From 1da55d544dffc8d8b2e88efb4532776e71b0b11c Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期五, 15 九月 2023 16:39:09 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 793 +++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 640 insertions(+), 153 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 f6980fd..70fc05b 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -69,6 +69,8 @@
@Autowired
private BasShuttleErrLogService basShuttleErrLogService;
@Autowired
+ private BasLiftErrLogService basLiftErrLogService;
+ @Autowired
private BasShuttleErrService basShuttleErrService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
@@ -635,11 +637,11 @@
}
Short shuttleNo = redisCommand.getShuttleNo();
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
@@ -648,7 +650,7 @@
}
//鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
- shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
}
}
@@ -721,6 +723,10 @@
if (!shuttleProtocol.isIdle()) {
return false;
}
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+ if (shuttleProtocol.getToken() != 0) {
+ return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
+ }
//鍒ゆ柇灏忚溅鏄惁鍒拌揪杈撻�佺珯鐐瑰簱浣�
if (!shuttleProtocol.getCurrentLocNo().equals(basDevp.getLocNo())) {
@@ -746,6 +752,7 @@
wrkMast.setWrkSts(5L);//4.鎻愬崌鏈烘惉杩愬畬鎴� => 5.灏忚溅鎼繍涓�
wrkMast.setModiTime(new Date());
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰灏忚溅浠ょ墝
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
@@ -793,6 +800,10 @@
if (!shuttleProtocol.isIdle()) {
return false;
}
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+ if (shuttleProtocol.getToken() != 0) {
+ return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
+ }
//鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getLiftNo());
@@ -824,6 +835,7 @@
wrkMast.setWrkSts(22L);//21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
wrkMast.setModiTime(new Date());
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰灏忚溅浠ょ墝
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
@@ -851,25 +863,38 @@
&& shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
) {
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
case 5://5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
wrkMast.setWrkSts(9L);
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo(0);
+ if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
+ //閲婃斁灏忚溅浠ょ墝
+ shuttleProtocol.setToken(0);
+ }
break;
case 22://22.灏忚溅鎼繍涓� ==> 23.灏忚溅鎼繍瀹屾垚
wrkMast.setWrkSts(23L);
+ if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
+ //閲婃斁灏忚溅浠ょ墝
+ shuttleProtocol.setToken(0);
+ }
break;
- case 102://102.灏忚溅鍒版彁鍗囨満涓� ==> 103.灏忚溅鍒版彁鍗囨満瀹屾垚
+ case 102://102.灏忚溅绉诲姩鑷崇珯鐐� ==> 103.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
wrkMast.setWrkSts(103L);
break;
- case 106://106.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 107.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
- wrkMast.setWrkSts(107L);
+ case 104://104.灏忚溅杩佸叆鎻愬崌鏈轰腑 ==> 105.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(105L);
break;
- case 108://108.灏忚溅绉诲姩涓� ==> 109.灏忚溅绉诲姩瀹屾垚
+ case 108://108.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
wrkMast.setWrkSts(109L);
+ break;
+ case 110://110.灏忚溅绉诲姩涓� ==> 111.灏忚溅绉诲姩瀹屾垚
+ wrkMast.setWrkSts(111L);
+ if (shuttleProtocol.getToken() == wrkMast.getWrkNo()) {
+ //閲婃斁灏忚溅浠ょ墝
+ shuttleProtocol.setToken(0);
+ }
break;
default:
}
@@ -961,6 +986,10 @@
if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
return false;
}
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︽湭琚崰棰�
+ if (liftProtocol.getToken() != 0) {
+ return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+ }
//鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
if (liftWrkMast != null) {
@@ -991,6 +1020,7 @@
wrkMast.setWrkSts(3L);//2.璁惧涓婅蛋 ==> 3.鎻愬崌鏈烘惉杩愪腑
wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
wrkMast.setModiTime(now);
+ liftProtocol.setToken(wrkMast.getWrkNo());//鐙崰鎻愬崌鏈轰护鐗�
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
@@ -1023,6 +1053,10 @@
if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
return false;
}
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︽湭琚崰棰�
+ if (liftProtocol.getToken() != 0) {
+ return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+ }
//鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
if (liftWrkMast != null) {
@@ -1053,6 +1087,7 @@
wrkMast.setWrkSts(24L);//23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
wrkMast.setModiTime(now);
+ liftProtocol.setToken(wrkMast.getWrkNo());//鐙崰鎻愬崌鏈轰护鐗�
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
@@ -1088,12 +1123,23 @@
case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
wrkMast.setWrkSts(4L);
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ if (liftProtocol.getToken() == wrkMast.getWrkNo()) {
+ //閲婃斁鎻愬崌鏈轰护鐗�
+ liftProtocol.setToken(0);
+ }
break;
case 24://24.鎻愬崌鏈烘惉杩愪腑 ==> 25.鎻愬崌鏈烘惉杩愬畬鎴�
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�
+ }
+ if (liftProtocol.getToken() == wrkMast.getWrkNo()) {
+ //閲婃斁鎻愬崌鏈轰护鐗�
+ liftProtocol.setToken(0);
+ }
break;
- case 104://104.鎻愬崌鏈烘惉杩愪腑 ==> 105.鎻愬崌鏈烘惉杩愬畬鎴�
- wrkMast.setWrkSts(105L);
+ case 106://106.鎻愬崌鏈烘惉杩愪腑 ==> 107.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(107L);
break;
default:
}
@@ -1127,67 +1173,282 @@
//鏌ヨ搴撲綅绉昏浆宸ヤ綔妗�
List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
for (WrkMast wrkMast : wrkMasts1) {
- boolean step1 = this.locToLocExecuteStep1(wrkMast);//搴撲綅绉昏浆
- if (!step1) {
- continue;
+ if (wrkMast.getSourceLocNo().equals(wrkMast.getLocNo())) {
+ boolean step1 = this.locToLocExecuteStep1(wrkMast);//鍚屾ゼ灞傚簱浣嶇Щ杞�
+ if (!step1) {
+ continue;
+ }
+ }else {
+ //璺ㄦゼ灞傚簱浣嶇Щ杞�
+ boolean step2 = this.locToLocExecuteStep2(wrkMast);//璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鍑哄簱鍙�
+ if (!step2) {
+ continue;
+ }
+
+ boolean step3 = this.locToLocExecuteStep3(wrkMast);//鎻愬崌鏈烘惉杩愯揣鐗�
+ if (!step3) {
+ continue;
+ }
+
+ boolean step4 = this.locToLocExecuteStep4(wrkMast);//璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鍑哄簱鍙�
+ if (!step4) {
+ continue;
+ }
+
}
}
}
/**
- * 搴撲綅绉昏浆
+ * 鍚屾ゼ灞傚簱浣嶇Щ杞�
* 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 locToLocExecuteStep1(WrkMast wrkMast) {
- if (wrkMast.getShuttleNo() == null) {
- shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ if (wrkMast.getWrkSts() == 21) {//21.鐢熸垚鍑哄簱浠诲姟
+ if (wrkMast.getShuttleNo() == null) {
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
+
+ //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;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪婧愬簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //灏忚溅涓嶅湪婧愬簱浣嶄綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
+
+ //灏忚溅宸叉姷杈炬簮搴撲綅锛岃繘琛屾惉杩愯揣鐗�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(5L);//21.鐢熸垚鍑哄簱浠诲姟 => 5.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+
return false;
}
+ return true;
+ }
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
+ /**
+ * 璺ㄦゼ灞傚簱浣嶇Щ杞�-璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鍑哄簱鍙�
+ * 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 locToLocExecuteStep2(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == 21) {//21.鐢熸垚鍑哄簱浠诲姟
+ if (wrkMast.getShuttleNo() == null) {
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
+
+ //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;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪婧愬簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //灏忚溅涓嶅湪婧愬簱浣嶄綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
+
+ //鑾峰彇绌挎杞︽渶杩戜笖绌洪棽鐨勬彁鍗囨満杈撻�佺珯鐐�
+ BasDevp liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
+ if (liftSta == null) {
+ return false;//娌℃湁鍙敤涓旂┖闂茬殑杈撻�佺珯鐐�
+ }
+
+ //灏忚溅宸叉姷杈炬簮搴撲綅锛屽皢璐х墿鎼繍鍒拌緭閫佺珯鐐�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//搴撲綅绉昏浆妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(22L);//21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+ wrkMast.setLiftNo(liftSta.getLiftNo());//璁剧疆鎻愬崌鏈哄彿
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+
return false;
}
- NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
+ return true;
+ }
+
+ /**
+ * 璺ㄦゼ灞傚簱浣嶇Щ杞�-鎻愬崌鏈烘惉杩愯揣鐗�
+ * 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 locToLocExecuteStep3(WrkMast wrkMast) {
+ Date now = new Date();
+ if (wrkMast.getWrkSts() == 23) {//23.灏忚溅鎼繍瀹屾垚
+ //鑾峰彇鎻愬崌鏈虹嚎绋�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftProtocol.isIdle()) {
+ return false;
+ }
+
+ //鎼滅储鏄惁鏈夊叾浠栦换鍔″崰鐢ㄤ簡鎻愬崌鏈猴紝濡傛灉鍗犵敤鎻愬崌鏈虹殑浠诲姟鍜屽綋鍓嶄换鍔＄浉鍚岋紝鍒欒繍琛屾墽琛�
+ WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
+ if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
+ return false;
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
+ if (sourceBasDevp == null || targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+
+ wrkMast.setWrkSts(24L);//23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+ wrkMast.setShuttleNo(null);//娓呯┖灏忚溅鍙凤紝绛夎揣鐗╂惉杩愬畬鎴愬悗锛屽埌鐩爣妤煎眰閲嶆柊鎼滅储灏忚溅
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
return false;
}
- if (!shuttleProtocol.isIdle()) {
+ return true;
+ }
+
+ /**
+ * 璺ㄦゼ灞傚簱浣嶇Щ杞�-璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鐩爣鏋悗
+ * 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 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
+ }
+
+ 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�
+ return false;
+ }
+
+ //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;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪鐩爣杈撻�佺珯鐐�
+ if (!shuttleProtocol.getCurrentLocNo().equals(targetBasDevp.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�
+ 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(), shuttleProtocol.getCurrentLocNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//搴撲綅绉昏浆妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(5L);//4.鎻愬崌鏈烘惉杩愬畬鎴� => 5.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+
return false;
}
-
- //鍒ゆ柇灏忚溅鏄惁鍒拌揪婧愬簱浣�
- if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
- //灏忚溅涓嶅湪婧愬簱浣嶄綅缃�
- shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
- return false;
- }
-
- //灏忚溅宸叉姷杈炬簮搴撲綅锛岃繘琛屾惉杩愯揣鐗�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo());
- if (result == null) {//璺緞璁＄畻澶辫触
- return false;
- }
-
- //鍒涘缓鍒嗛厤鍛戒护
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ簱妯″紡
- assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
- assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
- assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
-
- wrkMast.setWrkSts(5L);//1.鐢熸垚鍏ュ簱浠诲姟 => 5.灏忚溅鎼繍涓�
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
-
return true;
}
@@ -1197,6 +1458,7 @@
public void recErr() {
try {
this.recShuttleErr();
+ this.recLiftErr();
} catch (Exception e) {
News.error("recErr fail", e);
}
@@ -1228,7 +1490,7 @@
if (wrkMast == null) {
continue;
}
- BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode().get(0));
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
null, // 缂栧彿
@@ -1244,14 +1506,15 @@
wrkMast.getSourceStaNo(), // 婧愮珯
wrkMast.getSourceLocNo(), // 婧愬簱浣�
wrkMast.getBarcode(), // 鏉＄爜
- shuttleProtocol.getErrCode().get(0), // 寮傚父鐮�
+ shuttleProtocol.getErrCode(), // 寮傚父鐮�
errName, // 寮傚父
1, // 寮傚父鎯呭喌
now, // 娣诲姞鏃堕棿
null, // 娣诲姞浜哄憳
now, // 淇敼鏃堕棿
null, // 淇敼浜哄憳
- "浠诲姟涓紓甯�" // 澶囨敞
+ "浠诲姟涓紓甯�", // 澶囨敞
+ JSON.toJSONString(shuttleProtocol) // 绯荤粺鐘舵�佹暟鎹�
);
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
@@ -1316,6 +1579,91 @@
// }
// }
// }
+ }
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈哄紓甯镐俊鎭褰�
+ */
+ private void recLiftErr() {
+ Date now = new Date();
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ // 鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ if (liftProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) {
+ WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ String errName = "";
+ if (liftProtocol.getFrontOverrun()) {
+ errName = "鍓嶈秴闄�";
+ } else if (liftProtocol.getBackOverrun()) {
+ errName = "鍚庤秴闄�";
+ } else if (liftProtocol.getLeftOverrun()) {
+ errName = "宸﹁秴闄�";
+ } else if (liftProtocol.getRightOverrun()) {
+ errName = "鍙宠秴闄�";
+ } else if (liftProtocol.getOverHeight()) {
+ errName = "瓒呴珮";
+ } else if (liftProtocol.getOverWeight()) {
+ errName = "瓒呴噸";
+ }
+
+ BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
+ null, // 缂栧彿
+ wrkMast.getWrkNo(), // 宸ヤ綔鍙�
+ now, // 鍙戠敓鏃堕棿
+ null, // 缁撴潫鏃堕棿
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ liftSlave.getId(), // 鎻愬崌鏈�
+ null, // plc
+ wrkMast.getLocNo(), // 鐩爣搴撲綅
+ wrkMast.getStaNo(), // 鐩爣绔�
+ wrkMast.getSourceStaNo(), // 婧愮珯
+ wrkMast.getSourceLocNo(), // 婧愬簱浣�
+ wrkMast.getBarcode(), // 鏉＄爜
+ null, // 寮傚父鐮�
+ errName, // 寮傚父
+ 1, // 寮傚父鎯呭喌
+ now, // 娣诲姞鏃堕棿
+ null, // 娣诲姞浜哄憳
+ now, // 淇敼鏃堕棿
+ null, // 淇敼浜哄憳
+ "浠诲姟涓紓甯�", // 澶囨敞
+ JSON.toJSONString(liftProtocol) // 绯荤粺鐘舵�佹暟鎹�
+ );
+ if (!basLiftErrLogService.insert(basLiftErrLog)) {
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName);
+ }
+ }
+ } else {
+ // 寮傚父淇
+ if (liftProtocol.getDeviceError() == null || !liftProtocol.getDeviceError()) {
+ latest.setEndTime(now);
+ latest.setUpdateTime(now);
+ latest.setStatus(2);
+ if (!basLiftErrLogService.updateById(latest)) {
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId());
+ }
+ }
+ }
}
}
}
@@ -1718,38 +2066,44 @@
//鏌ヨ灏忚溅绉诲簱浠诲姟
List<WrkMast> wrkMasts = wrkMastMapper.selectShuttleMoveWrk();
for (WrkMast wrkMast : wrkMasts) {
- boolean step1 = this.shuttleMoveExecuteStep1(wrkMast);//灏忚溅绉诲姩鍒版彁鍗囨満涓�
- if (!step1) {
+ boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//灏忚溅绉诲姩鍒扮珯鐐�
+ if (!stepMoveSta) {
continue;
}
- boolean step2 = this.shuttleMoveExecuteStep2(wrkMast);//鎻愬崌鏈烘惉杩愪腑
- if (!step2) {
+ boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(wrkMast);//灏忚溅杩佸叆鎻愬崌鏈�
+ if (!stepIntoLift) {
continue;
}
- boolean step3 = this.shuttleMoveExecuteStep3(wrkMast);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
- if (!step3) {
+ boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//鎻愬崌鏈烘惉杩愪腑
+ if (!stepLiftMove) {
continue;
}
- boolean step4 = this.shuttleMoveExecuteStep4(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
- if (!step4) {
+ boolean stepOutLift = this.shuttleMoveExecuteStepOutLift(wrkMast);//灏忚溅杩佸嚭鎻愬崌鏈�
+ if (!stepOutLift) {
continue;
}
+
+ boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ if (!stepMoveLoc) {
+ continue;
+ }
+
}
}
/**
- * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒版彁鍗囨満涓�
+ * 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 shuttleMoveExecuteStep1(WrkMast wrkMast) {
- //--------------------------------------灏忚溅绉诲姩鍒版彁鍗囨満涓�-----------------------------------------//
+ private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鑷崇珯鐐�-----------------------------------------//
Date now = new Date();
- //灏忚溅绉诲姩鍒版彁鍗囨満涓� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅鍒版彁鍗囨満涓�
+ //灏忚溅绉诲姩鑷崇珯鐐� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅绉诲姩鑷崇珯鐐逛腑
if (wrkMast.getWrkSts() == 101) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
@@ -1766,72 +2120,32 @@
return false;
}
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+ if (shuttleProtocol.getToken() != 0) {
+ return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
+ }
+
if (Utils.getLev(wrkMast.getLocNo()) == shuttleProtocol.getPoint().getZ()) {
- //鐩爣搴撲綅鍜屽皬杞﹀簱浣嶅浜庡悓涓�妤煎眰锛岄渶瑕侀�氳繃鎻愬崌鏈鸿皟搴�
- return true;//鐩存帴杩涘叆108.灏忚溅绉诲姩涓�
+ //鐩爣搴撲綅鍜屽皬杞﹀簱浣嶅浜庡悓涓�妤煎眰锛屼笉闇�瑕侀�氳繃鎻愬崌鏈鸿皟搴�
+ wrkMast.setWrkSts(109L);// 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
+ wrkMast.setModiTime(now);
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰璇ュ皬杞︿护鐗�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ return true;//鐩存帴杩涘叆109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
+ }
+ return false;
}
- //璁＄畻璺濈灏忚溅鏈�杩戠殑鎻愬崌鏈虹珯鐐�
- //鏌ヨ灏忚溅鎵�鍦ㄦゼ灞傛彁鍗囨満杈撻�佺珯鐐�
- int recentAllDistance = 9999999;//榛樿鏈�杩戣窛绂�
- BasDevp recentDevp = null;//鏈�杩戠珯鐐�
- List<BasDevp> basDevps = basDevpService.selectHasLiftNoByLev(shuttleProtocol.getPoint().getZ());
- for (BasDevp basDevp : basDevps) {
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
- if (liftThread == null) {
- continue;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
- if (!liftProtocol.isIdle()) {
- continue;
- }
-
- //璁＄畻璺緞
- List<NavigateNode> calc = NavigateUtils.calc(shuttleProtocol.getCurrentLocNo(), basDevp.getLocNo(), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(shuttleProtocol.getCurrentLocNo())));
- if (calc == null) {
- continue;//璁＄畻澶辫触锛屾壘涓嬩竴涓珯鐐�
- }
-
- Integer allDistance = NavigateUtils.getOriginPathAllDistance(calc);//鏍规嵁鍘熷鑺傜偣缁撴灉锛岃绠楁�昏璧拌窛绂�
- if (recentAllDistance > allDistance) {
- recentAllDistance = allDistance;//鏇存柊璺濈
- recentDevp = basDevp;//鏇存柊杈撻�佺珯鐐�
- }
+ //鑾峰彇鐩爣杈撻�佺珯
+ BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
+ if (basDevp == null) {
+ return false;//鎵句笉鍒拌緭閫佺珯鐐�
}
-
- if (recentDevp == null) {
- //娌℃湁鎵惧埌鍙敤杈撻�佺珯鐐�
- return false;//绛夊緟涓嬩竴娆¤疆璇�
- }
-
- //鑾峰彇鎻愬崌鏈烘暟鎹�
- BasLift basLift = basLiftService.selectById(recentDevp.getLiftNo());
- if (basLift == null) {
- return false;//娌℃湁鎻愬崌鏈烘暟鎹�
- }
- if (basLift.getPoint() == null) {
- return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
- }
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
- WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
- if (liftWrkMast != null) {
- 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�
- }
- NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
- liftNode.setZ(basLift.getPoint().getZ());
//鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), recentDevp.getLocNo());
- //鑾峰彇灏忚溅杩涙彁鍗囨満琛岃蛋鍛戒护
- NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), NavigatePositionConvert.locNoToNode(recentDevp.getLocNo()), liftNode, true);
- if (result.getCommands() == null) {
- return false;//璺緞璁＄畻澶辫触
- }
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), basDevp.getLocNo());
List<NyShuttleHttpCommand> commands = result.getCommands();
- commands.add(moveCommand);//娣诲姞灏忚溅杩佸叆鎻愬崌鏈哄懡浠�
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
@@ -1841,30 +2155,53 @@
assignCommand.setCommands(commands);
assignCommand.setNodes(result.getNodes());
- wrkMast.setWrkSts(102L);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅鍒版彁鍗囨満涓�
- wrkMast.setLiftNo(basLift.getLiftNo());//鎻愬崌鏈哄彿(閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鎶㈠崰)
+ wrkMast.setWrkSts(102L);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅绉诲姩鑷崇珯鐐�
wrkMast.setModiTime(now);
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰璇ュ皬杞︿护鐗�
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ return false;
}
+ return false;
}
return true;
}
/**
- * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愪腑
+ * 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 shuttleMoveExecuteStep2(WrkMast wrkMast) {
- //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ private boolean shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅杩佸叆鎻愬崌鏈�-----------------------------------------//
Date now = new Date();
- //鎻愬崌鏈烘惉杩愪腑 103.灏忚溅鍒版彁鍗囨満瀹屾垚 ==> 104.鎻愬崌鏈烘惉杩愪腑
+ //灏忚溅绉诲姩鍒版彁鍗囨満涓� 103.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 104.灏忚溅杩佸叆鎻愬崌鏈轰腑
if (wrkMast.getWrkSts() == 103) {
+ //鑾峰彇鐩爣杈撻�佺珯
+ BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
+ if (basDevp == null) {
+ return false;//鎵句笉鍒拌緭閫佺珯鐐�
+ }
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+ BasLift basLift = basLiftService.selectById(basDevp.getLiftNo());
+ if (basLift == null) {
+ return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+ }
+
+ if (basLift.getPoint() == null) {
+ return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
+ if (liftWrkMast != null) {
+ 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, basDevp.getLiftNo());
if (liftThread == null) {
return false;
}
@@ -1888,6 +2225,130 @@
//灏忚溅澶勪簬绌洪棽鐘舵��
if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘ゼ灞�
+ if (liftProtocol.getLev().intValue() != shuttleProtocol.getPoint().getZ()) {
+ //鎻愬崌鏈轰笉鍦ㄥ皬杞︽ゼ灞�
+ //璋冨害鎻愬崌鏈�
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(liftProtocol.getLev().intValue(), liftProtocol.getLiftNo().intValue());
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceBasDevp.getDevNo(), basDevp.getDevNo(), wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
+
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//閿佸畾鎻愬崌鏈洪槻姝㈣鍗犵敤
+ wrkMast.setModiTime(now);
+ liftProtocol.setToken(wrkMast.getShuttleNo());//鎻愬崌鏈轰护鐗岀粦瀹氬綋鍓嶅皬杞�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+ return false;//绛夊緟鎻愬崌鏈哄埌灏忚溅妤煎眰
+ }
+
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︿负褰撳墠灏忚溅
+ if (liftProtocol.getToken() != wrkMast.getShuttleNo()) {
+ return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁涓哄綋鍓嶄换鍔＄嫭鍗�
+ if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
+ return false;
+ }
+
+ //绔欑偣鑺傜偣
+ NavigateNode staNode = NavigatePositionConvert.locNoToNode(basDevp.getLocNo());
+
+ //鎻愬崌鏈鸿妭鐐�
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
+ liftNode.setZ(basLift.getPoint$().getZ());
+
+ //鑾峰彇灏忚溅杩涙彁鍗囨満琛岃蛋鍛戒护
+ NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), staNode, liftNode, true);
+ List<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(moveCommand);
+ List<NavigateNode> nodes = new ArrayList<>();//琛岃蛋鑺傜偣璺緞
+ nodes.add(staNode);
+ nodes.add(liftNode);
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(nodes);
+
+ wrkMast.setWrkSts(104L);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 103.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 104.灏忚溅杩佸叆鎻愬崌鏈轰腑
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ return false;
+ }
+ return false;
+ }
+
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愪腑
+ * 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 shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ Date now = new Date();
+
+ //鎻愬崌鏈烘惉杩愪腑 105.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 106.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == 105) {
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︿负褰撳墠灏忚溅
+ if (liftProtocol.getToken() != wrkMast.getShuttleNo()) {
+ return false;//鎻愬崌鏈轰护鐗屽拰褰撳墠灏忚溅涓嶄竴鑷达紝绂佹娲惧彂
+ }
+
+ //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()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁涓哄綋鍓嶄换鍔＄嫭鍗�
+ if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
return false;
}
@@ -1912,7 +2373,7 @@
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
- wrkMast.setWrkSts(104L);//鎻愬崌鏈烘惉杩愪腑 103.灏忚溅鍒版彁鍗囨満瀹屾垚 ==> 104.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setWrkSts(106L);//鎻愬崌鏈烘惉杩愪腑 105.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 106.鎻愬崌鏈烘惉杩愪腑
wrkMast.setLiftNo(liftThread.getSlave().getId());//閿佸畾鎻愬崌鏈洪槻姝㈣鍗犵敤
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) > 0) {
@@ -1925,16 +2386,15 @@
}
/**
- * 灏忚溅杩佺Щ-灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ * 灏忚溅杩佺Щ-灏忚溅杩佸嚭鎻愬崌鏈�
* 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 shuttleMoveExecuteStep3(WrkMast wrkMast) {
- //--------------------------------------灏忚溅杩佸嚭鎻愬崌鏈轰腑-----------------------------------------//
+ private boolean shuttleMoveExecuteStepOutLift(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅杩佸嚭鎻愬崌鏈�-----------------------------------------//
Date now = new Date();
-
- //灏忚溅杩佸嚭鎻愬崌鏈轰腑 105.鎻愬崌鏈烘惉杩愬畬鎴� ==> 106.灏忚溅杩佸嚭鎻愬崌鏈轰腑
- if (wrkMast.getWrkSts() == 105) {
+ //灏忚溅绉诲姩鍒版彁鍗囨満涓� 107.鎻愬崌鏈烘惉杩愬畬鎴� ==> 108.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == 107) {
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
if (liftThread == null) {
@@ -1946,6 +2406,11 @@
}
if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︿负褰撳墠灏忚溅
+ if (liftProtocol.getToken() != wrkMast.getShuttleNo()) {
+ return false;//鎻愬崌鏈轰护鐗屽拰褰撳墠灏忚溅涓嶄竴鑷达紝绂佹娲惧彂
}
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
@@ -1963,6 +2428,11 @@
return false;
}
+ //鍒ゆ柇灏忚溅鏄惁涓哄綋鍓嶄换鍔＄嫭鍗�
+ if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
+ return false;
+ }
+
//鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), liftProtocol.getLiftNo().intValue());
if (targetBasDevp == null) {
@@ -1970,15 +2440,15 @@
}
//鑾峰彇鎻愬崌鏈烘暟鎹�
- BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
+ BasLift basLift = basLiftService.selectById(liftProtocol.getLiftNo().intValue());
if (basLift == null) {
return false;//娌℃湁鎻愬崌鏈烘暟鎹�
}
if (basLift.getPoint() == null) {
return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
}
- NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
- liftNode.setZ(basLift.getPoint().getZ());
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
+ liftNode.setZ(basLift.getPoint$().getZ());
List<NyShuttleHttpCommand> commands = new ArrayList<>();
//鑾峰彇灏忚溅鍑烘彁鍗囨満琛岃蛋鍛戒护
@@ -1993,12 +2463,14 @@
assignCommand.setCommands(commands);
assignCommand.setNodes(null);
- wrkMast.setWrkSts(106L);//灏忚溅杩佸嚭鎻愬崌鏈轰腑 105.鎻愬崌鏈烘惉杩愬畬鎴� ==> 106.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ wrkMast.setWrkSts(108L);//灏忚溅杩佸嚭鎻愬崌鏈轰腑 107.鎻愬崌鏈烘惉杩愬畬鎴� ==> 108.灏忚溅杩佸嚭鎻愬崌鏈轰腑
wrkMast.setModiTime(now);
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ return false;
}
+ return false;
}
return true;
}
@@ -2008,12 +2480,21 @@
* 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 shuttleMoveExecuteStep4(WrkMast wrkMast) {
+ private boolean shuttleMoveExecuteStepMoveLoc(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 107.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 108.灏忚溅绉诲姩涓�
- if (wrkMast.getWrkSts() == 107) {
+ //灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
+ if (wrkMast.getWrkSts() == 109) {
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
@@ -2027,6 +2508,11 @@
//灏忚溅澶勪簬绌洪棽鐘舵��
if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁涓哄綋鍓嶄换鍔�
+ if (shuttleProtocol.getToken() != wrkMast.getWrkNo()) {
return false;
}
@@ -2044,12 +2530,12 @@
if (basLift.getPoint() == null) {
return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
}
- NavigateNode liftNode = new NavigateNode(basLift.getPoint().getX(), basLift.getPoint().getY());
- liftNode.setZ(basLift.getPoint().getZ());
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
+ liftNode.setZ(basLift.getPoint$().getZ());
//鑾峰彇灏忚溅浠庤緭閫佺珯鍒扮洰鏍囧簱浣嶅懡浠�
NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
- if (result.getCommands() == null) {
+ if (result == null) {
return false;//璺緞璁＄畻澶辫触
}
List<NyShuttleHttpCommand> commands = result.getCommands();
@@ -2062,9 +2548,10 @@
assignCommand.setCommands(commands);
assignCommand.setNodes(result.getNodes());
- wrkMast.setWrkSts(108L);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 107.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 108.灏忚溅绉诲姩涓�
+ wrkMast.setWrkSts(110L);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
wrkMast.setModiTime(now);
+ liftProtocol.setToken(0);//閲婃斁鎻愬崌鏈轰护鐗�
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
--
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