From 1eee1c2af23940a6c2af5b519b65bdd1e7b4ac49 Mon Sep 17 00:00:00 2001
From: pang.jiabao <pang_jiabao@163.com>
Date: 星期二, 02 九月 2025 14:17:29 +0800
Subject: [PATCH] 去除多于代码，取消许可证校验
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 298 +++++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 247 insertions(+), 51 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 3e6f610..b8e30ff 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,40 +1,39 @@
package com.zy.asrs.service.impl;
import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
+import com.zy.asrs.entity.BasCircularShuttle;
+import com.zy.asrs.entity.BasDevpPosition;
import com.zy.asrs.entity.BasRgv;
-import com.zy.asrs.entity.BasSte;
-import com.zy.asrs.service.BasDevpService;
-import com.zy.asrs.utils.Utils;
-import com.zy.core.DevpThread;
-import com.zy.core.News;
+import com.zy.asrs.entity.WrkMast;
+import com.zy.asrs.service.BasCircularShuttleService;
+import com.zy.asrs.service.BasDevpPositionService;
+import com.zy.asrs.service.WrkMastService;
+import com.zy.common.service.CommonService;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
-import com.zy.core.enums.*;
-import com.zy.core.model.DevpSlave;
+import com.zy.core.enums.RgvModeType;
+import com.zy.core.enums.RgvStatusType;
+import com.zy.core.enums.RgvTaskModeType;
+import com.zy.core.enums.SlaveType;
import com.zy.core.model.RgvSlave;
-import com.zy.core.model.SteSlave;
import com.zy.core.model.Task;
-import com.zy.core.model.command.SteCommand;
+import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.RgvProtocol;
-import com.zy.core.model.protocol.StaProtocol;
-import com.zy.core.model.protocol.SteProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.RgvThread;
-import com.zy.core.thread.SiemensDevpThread;
-import com.zy.core.thread.SteThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
-import java.util.Date;
-import java.util.Map;
+import java.util.*;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
- * Created by vincent on 2020/8/6
+ * Created by IX on 2024/10/01
*/
@Slf4j
@Service("mainService")
@@ -44,52 +43,249 @@
@Autowired
private SlaveProperties slaveProperties;
@Autowired
- private BasDevpService basDevpService;
- @Autowired
private BasRgvServiceImpl basRgvService;
- /**
- * 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
- */
- public synchronized void updateStePosition() {
+ @Autowired
+ private BasDevpPositionService basDevpPositionService;
+ @Autowired
+ private BasCircularShuttleService basCircularShuttleService;
+ @Autowired
+ private WrkMastService wrkMastService;
+ @Autowired
+ private CommonService commonService;
- }
- /**
- * 绔欑偣浠诲姟妫�娴� 涓嬪彂灏忚溅鍙栨斁浠诲姟
- */
- public synchronized void DevpTaskNoRun() {
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻绌烘澘鍏ュ簱鍙�
- for (DevpSlave.Sta sta : devp.getInSta()) {
- // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
- SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
- if (staProtocol == null) {
+ @Value("${constant-parameters.perimeter}")
+ private Long perimeter;
+ @Value("${constant-parameters.proportion}")
+ private Long proportion;
+ @Value("${constant-parameters.acceleration}")
+ private Long acceleration;
+ @Value("${constant-parameters.rgvCount}")
+ private Long rgvCount;
+ @Value("${constant-parameters.rgvDate}")
+ private Double rgvDate;
+ @Value("${wms.url}")
+ private String wmsUrl;
+ @Value("${wms.reportOutPath}")
+ private String wmsOutPath;
+ @Value("${wms.reportSwitch}")
+ private boolean reportSwitch;
+ @Value("${wms.reportSwitchAuto}")
+ private boolean reportSwitchAuto;
+
+
+ public synchronized void rgvTheHandlingTaskIsIssued() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("rgv_no", 0).eq("wrk_sts", 9)
+ .orderBy("io_pri", false)
+ .orderBy("modi_time", true));
+ if (wrkMasts.isEmpty()) {
+ return;
+ }
+
+ List<BasCircularShuttle> basCircularShuttleList = basCircularShuttleService.selectList(new EntityWrapper<BasCircularShuttle>().eq("status", 0));
+
+ LinkedList<RgvProtocol> rgvProtocolList = new LinkedList<>();
+ for (BasCircularShuttle basCircularShuttle : basCircularShuttleList) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, basCircularShuttle.getRgvNo());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
continue;
- } else {
- staProtocol = staProtocol.clone();
+ }
+ rgvProtocolList.add(rgvProtocol);
+ }
+
+ runRgv:
+ for (WrkMast wrkMast : wrkMasts) {
+ Integer rgvSstaNo = wrkMast.getRgvSstaNo();
+ BasDevpPosition basDevpPositions = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", rgvSstaNo)); // 绔欑偣
+ long position = basDevpPositions.getPlcPosition(); // 璧峰绔欎綅缃�
+ position += 50; // 灏忚溅鍙栬揣瀹氫綅绮惧害 +- 50,绔欑偣浣嶇疆10000锛屽皬杞﹀湪10050涔熸槸鍙互鍙栫殑
+ TreeMap<Long, RgvProtocol> map = new TreeMap<>();
+ for (RgvProtocol rgvProtocol : rgvProtocolList) {
+ long distance;
+ if (rgvProtocol.getRgvPos() <= position) {
+ distance = position - rgvProtocol.getRgvPos();
+ } else {
+ distance = position + (perimeter - rgvProtocol.getRgvPos());
+ }
+ map.put(distance, rgvProtocol);
+ }
+ position -= 50;
+// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈠皬杞︽帓搴�", basDevpPositions.getDevNo());
+// StringBuilder sb = new StringBuilder();
+// for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
+// RgvProtocol rgvProtocol = rgvProtocolMap.getValue();
+// sb.append("[").append(rgvProtocol.getRgvNo()).append(",").append(rgvProtocol.getRgvPos()).append(",").append(rgvProtocol.getStatusType().desc).append("]");
+// }
+// log.info(sb.toString());
+
+ for (Map.Entry<Long, RgvProtocol> rgvProtocolMap : map.entrySet()) {
+ RgvProtocol rgvProtocol = rgvProtocolMap.getValue(); // 鏈�杩戣窛绂诲皬杞�
+// log.info("鍙栬揣绔欑偣锛歿}锛屽悗闈㈡渶杩戝皬杞︼細{},鐘舵��:{}", basDevpPositions.getDevNo(), rgvProtocol.getRgvNo(), rgvProtocol.getStatusType().desc);
+ int count = wrkMastService.selectCount(new EntityWrapper<WrkMast>().eq("rgv_no", rgvProtocol.getRgvNo()).eq("wrk_sts", 10));
+ if (rgvProtocol.modeType == RgvModeType.AUTO
+ && (rgvProtocol.getStatusType() == RgvStatusType.IDLE || rgvProtocol.getStatusType() == RgvStatusType.ROAM)
+ && rgvProtocol.getTaskNo1() == 0
+ && rgvProtocol.getAlarm() == 0) {
+ if (count != 0) {
+ log.error("{}鍛煎彨灏忚溅锛歿}鍙峰皬杞︾┖闂诧紝浣嗗伐浣滄。鏄剧ず璇ュ皬杞︽湁浠诲姟",wrkMast.getWrkNo(),rgvProtocol.getRgvNo());
+ break ;
+ }
+ RgvCommand rgvCommand = new RgvCommand();
+ rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
+ rgvCommand.setAckFinish1((short) 0); // 宸ヤ綅1浠诲姟瀹屾垚纭浣�
+ rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
+ rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 宸ヤ綅1浠诲姟妯″紡: 鍙栨斁璐�
+ rgvCommand.setSourceStaNo1(wrkMast.getRgvSstaNo().shortValue()); //宸ヤ綅1璧风偣
+ rgvCommand.setDestinationStaNo1(wrkMast.getRgvDstaNo().shortValue()); //宸ヤ綅1鐩爣绔欑偣
+ rgvCommand.setCommand((short) 1); //宸ヤ綅1浠诲姟纭
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ break runRgv;
+ }
+ log.info("RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}锛屼换鍔℃暟鎹�={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
+ Date now = new Date();
+ wrkMast.setRgvNo(rgvProtocol.getRgvNo());
+ wrkMast.setWrkSts(10L);
+ wrkMast.setRgvCreateTime(now);
+ wrkMastService.updateById(wrkMast);
+ break runRgv;
+ } else if(rgvProtocol.modeType == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0){ // 褰撳墠灏忚溅鏀捐揣鐩爣浣嶇疆鍦ㄥ綋鍓嶄换鍔″彇璐х偣涔嬪悗锛岃烦杩囦换鍔″垎閰嶏紝涓嶅啀鍒欏垽鏂笅涓皬杞︾洰鏍囦綅缃�
+ WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1())); // 褰撳墠rgv浠诲姟
+ if(wrkMast1!= null && !Cools.isEmpty(wrkMast1.getRgvDstaNo())) {
+ // 褰撳墠rgv浠诲姟鐩爣绔欑偣
+ BasDevpPosition rgvDstaNoDevPosition = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("dev_no", wrkMast1.getRgvDstaNo()));
+ long rgvDstaNoPosition = rgvDstaNoDevPosition.getPlcPosition(); // 褰撳墠rgv浠诲姟鐩爣绔欑偣浣嶇疆
+ // 鑾峰彇RGV褰撳墠浣嶇疆鍜岀姸鎬�
+ long currentRgvPos = rgvProtocol.getRgvPos();
+ int rgvStatus = rgvProtocol.getStatusType().id;
+
+ // 瀹氫箟娴姩鑼冨洿锛堜粎鍋滈潬鐘舵�侀�傜敤锛�
+ long posTolerance = (rgvStatus == 0 || rgvStatus == 2 || rgvStatus == 3 || rgvStatus == 6 || rgvStatus == 7 || rgvStatus == 8 || rgvStatus == 100) ? 50 : 0;
+ if(currentRgvPos < rgvDstaNoPosition + posTolerance) { // 灏忚溅褰撳墠浣嶇疆 < rgv鐩爣浣嶇疆
+ if(!(currentRgvPos - posTolerance < position && position < rgvDstaNoPosition + posTolerance)) { // 杩欎釜浠诲姟浣嶇疆鏄湪褰撳墠rgv浣嶇疆鍓嶉潰骞朵笖杩欎釜浠诲姟璧风偣鍦ㄥ綋鍓峳gv鐩爣绔欑偣涔嬪悗
+ break; // 褰撳墠rgv鏀捐揣瀹屾垚鍚庯紝鍙互鍙栧綋鍓嶄换鍔�
+ }
+ } else {
+ if(!(currentRgvPos + posTolerance < position || position < rgvDstaNoPosition - posTolerance)) {
+ break;
+ }
+ }
+ }
+ }
}
}
+ } catch (Exception e) {
+ log.error("鑷姩涓嬪彂灏忚溅鍙栨斁浠诲姟澶辫触锛屽紓甯革細" + e);
}
}
- public synchronized void loopSteCharge() {
- for (RgvSlave rgv : slaveProperties.getRgv()) {
- RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
- RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
- BasRgv basRgv = basRgvService.selectById(rgv.getId());
- if (Cools.isEmpty(rgvProtocol, basRgv)) { continue; }
- try {
- // 鍦ㄧ嚎 绌洪棽 鏃犱綔涓氭爣璁� 涓嶅湪鍏呯數
- if (rgvProtocol.getMode() == 0
- || !rgvProtocol.statusType.equals(RgvStatusType.IDLE)
- || basRgv.getPakMk().equals("Y")
-// || steProtocol.getChargeStatus() == 1
- ) {
+ //浠诲姟瀹屾垚
+ public synchronized void rgvCompleteWrkMastSta(int[] autoZ) {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
continue;
}
- } catch (Exception e) {
- News.error("fail", e);
+ BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
+ if (basRgv == null) {
+ log.error("{}鍙稲GV灏氭湭鍦ㄦ暟鎹簱杩涜缁存姢锛�", rgvSlave.getId());
+ continue;
+ }
+
+ // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType() == RgvStatusType.WAITING
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ) {
+ log.info("{}鍙峰皬杞︾瓑寰厀cs纭锛岀姸鎬亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue()));
+ if (Cools.isEmpty(wrkMast)) {
+ log.error("鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
+ continue;
+ } else if(wrkMast.getWrkSts() != 10) {
+ log.warn("鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
+ continue;
+ }
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ break;
+ }
+ wrkMast.setWrkSts(2L);
+ if (wrkMast.getIoType()==120){
+ wrkMast.setWrkSts(53L);
+ }
+ Date now = new Date();
+ wrkMast.setRgvFinishTime(now);
+ wrkMastService.updateById(wrkMast);
+ }
}
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+
+ // 灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷
+ public synchronized void rgvTaskCancel() {
+ try {
+ for (RgvSlave rgvSlave : slaveProperties.getRgv()) {
+ RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
+ RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
+ if (rgvProtocol == null) {
+ continue;
+ }
+
+ // 鍙湁褰揜GV绛夊緟WCS纭銆佽嚜鍔�
+ if (rgvProtocol.getStatusType() == RgvStatusType.PICK_UP_OFFSIDE
+ && rgvProtocol.getModeType() == RgvModeType.AUTO
+ && rgvProtocol.getTaskNo1() != 0
+ ) {
+ WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", rgvProtocol.getTaskNo1().longValue())
+ .eq("rgv_no",rgvProtocol.getRgvNo()));
+ if (Cools.isEmpty(wrkMast)) {
+ log.error(rgvProtocol.getRgvNo() + "灏忚溅鍙栬揣瓒婁綅鏈煡鍒板皬杞︽墽琛屼换鍔★紒" + rgvProtocol.getTaskNo1());
+ continue;
+ } else if(wrkMast.getWrkSts() != 10) {
+ log.warn(rgvProtocol.getRgvNo() + "灏忚溅鍙栬揣瓒婁綅鎵ц浠诲姟鐘舵�佷笉绗﹀悎锛�" + rgvProtocol.getTaskNo1());
+ continue;
+ }
+ log.info("{}鍙峰皬杞﹀皬杞﹀彇璐ц秺浣嶏紝鐘舵�亄}锛屽弬鏁皗}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
+ boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
+ if (!rgvComplete) {
+ log.error("灏忚溅鍙栬揣瓒婁綅,浠诲姟鍙栨秷,澶嶄綅澶辫触锛屽皬杞﹀彿{}锛�", rgvProtocol.getRgvNo());
+ break;
+ }
+ wrkMast.setWrkSts(9L);
+ wrkMast.setRgvNo(0);
+ wrkMast.setRgvCreateTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ }
+ }
+ } catch (Exception e) {
+ log.error("灏忚溅澶嶄綅绾跨▼鎶ラ敊锛�" + e);
+ }
+ }
+
+ /*
+ * 灏忚溅澶嶄綅
+ * */
+ public synchronized boolean rgvComplete(Integer rgvNo) {
+ try {
+ // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
+ if (!MessageQueue.offer(SlaveType.Rgv, rgvNo, new Task(3, new RgvCommand()))) {
+ log.error("灏忚溅澶嶄綅RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}", rgvNo);
+ return false;
+ } else {
+ log.info("灏忚溅澶嶄綅RGV鍛戒护涓嬪彂鎴愬姛锛孯GV鍙�={}", rgvNo);
+ return true;
+ }
+ } catch (Exception e) {
+ log.error("RGV鍛戒护涓嬪彂澶辫触锛孯GV鍙�={}銆傚紓甯革細" + e, rgvNo);
+ return false;
}
}
}
--
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