From 123a17c9d50745ea609f91943adca64e5ed12355 Mon Sep 17 00:00:00 2001
From: zhangc <zc@123>
Date: 星期六, 12 四月 2025 09:08:14 +0800
Subject: [PATCH] 1
---
src/main/java/com/zy/asrs/service/impl/NoLiftOutServiceImpl.java | 310 +++++++++++++++++++++++++++++++-------------------
1 files changed, 191 insertions(+), 119 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/NoLiftOutServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/NoLiftOutServiceImpl.java
index 9ec208f..b3a9855 100644
--- a/src/main/java/com/zy/asrs/service/impl/NoLiftOutServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/NoLiftOutServiceImpl.java
@@ -1,11 +1,9 @@
package com.zy.asrs.service.impl;
-import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.WrkMastService;
import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
-import com.zy.common.model.NavigateNode;
import com.zy.common.model.enums.NavigationMapType;
import com.zy.common.service.CommonService;
import com.zy.common.utils.LiftUtils;
@@ -25,6 +23,8 @@
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.LiftProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
+import com.zy.core.model.protocol.StaProtocol;
+import com.zy.core.thread.DevpThread;
import com.zy.core.thread.LiftThread;
import com.zy.core.thread.ShuttleThread;
import lombok.extern.slf4j.Slf4j;
@@ -62,33 +62,36 @@
/**
- * 浠庢病鏈夋彁鍗囨満渚у叆搴擄紝鏈変袱绉嶆儏鍐碉紝涓�绉嶅叆搴撳埌鍚屽眰锛屼竴绉嶅叆搴撳埌涓嶅悓灞傦紝鍒欓渶瑕佹彁鍗囨満
+ * 浠庢病鏈夋彁鍗囨満渚у嚭搴擄紝鏈変袱绉嶆儏鍐碉紝涓�绉�1锛�5搴撳埌鍚屽眰锛屼竴绉嶉潪1锛�5搴撳埌1锛�5锛屽垯闇�瑕佹彁鍗囨満
* @param wrkMast
*/
public void shuttleMoveExecute(WrkMast wrkMast) {
- boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//灏忚溅杩佺Щ-鍛煎彨灏忚溅鑷冲彇璐х偣
- if (!stepMoveSta) {
- return;
- }
//鍒ゆ柇鐩爣搴撲綅鏄惁鍦�1灞傛垨5灞�
- if (Utils.getLev(wrkMast.getLocNo()) == 1 || Utils.getLev(wrkMast.getLocNo()) == 5) {
- //鐩存帴鍏ュ簱
- boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ if (Utils.getLev(wrkMast.getSourceLocNo()) == 1 || Utils.getLev(wrkMast.getSourceLocNo()) == 5) {
+ boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle2(wrkMast);//鍛煎彨灏忚溅鑷冲彇璐х偣
+ if (!stepMoveSta) {
+ return;
+ }
+ boolean stepMoveLoc = this.shuttleMoveExecuteTransportLiftStepMoveLoc2(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
if (!stepMoveLoc) {
return;
}
} else {
- boolean stepIntoSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//灏忚溅杩佺Щ鑷冲緟鏈虹偣
- if (!stepIntoSta) {
+ boolean stepMoveSta = this.shuttleMoveExecuteTransportLiftStepCallShuttle(wrkMast);//鍛煎彨灏忚溅鑷冲彇璐х偣
+ if (!stepMoveSta) {
+ return;
+ }
+ boolean stepTransportLiftOutStepMoveSta = this.shuttleMoveExecuteTransportLiftOutStepMoveSta(wrkMast);//灏忚溅绉诲姩鍒板緟鏈虹偣
+ if (!stepTransportLiftOutStepMoveSta) {
return;
}
- boolean stepLiftToShuttleLev = this.shuttleMoveExecuteTransportLiftStepLiftToShuttleLev(wrkMast);//鎻愬崌鏈哄埌灏忚溅灞�
+ boolean stepLiftToShuttleLev = this.shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(wrkMast);//鎻愬崌鏈哄埌灏忚溅灞�
if (!stepLiftToShuttleLev) {
return;
}
- boolean stepIntoLift = this.shuttleMoveExecuteTransportLiftStepIntoLift(wrkMast);//灏忚溅杩佸叆鎻愬崌鏈�
+ boolean stepIntoLift = this.shuttleMoveExecuteTransportLiftOutStepIntoLift(wrkMast);//灏忚溅杩佸叆鎻愬崌鏈�
if (!stepIntoLift) {
return;
}
@@ -98,16 +101,16 @@
return;
}
- boolean stepOutLift = this.shuttleMoveExecuteTransportLiftStepOutLift(wrkMast);//灏忚溅杩佸嚭鎻愬崌鏈哄埌寰呮満浣�
+ boolean stepOutLift = this.shuttleMoveExecuteTransportLiftOutStepOutLift(wrkMast);//灏忚溅绉诲姩鑷宠緭閫佺嚎澶�
if (!stepOutLift) {
return;
}
-
boolean stepMoveLoc = this.shuttleMoveExecuteTransportLiftStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
if (!stepMoveLoc) {
return;
}
}
+
}
/**
@@ -135,9 +138,28 @@
return false;
}
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (devpThread == null) {
+ return false;
+ }
+ int lev = Utils.getLev(wrkMast.getLocNo());
+ StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);
+ //TODO
+// if (!staProtocol2.isOutEnable()) {
+// log.error("{}浠诲姟锛寋}鍙疯緭閫佺嚎涓嶅彲鍑�", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙疯緭閫佺嚎涓嶅彲鍑�", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
+// return false;
+// }
+ StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
+ if (staProtocol.isLoading()) {
+ log.error("{}浠诲姟锛寋}鍙疯緭閫佺嚎鏈夌墿", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙疯緭閫佺嚎鏈夌墿", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
+ return false;
+ }
+
if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
//灏忚溅鍦ㄥ彇璐х偣
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_1.sts);//灏忚溅绉诲姩鍒拌緭閫佺嚎 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 鍛煎彨灏忚溅鑷冲彇璐х偣
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 鍛煎彨灏忚溅鑷冲彇璐х偣
wrkMast.setModiTime(now);
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMastService.updateById(wrkMast);
@@ -150,7 +172,7 @@
return false;
}
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_1.sts);//灏忚溅绉诲姩鍒拌緭閫佺嚎 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 鍛煎彨灏忚溅鑷冲彇璐х偣
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 鍛煎彨灏忚溅鑷冲彇璐х偣
wrkMast.setModiTime(now);
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMastService.updateById(wrkMast);
@@ -159,18 +181,17 @@
return true;
}
-
/**
* 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮珯鐐�
* 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
* ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
+ private boolean shuttleMoveExecuteTransportLiftOutStepMoveSta(WrkMast wrkMast) {
//--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
Date now = new Date();
- //灏忚溅绉诲姩鑷崇珯鐐� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷崇珯鐐逛腑
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_2.sts) {
+ //灏忚溅绉诲姩鑷崇珯鐐� 鍛煎彨灏忚溅鑷冲彇璐х偣 ==> 灏忚溅绉诲姩鑷崇珯鐐逛腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_1.sts) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
if (shuttleThread == null) {
@@ -187,6 +208,10 @@
return false;
}
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屾湭鍒拌揪鍙栬揣鐐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
//鑾峰彇绌挎杞︽渶杩戜笖绌洪棽鐨勬彁鍗囨満
LiftThread liftThread = LiftUtils.getRecentLift(shuttleProtocol.getCurrentLocNo());
@@ -211,28 +236,31 @@
assignCommand.setAuto(true);//鑷姩妯″紡
List<ShuttleCommand> commands = new ArrayList<>();
- Integer mapType = NavigationMapType.NORMAL.id;
+ Integer mapType = NavigationMapType.DFX.id;
- if (!liftStandByLocNo.equals(wrkMast.getSourceLocNo())) {
- //鑾峰彇灏忚溅鍒版彁鍗囨満寰呮満浣嶈璧板懡浠�
- List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
- if (moveCommands == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;//璺緞瑙ｉ攣澶辫触
- }
- commands.addAll(moveCommands);
+ //鑾峰彇灏忚溅鍒版彁鍗囨満寰呮満浣嶈璧板懡浠�
+ List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftStandByLocNo, mapType, assignCommand, shuttleThread);
+ if (moveCommands == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;//璺緞瑙ｉ攣澶辫触
}
+ commands.addAll(moveCommands);
+
+ List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
+ if (liftCommand == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇椤跺崌鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+ commands.addAll(0, liftCommand);
assignCommand.setCommands(commands);
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_3.sts);//灏忚溅绉诲姩鍒板緟鏈虹偣
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_2.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 鍛煎彨灏忚溅鑷冲彇璐х偣 ==> 灏忚溅绉诲姩鑷崇珯鐐逛腑
wrkMast.setModiTime(now);
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
- //瑙﹀彂閫氱煡
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
return false;
}
return false;
@@ -240,17 +268,16 @@
return true;
}
-
/**
* 灏忚溅杩佺Щ-鎻愬崌鏈哄埌灏忚溅灞�
* 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
* ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- private boolean shuttleMoveExecuteTransportLiftStepLiftToShuttleLev(WrkMast wrkMast) {
+ private boolean shuttleMoveExecuteTransportLiftOutStepLiftToShuttleLev(WrkMast wrkMast) {
//--------------------------------------灏忚溅杩佸叆鎻愬崌鏈�-----------------------------------------//
Date now = new Date();
//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 鎻愬崌鏈鸿嚦灏忚溅灞�
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_4.sts) {
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_3.sts) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
if (shuttleThread == null) {
@@ -327,15 +354,15 @@
}
//鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
- if (!liftProtocol.getHasTray()) {
- News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮棤鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ if (liftProtocol.getHasTray()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮湁鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
return false;//鎻愬崌鏈哄唴鏃犲皬杞�
}
//鍒ゆ柇鎻愬崌鏈烘ゼ灞�
if (liftProtocol.getLev() == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
//鎻愬崌鏈哄湪灏忚溅妤煎眰
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_6.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴�
wrkMast.setModiTime(now);
wrkMastService.updateById(wrkMast);
return false;
@@ -359,15 +386,13 @@
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_5.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 鎻愬崌鏈鸿嚦灏忚溅灞�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_4.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 鎻愬崌鏈鸿嚦灏忚溅灞�
wrkMast.setLiftNo(liftProtocol.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
-// //瑙﹀彂閫氱煡
-// notifyUtils.notify(String.valueOf(SlaveType.Lift), liftProtocol.getLiftNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
return false;
}
return false;
@@ -376,17 +401,16 @@
return true;
}
-
/**
* 灏忚溅杩佺Щ-灏忚溅杩佸叆鎻愬崌鏈�
* 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
* ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- private boolean shuttleMoveExecuteTransportLiftStepIntoLift(WrkMast wrkMast) {
+ private boolean shuttleMoveExecuteTransportLiftOutStepIntoLift(WrkMast wrkMast) {
//--------------------------------------灏忚溅杩佸叆鎻愬崌鏈�-----------------------------------------//
Date now = new Date();
//灏忚溅绉诲姩鍒版彁鍗囨満涓� 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴� ==> 灏忚溅杩佸叆鎻愬崌鏈轰腑
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_6.sts) {
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_5.sts) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
if (shuttleThread == null) {
@@ -444,8 +468,8 @@
}
//鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
- if (!liftProtocol.getHasTray()) {
- News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮棤鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
+ if (liftProtocol.getHasTray()) {
+ News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満鍐呮湁鎵樼洏锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
return false;//鎻愬崌鏈哄唴鏃犲皬杞�
}
@@ -471,13 +495,11 @@
assignCommand.setCommands(commands);
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_7.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴� ==> 灏忚溅杩佸叆鎻愬崌鏈轰腑
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_6.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 鎻愬崌鏈鸿嚦灏忚溅灞傚畬鎴� ==> 灏忚溅杩佸叆鎻愬崌鏈轰腑
wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
-// //瑙﹀彂閫氱煡
-// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
return false;
}
return false;
@@ -496,7 +518,7 @@
//--------------------------------------灏忚溅杩佸叆鎻愬崌鏈�-----------------------------------------//
Date now = new Date();
//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 鎻愬崌鏈鸿嚦鏀捐揣灞�
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_8.sts) {
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_7.sts) {
if (wrkMast.getLiftNo() == null) {
News.info("{}浠诲姟鏈粦瀹氭彁鍗囨満", wrkMast.getWrkNo());
return false;
@@ -559,7 +581,7 @@
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
assignCommand.setTaskMode(LiftCommandModeType.MOVE.id.shortValue());
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_9.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 鎻愬崌鏈鸿嚦鏀捐揣灞�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_8.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 鎻愬崌鏈鸿嚦鏀捐揣灞�
wrkMast.setLiftNo(liftProtocol.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
@@ -582,11 +604,11 @@
* 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
* ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- private boolean shuttleMoveExecuteTransportLiftStepOutLift(WrkMast wrkMast) {
+ private boolean shuttleMoveExecuteTransportLiftOutStepOutLift(WrkMast wrkMast) {
//--------------------------------------灏忚溅杩佸叆鎻愬崌鏈�-----------------------------------------//
Date now = new Date();
- //灏忚溅绉诲姩鍒版彁鍗囨満涓� 鎻愬崌鏈鸿嚦鏀捐揣灞傚畬鎴� ==> 灏忚溅杩佸嚭鎻愬崌鏈轰腑
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_10.sts) {
+ //灏忚溅绉诲姩鍒版彁鍗囨満涓� 灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_9.sts) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
if (shuttleThread == null) {
@@ -649,13 +671,6 @@
return false;//鎻愬崌鏈哄唴鏃犲皬杞�
}
- //鍒ゆ柇鎻愬崌鏈烘ゼ灞�
- if (liftProtocol.getLev() != Utils.getLev(wrkMast.getLocNo())) {
- //鎻愬崌鏈轰笉鍦ㄦ斁璐у眰
- News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屼笉鍦ㄦ斁璐у眰锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftProtocol.getLiftNo());
- return false;
- }
-
if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
@@ -691,21 +706,14 @@
return false;
}
- List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
- if (liftCommand == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇椤跺崌鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
- return false;
- }
- commands.addAll(0, liftCommand);
+
assignCommand.setCommands(commands);
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_11.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 鎻愬崌鏈鸿嚦鏀捐揣灞傚畬鎴� ==> 灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_10.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 鎻愬崌鏈鸿嚦鏀捐揣灞傚畬鎴� ==> 灏忚溅杩佸嚭鎻愬崌鏈轰腑
wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
-// //瑙﹀彂閫氱煡
-// notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING_IN_LIFT);
return false;
}
return false;
@@ -713,7 +721,6 @@
return true;
}
-
/**
* 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
@@ -725,7 +732,7 @@
Date now = new Date();
//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 灏忚溅鏀捐揣涓�
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_12.sts) {
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_11.sts) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
if (shuttleThread == null) {
@@ -735,6 +742,26 @@
if (shuttleProtocol == null) {
return false;
}
+
+// if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
+// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+// assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//鏇存柊鍧愭爣
+// assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+// assignCommand.setAuto(true);//鑷姩妯″紡
+// assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+// assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+//
+// //鏇存柊灏忚溅鍧愭爣
+// ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo());
+// ArrayList<ShuttleCommand> commands = new ArrayList<>();
+// commands.add(command);
+//
+// assignCommand.setCommands(commands);
+// shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+// return false;
+// }
+
//灏忚溅澶勪簬绌洪棽鐘舵��
if (!shuttleThread.isIdle()) {
@@ -769,7 +796,7 @@
assignCommand.setCommands(commands);
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_13.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 灏忚溅鏀捐揣涓�
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_12.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 灏忚溅鏀捐揣涓�
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
@@ -783,45 +810,84 @@
/**
+ * 灏忚溅杩佺Щ-鍛煎彨灏忚溅鑷冲彇璐х偣
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteTransportLiftStepCallShuttle2(WrkMast wrkMast) {
+ Date now = new Date();
+ //灏忚溅绉诲姩鑷崇珯鐐� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 鍛煎彨灏忚溅鑷冲彇璐х偣
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽皬杞﹀繖纰屼腑", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
+ if (devpThread == null) {
+ return false;
+ }
+ int lev = Utils.getLev(wrkMast.getLocNo());
+ StaProtocol staProtocol2 = devpThread.getStation().get(lev == 1 ? 1014 : 1025);
+ //TODO
+// if (!staProtocol2.isOutEnable()) {
+// log.error("{}浠诲姟锛寋}鍙疯緭閫佺嚎涓嶅彲鍑�", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
+// News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙疯緭閫佺嚎涓嶅彲鍑�", wrkMast.getWrkNo(), lev == 1 ? 1014 : 1025);
+// return false;
+// }
+ StaProtocol staProtocol = devpThread.getStation().get(lev == 1 ? 1015 : 1026);
+ if (staProtocol.isLoading()) {
+ log.error("{}浠诲姟锛寋}鍙疯緭閫佺嚎鏈夌墿", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙疯緭閫佺嚎鏈夌墿", wrkMast.getWrkNo(), wrkMast.getSourceStaNo());
+ return false;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //灏忚溅鍦ㄥ彇璐х偣
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 鍛煎彨灏忚溅鑷冲彇璐х偣
+ wrkMast.setModiTime(now);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+
+ boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo(), null, true);
+ if (!dispatchShuttle) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃皟搴﹁嚦鍙栬揣鐐瑰け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_1.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 鍛煎彨灏忚溅鑷冲彇璐х偣
+ wrkMast.setModiTime(now);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+ return true;
+ }
+
+
+ /**
* 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
* 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
* ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) {
+ private boolean shuttleMoveExecuteTransportLiftStepMoveLoc2(WrkMast wrkMast) {
//--------------------------------------灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑-----------------------------------------//
Date now = new Date();
- //灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
- if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_Lift_2.sts) {
-
- List<NavigateNode> targetNodes = null;
- if (wrkMast.getLiftNo() != null) {
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
- WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo());
- if (liftWrkMast != null) {
- if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
- News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満瀛樺湪鏈畬鎴愪换鍔★紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
- return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
- }
- }
-
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
- if (liftThread == null) {
- News.info("{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満绾跨▼涓嶅瓨鍦紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
- return false;
- }
-
- //灏忚溅鐩爣灏辨槸鎻愬崌鏈轰綅缃紝鐩存帴璁ゅ畾灏忚溅绉诲姩浠诲姟瀹屾垚
- if (liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo())).equals(wrkMast.getLocNo())) {
- wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.灏忚溅绉诲姩瀹屾垚
- wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- wrkMast.setModiTime(now);
- wrkMastService.updateById(wrkMast);
- return false;
- }
-
- }
-
+ //灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 灏忚溅鏀捐揣涓�
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_1.sts) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
if (shuttleThread == null) {
@@ -838,12 +904,7 @@
return false;
}
- //灏忚溅宸茬粡鍦ㄧ洰鏍囧簱浣嶏紝鐩存帴璁ゅ畾灏忚溅绉诲姩浠诲姟瀹屾垚
- if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
- wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.灏忚溅绉诲姩瀹屾垚
- wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- wrkMast.setModiTime(now);
- wrkMastService.updateById(wrkMast);
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
return false;
}
@@ -856,24 +917,36 @@
assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
List<ShuttleCommand> commands = new ArrayList<>();
- List<ShuttleCommand> liftCommand = null;
- Integer mapType = NavigationMapType.NORMAL.id;
+ Integer mapType = NavigationMapType.DFX.id;
+
List<ShuttleCommand> moveCommands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), mapType, assignCommand, shuttleThread);
if (moveCommands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞璁＄畻澶辫触
}
-
commands.addAll(moveCommands);
+
+ List<ShuttleCommand> liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true);
+ if (liftCommand == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇椤跺崌鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+ commands.addAll(0, liftCommand);
+
+ List<ShuttleCommand> liftCommandDown = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
+ if (liftCommandDown == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇fangxia鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+ commands.addAll(liftCommandDown);
assignCommand.setCommands(commands);
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_Lift_13.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_12.sts);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 灏忚溅鏀捐揣涓�
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
-
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
@@ -881,5 +954,4 @@
}
return true;
}
-
}
--
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