From 470718b6f7de2688807a59b4e32f437624c51499 Mon Sep 17 00:00:00 2001
From: Junjie <DELL@qq.com>
Date: 星期四, 15 一月 2026 16:06:17 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java | 367 ++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 365 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 26954d7..52ff58a 100644
--- a/src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java
+++ b/src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java
@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.exception.CoolException;
+import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.domain.param.CreateLocMoveTaskParam;
import com.zy.asrs.entity.BasCrnp;
import com.zy.asrs.entity.LocMast;
@@ -11,6 +12,7 @@
import com.zy.asrs.service.BasCrnpService;
import com.zy.asrs.service.LocMastService;
import com.zy.asrs.service.WrkMastService;
+import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
@@ -30,6 +32,7 @@
import org.springframework.stereotype.Component;
import java.util.Date;
+import java.util.HashMap;
import java.util.List;
import java.util.Map;
@@ -48,9 +51,23 @@
private WmsOperateUtils wmsOperateUtils;
@Autowired
private CommonService commonService;
+ @Autowired
+ private NotifyUtils notifyUtils;
+
+ public synchronized void crnIoExecute() {
+ Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
+ if (systemConfigMapObj != null) {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ if (systemConfigMap.get("crnRunMethod").equals("solver")) {
+ plannerExecute();
+ }else {
+ crnIoExecuteNormal();
+ }
+ }
+ }
//鍏ュ嚭搴� ===>> 鍫嗗灈鏈哄叆鍑哄簱浣滀笟涓嬪彂
- public synchronized void crnIoExecute() {
+ public synchronized void crnIoExecuteNormal() {
List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
for (BasCrnp basCrnp : basCrnps) {
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
@@ -162,7 +179,6 @@
}
if(wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts){
- News.taskInfo(stationProtocol.getTaskNo(), "宸ヤ綔鍙�:{} 浠诲姟鐘舵�佸紓甯�", stationProtocol.getTaskNo());
continue;
}
@@ -195,6 +211,7 @@
wrkMast.setIoTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_RUN, null);
News.info("鍫嗗灈鏈哄懡浠や笅鍙戞垚鍔燂紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnNo, JSON.toJSON(command));
}
}
@@ -283,11 +300,190 @@
wrkMast.setIoTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_RUN, null);
News.info("鍫嗗灈鏈哄懡浠や笅鍙戞垚鍔燂紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnNo, JSON.toJSON(command));
return;
}
}
}
+ }
+
+ private synchronized boolean crnExecuteInPlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
+ CrnProtocol crnProtocol = crnThread.getStatus();
+ if (crnProtocol == null) {
+ return false;
+ }
+
+ if (!basCrnp.getInEnable().equals("Y")) {
+ News.info("鍫嗗灈鏈�:{} 鍙叆淇″彿涓嶆弧瓒�", basCrnp.getCrnNo());
+ return false;
+ }
+
+ List<StationObjModel> inStationList = basCrnp.getInStationList$();
+ if (inStationList.isEmpty()) {
+ News.info("鍫嗗灈鏈�:{} 鍏ュ簱绔欑偣鏈缃�", basCrnp.getCrnNo());
+ return false;
+ }
+
+ Integer crnNo = basCrnp.getCrnNo();
+
+ for (StationObjModel stationObjModel : inStationList) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+
+ Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
+ StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
+ if (stationProtocol == null) {
+ continue;
+ }
+
+ if (!stationProtocol.isAutoing()) {
+ continue;
+ }
+
+ if (!stationProtocol.isLoading()) {
+ continue;
+ }
+
+ if (stationProtocol.getTaskNo() <= 0) {
+ continue;
+ }
+
+ if (!stationProtocol.isInEnable()) {
+ News.taskInfo(stationProtocol.getTaskNo(), "鍙栬揣绔欑偣:{} 娌℃湁鍙叆淇″彿", stationObjModel.getStationId());
+ continue;
+ }
+
+ if (!wrkMast.getWrkNo().equals(stationProtocol.getTaskNo())) {
+ continue;
+ }
+
+ if (wrkMast.getWrkSts() != WrkStsType.INBOUND_DEVICE_RUN.sts) {
+ continue;
+ }
+
+ // 鑾峰彇搴撲綅淇℃伅
+ LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+ if (locMast == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "鐩爣搴撲綅:{} 淇℃伅涓嶅瓨鍦�", wrkMast.getLocNo());
+ continue;
+ }
+
+ if (!locMast.getLocSts().equals("S")) {
+ News.taskInfo(wrkMast.getWrkNo(), "鐩爣搴撲綅:{} 鐘舵�佸紓甯�", wrkMast.getLocNo());
+ continue;
+ }
+
+ //妫�娴嬫祬搴撲綅鐘舵��
+ boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
+ if (!checkStatus) {
+ News.taskInfo(wrkMast.getWrkNo(), "鍥犳祬搴撲綅鍫靛鏃犳硶鎵ц");
+ continue;
+ }
+
+ String sourceLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
+
+ CrnCommand command = crnThread.getPickAndPutCommand(sourceLocNo, wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
+
+ wrkMast.setWrkSts(WrkStsType.INBOUND_RUN.sts);
+ wrkMast.setCrnNo(crnNo);
+ wrkMast.setSystemMsg("");
+ wrkMast.setIoTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_RUN, null);
+ News.info("鍫嗗灈鏈哄懡浠や笅鍙戞垚鍔燂紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnNo, JSON.toJSON(command));
+ return true;
+ }
+ }
+ return false;
+ }
+
+ private synchronized boolean crnExecuteOutPlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
+ CrnProtocol crnProtocol = crnThread.getStatus();
+ if (crnProtocol == null) {
+ return false;
+ }
+
+ if (!basCrnp.getOutEnable().equals("Y")) {
+ News.info("鍫嗗灈鏈�:{} 鍙嚭淇″彿涓嶆弧瓒�", basCrnp.getCrnNo());
+ return false;
+ }
+
+ List<StationObjModel> outStationList = basCrnp.getOutStationList$();
+ if (outStationList.isEmpty()) {
+ News.info("鍫嗗灈鏈�:{} 鍑哄簱绔欑偣鏈缃�", basCrnp.getCrnNo());
+ return false;
+ }
+
+ Integer crnNo = basCrnp.getCrnNo();
+
+ for (StationObjModel stationObjModel : outStationList) {
+ StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, stationObjModel.getDeviceNo());
+ if (stationThread == null) {
+ continue;
+ }
+
+ Map<Integer, StationProtocol> stationProtocolMap = stationThread.getStatusMap();
+ StationProtocol stationProtocol = stationProtocolMap.get(stationObjModel.getStationId());
+ if (stationProtocol == null) {
+ continue;
+ }
+
+ if (!stationProtocol.isAutoing()) {
+ continue;
+ }
+
+ if (stationProtocol.isLoading()) {
+ continue;
+ }
+
+ if (stationProtocol.getTaskNo() != 0) {
+ continue;
+ }
+
+ if (!stationProtocol.isOutEnable()) {
+ News.info("鏀捐揣绔欑偣:{} 娌℃湁鍙嚭淇″彿", stationObjModel.getStationId());
+ continue;
+ }
+
+ // 鑾峰彇搴撲綅淇℃伅
+ LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
+ if (locMast == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "婧愬簱浣�:{} 淇℃伅涓嶅瓨鍦�", wrkMast.getSourceLocNo());
+ continue;
+ }
+
+ if (!locMast.getLocSts().equals("R")) {
+ News.taskInfo(wrkMast.getWrkNo(), "婧愬簱浣�:{} 鐘舵�佸紓甯�", wrkMast.getSourceLocNo());
+ continue;
+ }
+
+ //妫�娴嬫祬搴撲綅鐘舵��
+ boolean checkStatus = checkShallowLocStatus(locMast.getLocNo(), wrkMast.getWrkNo());
+ if (!checkStatus) {
+ News.taskInfo(wrkMast.getWrkNo(), "鍥犳祬搴撲綅鍫靛鏃犳硶鎵ц");
+ continue;
+ }
+
+ String targetLocNo = Utils.getLocNo(stationObjModel.getDeviceRow(), stationObjModel.getDeviceBay(), stationObjModel.getDeviceLev());
+
+ CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), targetLocNo, wrkMast.getWrkNo(), crnNo);
+
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_RUN.sts);
+ wrkMast.setCrnNo(crnNo);
+ wrkMast.setSystemMsg("");
+ wrkMast.setIoTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_RUN, null);
+ News.info("鍫嗗灈鏈哄懡浠や笅鍙戞垚鍔燂紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnNo, JSON.toJSON(command));
+ return true;
+ }
+ }
+ return false;
}
private synchronized void crnExecuteLocTransfer(BasCrnp basCrnp, CrnThread crnThread) {
@@ -336,6 +532,7 @@
wrkMast.setIoTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_RUN, null);
News.info("鍫嗗灈鏈哄懡浠や笅鍙戞垚鍔燂紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnNo, JSON.toJSON(command));
return;
}
@@ -375,10 +572,13 @@
Long updateWrkSts = null;
if(wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts){
updateWrkSts = WrkStsType.COMPLETE_INBOUND.sts;
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_IN_TASK_COMPLETE, null);
}else if(wrkMast.getWrkSts() == WrkStsType.OUTBOUND_RUN.sts){
updateWrkSts = WrkStsType.OUTBOUND_RUN_COMPLETE.sts;
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnProtocol.getCrnNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_OUT_TASK_COMPLETE, null);
}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{
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;
@@ -398,8 +598,167 @@
}
}
+ public synchronized void plannerExecute() {
+ int nowSec = (int) (System.currentTimeMillis() / 1000);
+ List<BasCrnp> basCrnps = basCrnpService.selectList(new EntityWrapper<>());
+ for (BasCrnp basCrnp : basCrnps) {
+ String key = RedisKeyType.PLANNER_SCHEDULE.key + "CRN-" + basCrnp.getCrnNo();
+ List<Object> items = redisUtil.lGet(key, 0, -1);
+ if (items == null || items.isEmpty()) {
+ continue;
+ }
+
+ CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, basCrnp.getCrnNo());
+ if (crnThread == null) {
+ continue;
+ }
+ CrnProtocol crnProtocol = crnThread.getStatus();
+ if (crnProtocol == null) {
+ continue;
+ }
+ List<WrkMast> running = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .eq("crn_no", basCrnp.getCrnNo())
+ .in("wrk_sts", WrkStsType.INBOUND_RUN.sts, WrkStsType.OUTBOUND_RUN.sts, WrkStsType.LOC_MOVE_RUN.sts)
+ );
+ if (!running.isEmpty()) {
+ continue;
+ }
+ if (!(crnProtocol.getMode() == CrnModeType.AUTO.id
+ && crnProtocol.getTaskNo() == 0
+ && crnProtocol.getStatus() == CrnStatusType.IDLE.id
+ && crnProtocol.getLoaded() == 0
+ && crnProtocol.getForkPos() == 0
+ && crnProtocol.getAlarm() == 0)) {
+ continue;
+ }
+
+ for (Object v : items) {
+ String s = String.valueOf(v);
+ JSONObject obj = null;
+ try { obj = JSON.parseObject(s); } catch (Exception ignore) {}
+ if (obj == null) {
+ continue;
+ }
+ Integer startEpochSec = obj.getInteger("startEpochSec");
+ Integer endEpochSec = obj.getInteger("endEpochSec");
+ Integer taskId = obj.getInteger("taskId");
+ String taskType = obj.getString("taskType");
+ if (startEpochSec == null || taskId == null || taskType == null) {
+ continue;
+ }
+ int earlySlackSec = 5;
+ int lateSlackSec = 10;
+ Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
+ if (systemConfigMapObj != null) {
+ try {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ String es = systemConfigMap.getOrDefault("plannerEarlySlackSec", "60");
+ String ls = systemConfigMap.getOrDefault("plannerLateSlackSec", "10");
+ earlySlackSec = Integer.parseInt(es);
+ lateSlackSec = Integer.parseInt(ls);
+ } catch (Exception ignore) {}
+ }
+ if (nowSec < startEpochSec - earlySlackSec) {
+ continue;
+ }
+ if (endEpochSec != null && nowSec > endEpochSec + lateSlackSec) {
+ redisUtil.lRemove(key, 1, s);
+ continue;
+ }
+
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(taskId);
+ if (wrkMast == null) {
+ redisUtil.lRemove(key, 1, s);
+ continue;
+ }
+
+ if ("IN".equalsIgnoreCase(taskType)) {
+ boolean result = this.crnExecuteInPlanner(basCrnp, crnThread, wrkMast);//鍏ュ簱
+ if (result) {
+ redisUtil.lRemove(key, 1, s);
+ break;
+ }
+ } else if ("OUT".equalsIgnoreCase(taskType)) {
+ boolean result = this.crnExecuteOutPlanner(basCrnp, crnThread, wrkMast);//鍑哄簱
+ if (result) {
+ redisUtil.lRemove(key, 1, s);
+ break;
+ }
+ } else if ("MOVE".equalsIgnoreCase(taskType)) {
+ boolean result = this.crnExecuteMovePlanner(basCrnp, crnThread, wrkMast);//绉诲簱
+ if (result) {
+ redisUtil.lRemove(key, 1, s);
+ break;
+ }
+ }
+ }
+ }
+ }
+
+ private synchronized boolean crnExecuteMovePlanner(BasCrnp basCrnp, CrnThread crnThread, WrkMast wrkMast) {
+ CrnProtocol crnProtocol = crnThread.getStatus();
+ if (crnProtocol == null) {
+ return false;
+ }
+
+ Integer crnNo = basCrnp.getCrnNo();
+
+ if (!wrkMast.getWrkSts().equals(WrkStsType.NEW_LOC_MOVE.sts)) {
+ return false;
+ }
+
+ // 鑾峰彇婧愬簱浣嶄俊鎭�
+ LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
+ if (sourceLocMast == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "婧愬簱浣�:{} 淇℃伅涓嶅瓨鍦�", wrkMast.getSourceLocNo());
+ return false;
+ }
+
+ if(!sourceLocMast.getLocSts().equals("R")){
+ News.taskInfo(wrkMast.getWrkNo(), "婧愬簱浣�:{} 鐘舵�佸紓甯革紝涓嶅睘浜庡嚭搴撻绾︾姸鎬�", wrkMast.getSourceLocNo());
+ return false;
+ }
+
+ // 鑾峰彇搴撲綅淇℃伅
+ LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
+ if (locMast == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "搴撲綅:{} 淇℃伅涓嶅瓨鍦�", wrkMast.getLocNo());
+ return false;
+ }
+
+ if (!locMast.getLocSts().equals("S")) {
+ News.taskInfo(wrkMast.getWrkNo(), "搴撲綅:{} 鐘舵�佸紓甯革紝涓嶅睘浜庡叆搴撻绾︾姸鎬�", wrkMast.getLocNo());
+ return false;
+ }
+
+ CrnCommand command = crnThread.getPickAndPutCommand(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), wrkMast.getWrkNo(), crnNo);
+
+ wrkMast.setWrkSts(WrkStsType.LOC_MOVE_RUN.sts);
+ wrkMast.setCrnNo(crnNo);
+ wrkMast.setSystemMsg("");
+ wrkMast.setIoTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, command));
+ notifyUtils.notify(String.valueOf(SlaveType.Crn), crnNo, String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.CRN_TRANSFER_TASK_RUN, null);
+ News.info("鍫嗗灈鏈哄懡浠や笅鍙戞垚鍔燂紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", crnNo, JSON.toJSON(command));
+ return true;
+ }
+ return false;
+ }
+
//妫�娴嬫祬搴撲綅鐘舵��
public synchronized boolean checkShallowLocStatus(String locNo, Integer taskNo) {
+ String checkDeepLocOutTaskBlockReport = "Y";
+ Object systemConfigMapObj = redisUtil.get(RedisKeyType.SYSTEM_CONFIG_MAP.key);
+ if (systemConfigMapObj != null) {
+ HashMap<String, String> systemConfigMap = (HashMap<String, String>) systemConfigMapObj;
+ checkDeepLocOutTaskBlockReport = systemConfigMap.get("checkDeepLocOutTaskBlockReport");
+ }
+
+ if (!checkDeepLocOutTaskBlockReport.equals("Y")) {
+ return true;
+ }
+
Object lock = redisUtil.get(RedisKeyType.CHECK_SHALLOW_LOC_STATUS_LIMIT.key + taskNo);
if (lock != null) {
return false;
@@ -425,6 +784,10 @@
if (shallowLocMast.getLocSts().equals("F")) {
//娴呭簱浣嶇姸鎬佹湁璐�,鐢宠鏇存崲搴撲綅
String response = wmsOperateUtils.applyChangeLocNo(shallowLocNo);
+ if (response == null) {
+ News.taskError(taskNo, "WCS鐢宠鍦ㄥ簱搴撲綅鏇存崲搴撲綅澶辫触锛學MS鎺ュ彛鏈搷搴旓紒锛侊紒response锛歿}", response);
+ return false;
+ }
JSONObject jsonObject = JSON.parseObject(response);
if (jsonObject.getInteger("code").equals(200)) {
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
--
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