoTime(now);
+ wrkMast.setWrkSts(WrkStsType.NEW_CRN_MOVE.sts);
+ wrkMast.setIoType(WrkIoType.CRN_MOVE.id);
+ wrkMast.setIoPri(0D);
+ wrkMast.setLocNo(targetLocNo);
+ wrkMast.setCrnNo(crnNo);
+ wrkMast.setAppeTime(now);
+ wrkMast.setModiTime(now);
+ wrkMast.setMemo("dispatchCrnMove");
+ if (!wrkMastService.save(wrkMast)) {
+ News.info("鐢熸垚鍫嗗灈鏈虹Щ鍔ㄤ换鍔″け璐ワ紝宸ヤ綔鍙�={}锛屼换鍔℃暟鎹�={}", wrkMast.getWrkNo(), JSON.toJSON(wrkMast));
+ return false;
+ }
+ wrkAnalysisService.initForTask(wrkMast);
+ return true;
+ }
+
}
--
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