From 16bb4a6e5bf59c308ff351c5060875629f93291c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 20 十月 2023 15:20:49 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 172 +++++++++++++++++++++++++++------------------------------
1 files changed, 81 insertions(+), 91 deletions(-)
diff --git a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
index db387a9..c54ab87 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -25,6 +25,8 @@
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
+import com.zy.system.entity.Config;
+import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -102,6 +104,10 @@
private RedisUtil redisUtil;
@Autowired
private WrkMastLocMapper wrkMastLocMapper;
+ @Autowired
+ private BasLiftOptService basLiftOptService;
+ @Autowired
+ private ConfigService configService;
/**
@@ -522,6 +528,7 @@
wrkMast.setStaNo(liftStaProtocol.getStaNo());//鐩爣绔�
wrkMast.setLocNo(sourceLocNo); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
wrkMast.setShuttleNo(null); // 绌挎杞︽竻绌�
+ wrkMast.setLiftNo(null);// 鎻愬崌鏈烘竻绌�
wrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(wrkMast) == 0) {
throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
@@ -844,6 +851,10 @@
BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
if (basDevp == null) {
return false;//鍑哄簱绔欑偣涓嶅瓨鍦�
+ }
+
+ if (!basDevp.getAutoing().equals("Y")) {
+ return false;//涓嶆槸鑷姩鐘舵��
}
if (!basDevp.getOutEnable().equals("Y")) {
@@ -1291,8 +1302,14 @@
&& liftProtocol.getTaskNo() != 0
&& !liftProtocol.getBusy()
) {
+ BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString());
+ int taskNo = liftProtocol.getTaskNo().intValue();
+ if (basLiftOpt != null) {
+ taskNo = basLiftOpt.getWrkNo();
+ }
+
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(taskNo);
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
@@ -1307,15 +1324,16 @@
wrkMast.setWrkSts(25L);
if (wrkMast.getIoType() == 11) {//搴撲綅绉昏浆
wrkMast.setWrkSts(4L);//4.鎻愬崌鏈烘惉杩愬畬鎴�
+ }else {
+ if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
+ //涓嶉渶瑕佺敤鍒版満姊拌噦锛岀洿鎺ヨ浆29.鍑哄簱瀹屾垚
+ wrkMast.setWrkSts(29L);
+ }
}
+
if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
//閲婃斁鎻愬崌鏈轰护鐗�
liftProtocol.setToken(0);
- }
-
- if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
- //涓嶉渶瑕佺敤鍒版満姊拌噦锛岀洿鎺ヨ浆29.鍑哄簱瀹屾垚
- wrkMast.setWrkSts(29L);
}
break;
@@ -1484,7 +1502,7 @@
}
//鑾峰彇绌挎杞︽渶杩戜笖绌洪棽鐨勬彁鍗囨満杈撻�佺珯鐐�
- LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
+ LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
if (liftSta == null) {
return false;//娌℃湁鍙敤涓旂┖闂茬殑杈撻�佺珯鐐�
}
@@ -1530,14 +1548,47 @@
private boolean locToLocExecuteStep3(WrkMast wrkMast) {
Date now = new Date();
if (wrkMast.getWrkSts() == 23) {//23.灏忚溅鎼繍瀹屾垚
+ //婧愮珯
+ Integer sourceStaNo = wrkMast.getSourceStaNo();
+ //鐩爣绔�
+ Integer staNo = wrkMast.getStaNo();
+ if (sourceStaNo == null || staNo == null) {
+ return false;//婧愮珯鎴栫洰鏍囩珯涓虹┖
+ }
+
+ int liftNo = staNo / 100;//鑾峰彇鎻愬崌鏈哄彿
+
//鑾峰彇鎻愬崌鏈虹嚎绋�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
if (liftThread == null) {
return false;
}
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
if (liftProtocol == null) {
return false;
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
+ if (liftStaProtocol == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
+ return false;//绔欑偣蹇呴』鑷姩銆佺┖闂层�佹湁鎵樼洏
+ }
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
+ //灏忚溅杩樺湪杈撻�佺珯鐐�
+ //璋冨害灏忚溅閬胯
+ boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
+ if (!result) {
+ return false;
+ }
}
if (!liftProtocol.isIdle()) {
@@ -1548,14 +1599,6 @@
WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
return false;
- }
-
- //婧愮珯
- Integer sourceStaNo = wrkMast.getSourceStaNo();
- //鐩爣绔�
- Integer staNo = wrkMast.getStaNo();
- if (sourceStaNo == null || staNo == null) {
- return false;//婧愮珯鎴栫洰鏍囩珯涓虹┖
}
//鑾峰彇鎻愬崌鏈哄懡浠�
@@ -1592,13 +1635,17 @@
private boolean locToLocExecuteStep4(WrkMast wrkMast) {
if (wrkMast.getWrkSts() == 4) {//4.鎻愬崌鏈烘惉杩愬畬鎴�
//鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
- BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
- if (targetBasDevp == null) {
- return false;//缂哄皯绔欑偣淇℃伅
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(wrkMast.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
+ if (liftStaProtocol == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
+ return false;//绔欑偣蹇呴』鑷姩銆佺┖闂层�佹湁鎵樼洏
}
if (wrkMast.getShuttleNo() == null) {
- shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo());//璋冨害灏忚溅鍒扮洰鏍囪緭閫佺珯鐐硅繘琛屽彇璐�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//璋冨害灏忚溅鍒扮洰鏍囪緭閫佺珯鐐硅繘琛屽彇璐�
return false;
}
@@ -1616,14 +1663,14 @@
}
//鍒ゆ柇灏忚溅鏄惁鍒拌揪鐩爣杈撻�佺珯鐐�
- if (!shuttleProtocol.getCurrentLocNo().equals(targetBasDevp.getLocNo())) {
+ if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
//灏忚溅涓嶅湪鐩爣杈撻�佺珯鐐�
- shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒扮洰鏍囪緭閫佺珯鐐硅繘琛屽彇璐�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒扮洰鏍囪緭閫佺珯鐐硅繘琛屽彇璐�
return false;
}
//灏忚溅宸叉姷杈剧洰鏍囪緭閫佺珯鐐癸紝灏嗚揣鐗╂惉杩愬埌鐩爣搴撲綅
- NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getLocNo());
if (result == null) {//璺緞璁＄畻澶辫触
return false;
}
@@ -2001,8 +2048,6 @@
continue;//娌℃湁绌洪棽绔欑偣
}
- targetSta = (short) 317;
-
if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
//鍚慉GV鍙戣捣缁勬墭璇锋眰
try {
@@ -2179,7 +2224,7 @@
continue;
}
- if (wrkMast.getWrkSts() != 25) {//25.鎻愬崌鏈烘惉杩愬畬鎴�
+ if (wrkMast.getWrkSts() != 29) {//29.鍑哄簱瀹屾垚
continue;
}
@@ -2189,6 +2234,7 @@
//瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
wrkMast.setStaNo(sourceStaNo);
wrkMast.setSourceStaNo(staNo);
+ wrkMast.setMk("N");
if (wrkMastMapper.updateById(wrkMast) > 0) {
//鍚�300绔欏啓鍏ョ洰鏍囩珯
staProtocol = staProtocol.clone();
@@ -2500,7 +2546,16 @@
}
} else if (wrkCharge.getWrkSts() == 52) {
//妫�娴嬪皬杞︽槸鍚︽弧鐢�
+
+ //鑾峰彇婊＄數闃堝��
int maxPower = 95;
+ EntityWrapper<Config> wrapper = new EntityWrapper<>();
+ wrapper.eq("code", "chargeMaxValue");
+ Config config = configService.selectOne(wrapper);
+ if (config != null) {
+ maxPower = Integer.parseInt(config.getValue());
+ }
+
if (shuttleProtocol.getPowerPercent() < maxPower) {
continue;
}
@@ -2582,8 +2637,6 @@
if (!stepMoveLoc) {
continue;
}
-
-// this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//娓呯悊111.灏忚溅绉诲姩瀹屾垚
}
}
@@ -3146,69 +3199,6 @@
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
}
}
- return true;
- }
-
- /**
- * 灏忚溅杩佺Щ-娓呯悊111.灏忚溅绉诲姩瀹屾垚
- */
- private boolean shuttleMoveExecuteStepClearWrkMast(WrkMast wrkMast) {
- if (wrkMast.getWrkSts() == 111) {
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- return false;
- }
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- return false;
- }
-
- //灏忚溅澶勪簬绌洪棽鐘舵��
- if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
- return false;
- }
-
- Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
- if (o != null) {
- ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
- ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
- int size = assignCommand.getCommands().size();
- NyShuttleHttpCommand command = assignCommand.getCommands().get(size - 1);//鑾峰彇鏈�鍚庝竴娈靛懡浠�
- if (!command.getComplete()) {
- return false;//鏈�鍚庝竴娈靛懡浠よ繕鏈畬鎴愶紝涓嶅仛鎿嶄綔
- }
- NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
- navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//瑙ｉ攣璺緞
-
- //鍒犻櫎redis
- redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
- }
-
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
- log.info("淇濆瓨宸ヤ綔鍘嗗彶妗workNo={0}]澶辫触", wrkMast.getWrkNo());
- }
- // 鍒犻櫎宸ヤ綔涓绘。
- if (!wrkMastService.deleteById(wrkMast)) {
- log.info("鍒犻櫎宸ヤ綔涓绘。[workNo={0}]澶辫触", wrkMast.getWrkNo());
- }
-
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- //婧愬簱浣嶆竻闆�
- shuttleProtocol.setSourceLocNo(null);
- //鐩爣搴撲綅娓呴浂
- shuttleProtocol.setLocNo(null);
- //浠诲姟鎸囦护娓呴浂
- shuttleProtocol.setAssignCommand(null);
- //宸ヤ綔鍙锋竻闆�
- shuttleProtocol.setTaskNo(0);
- //娓呴櫎浠ょ墝
- shuttleProtocol.setToken(0);
- News.info("鍥涘悜绌挎杞﹀凡纭涓旂Щ鍔ㄤ换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- }
-
return true;
}
--
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