From 6449ba992210d7c0a7efcc278979081ad6073c17 Mon Sep 17 00:00:00 2001
From: qlsxk <qlsxk@qq.com>
Date: 星期六, 11 十月 2025 10:08:19 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 4541 +++++++++++++++++++++++------------------------------------
1 files changed, 1,797 insertions(+), 2,744 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 9a25422..24d2bb0 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -1,41 +1,33 @@
package com.zy.asrs.service.impl;
import com.alibaba.fastjson.JSON;
-import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
-import com.core.common.Cools;
-import com.core.common.SpringUtils;
-import com.core.exception.CoolException;
+import com.zy.asrs.domain.enums.NotifyMsgType;
import com.zy.asrs.entity.*;
-import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
+import com.zy.asrs.utils.NotifyUtils;
import com.zy.asrs.utils.Utils;
import com.zy.common.model.*;
import com.zy.common.model.enums.NavigationMapType;
-import com.zy.common.model.enums.WrkChargeType;
import com.zy.common.service.CommonService;
-import com.zy.common.service.erp.ErpService;
import com.zy.common.utils.*;
-import com.zy.core.CrnThread;
-import com.zy.core.DevpThread;
import com.zy.core.News;
-import com.zy.core.cache.MessageQueue;
+import com.zy.core.action.LiftAction;
+import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.dispatcher.LiftDispatchUtils;
+import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
-import com.zy.core.model.*;
import com.zy.core.model.command.*;
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;
import org.springframework.stereotype.Service;
-import org.springframework.transaction.annotation.Transactional;
-import org.springframework.transaction.interceptor.TransactionAspectSupport;
import java.util.*;
-import java.util.stream.Collectors;
/**
* 绔嬩綋浠撳簱WCS绯荤粺涓绘祦绋嬩笟鍔�
@@ -43,2031 +35,903 @@
*/
@Slf4j
@Service("mainService")
-@Transactional
public class MainServiceImpl {
- @Value("${wms.url}")
- private String wmsUrl;
@Autowired
- private SlaveProperties slaveProperties;
- @Autowired
- private WrkMastMapper wrkMastMapper;
- @Autowired
- private WrkDetlService wrkDetlService;
- @Autowired
- private LocMastService locMastService;
- @Autowired
- private LocDetlService locDetlService;
- @Autowired
- private StaDescService staDescService;
- @Autowired
- private BasDevpService basDevpService;
- @Autowired
- private BasErrLogService basErrLogService;
- @Autowired
- private BasSteErrLogService basSteErrLogService;
- @Autowired
- private BasShuttleService basShuttleService;
+ private WrkMastService wrkMastService;
@Autowired
private BasShuttleErrLogService basShuttleErrLogService;
@Autowired
+ private BasLiftErrLogService basLiftErrLogService;
+ @Autowired
private BasShuttleErrService basShuttleErrService;
@Autowired
- private BasCrnErrorMapper basCrnErrorMapper;
- @Autowired
- private BasSteService basSteService;
- @Autowired
- private WrkChargeService wrkChargeService;
- @Autowired
- private BasSteErrService basSteErrService;
+ private BasLiftErrService basLiftErrService;
@Autowired
private CommonService commonService;
@Autowired
- private WrkChargeMapper wrkChargeMapper;
- @Autowired
private BasMapService basMapService;
@Autowired
- private ErpService erpService;
- @Autowired
- private OrderMapper orderMapper;
- @Autowired
- private OrderDetlMapper orderDetlMapper;
+ private ShuttleDispatchUtils shuttleDispatchUtils;
@Autowired
private RedisUtil redisUtil;
-
- /**
- * 缁勬墭
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 2
- */
- public void generateStoreWrkFile() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
- // 灏哄妫�娴嬪紓甯�
- boolean back = false;
- String errMsg = "寮傚父锛�";
- if (staProtocol.isFrontErr()) {
- errMsg = errMsg+"鍓嶈秴闄愶紱";
- back = true;
- }
- if (staProtocol.isBackErr()) {
- errMsg = errMsg+"鍚庤秴闄�";
- back = true;
- }
- if (staProtocol.isHighErr()) {
- errMsg = errMsg+"楂樿秴闄�";
- back = true;
- }
- if (staProtocol.isLeftErr()) {
- errMsg = errMsg+"宸﹁秴闄�";
- back = true;
- }
- if (staProtocol.isRightErr()) {
- errMsg = errMsg+"鍙宠秴闄�";
- back = true;
- }
- if (staProtocol.isWeightErr()) {
- errMsg = errMsg+"瓒呴噸";
- back = true;
- }
- if (staProtocol.isBarcodeErr()) {
- errMsg = errMsg+"鎵爜澶辫触";
- back = true;
- }
- // 閫�鍥�
- if (back) {
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
- }
- continue;
- }
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
- ) {
-
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
- if (barcodeThread == null) {
- continue;
- }
- String barcode = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode)) {
-// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", inSta.getBarcode(), barcode);
- if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
-// staProtocol.setWorkNo((short) 32002);
-// staProtocol.setStaNo(inSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- continue;
- }
- } else {
-// staProtocol.setWorkNo((short) 32002);
-// staProtocol.setStaNo(inSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- continue;
- }
-
- // 杩囨护鐩樼偣/鎷ｆ枡/骞舵澘浠诲姟
-// if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
-// continue;
-// }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
-// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
-// if (wrkMast != null) {
-// News.error("宸ヤ綔妗ｄ腑宸插瓨鍦ㄨ绔欑姸鎬佷负锛� 2.璁惧涓婅蛋 锛夌殑鏁版嵁,宸ヤ綔鍙�={}", wrkMast.getWrkNo());
-// continue;
-// }
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
- SearchLocParam param = new SearchLocParam();
- param.setBarcode(barcode);
- param.setIoType(1);
- param.setSourceStaNo(inSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- Integer code = jsonObject.getInteger("code");
- if (code.equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
- // plc 澶勭悊
- barcodeThread.setBarcode("");
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
-
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
- if (wrkMast == null) { continue; }
-
- // 鏇存柊宸ヤ綔涓绘。
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
- }
-
- } else if (code == 500){
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- }
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- } else if (code == 700) {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
- }
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
- }
- }
- }
- }
-
- /**
- * wms鍏ュ簱
- * 鍏ュ簱绔欙紝鏍规嵁鏉＄爜鎵弿鐢熸垚鍏ュ簱宸ヤ綔妗ｏ紝宸ヤ綔鐘舵�� 1 ==>> 2
- */
- @Deprecated
- public void generateStoreWrkFile0() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱鍙�
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢
- if (staProtocol.isAutoing() && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
- && staProtocol.isPakMk()) {
-
- // 灏哄妫�娴嬪紓甯�
- boolean back = false;
- String errMsg = "";
- if (staProtocol.isFrontErr()) {
- errMsg = "鍓嶈秴闄�";
- back = true;
- }
- if (!back && staProtocol.isBackErr()) {
- errMsg = "鍚庤秴闄�";
- back = true;
- }
- if (!back && staProtocol.isHighErr()) {
- errMsg = "楂樿秴闄�";
- back = true;
- }
- if (!back && staProtocol.isLeftErr()) {
- errMsg = "宸﹁秴闄�";
- back = true;
- }
- if (!back && staProtocol.isRightErr()) {
- errMsg = "鍙宠秴闄�";
- back = true;
- }
- if (!back && staProtocol.isWeightErr()) {
- errMsg = "瓒呴噸";
- back = true;
- }
- if (!back && staProtocol.isBarcodeErr()) {
- errMsg = "鎵爜澶辫触";
- back = true;
- }
-
- // 閫�鍥�
- if (back) {
- News.warn("鎵爜鍏ュ簱澶辫触锛寋}鍏ュ簱绔欏洜{}寮傚父锛屾墭鐩樺凡琚��鍥�", inSta.getStaNo(), errMsg);
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(inSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
- if (ledThread != null) {
- MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
- }
- continue;
- }
-
- // 鍒ゆ柇閲嶅宸ヤ綔妗�
- WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
- if (wrkMast == null) { continue; }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (result) {
- // 鏇存柊宸ヤ綔涓绘。
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵�侊細2.璁惧涓婅蛋
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("鏇存柊宸ヤ綔妗ｅけ璐ワ紒锛侊紒 [宸ヤ綔鍙凤細{}]", wrkMast.getWrkNo());
- }
- } else {
- News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
- }
- }
- }
- }
- }
-
- /**
- * 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
- */
- public synchronized void stnToCrnStnPick(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
- for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
-
- // 鑾峰彇鎷ｆ枡鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- // 0 - 9990 鎴栬�� 9996
- && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
- && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
- && staProtocol.isPakMk()){
-
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
-// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
-// if (barcodeThread == null) {
-// continue;
-// }
-
- WrkMast wrkMast = null;
- if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
- wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
- if (null == wrkMast) {
- continue;
- }
- } else {
- continue;
- }
-// if (staProtocol.getWorkNo() == 9996) {
-// String barcode = barcodeThread.getBarcode();
-// if(!Cools.isEmpty(barcode)) {
-// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", pickSta.getBarcode(), barcode);
-// if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
-// staProtocol.setWorkNo((short) 32002);
-// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-//
-// // led 寮傚父鏄剧ず
-// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
-// if (ledThread != null) {
-// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
-// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
-// }
-// continue;
-// }
-// } else {
-// staProtocol.setWorkNo((short) 32002);
-// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
-// devpThread.setPakMk(staProtocol.getSiteId(), false);
-// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-//
-// // led 寮傚父鏄剧ず
-// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
-// if (ledThread != null) {
-// String errorMsg = "鎵爜澶辫触锛岃閲嶈瘯";
-// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
-// }
-// continue;
-// }
-// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
-// if (null == wrkMast) {
-// News.error("{}鏉＄爜閿欒锛屾殏鏃犳嫞鏂欎换鍔★紒", barcode);
-// }
-// }
- if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
- || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
- continue;
- }
-
- try {
- // 璁块棶 WMS 鑾峰彇鍏ュ簱搴撲綅
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
- SearchLocParam param = new SearchLocParam();
- param.setWrkNo(wrkMast.getWrkNo());
- param.setIoType(wrkMast.getIoType());
- param.setSourceStaNo(pickSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
- Integer code = jsonObject.getInteger("code");
- if (code.equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
-// // 鑾峰彇鐩爣绔�
-// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
-// .eq("type_no", wrkMast.getIoType() - 50)
-// .eq("stn_no", pickSta.getStaNo()) // 浣滀笟绔欑偣 = 鎷ｆ枡鍑哄簱鐨勭洰鏍囩珯
-// .eq("crn_no", dto.getCrnNo()); // 鍫嗗灈鏈哄彿
-// StaDesc staDesc = staDescService.selectOne(wrapper);
-// if (Cools.isEmpty(staDesc)) {
-// News.error("鍏ュ簱璺緞涓嶅瓨鍦紒type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
-// continue;
-// }
-// // 鍫嗗灈鏈虹珯鐐�(鐩爣绔�)
-// Integer staNo = staDesc.getCrnStn();
-
- // 淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。
-// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
-// throw new CoolException("淇濆瓨宸ヤ綔鏄庣粏妗ｅ巻鍙叉。澶辫触");
-// }
- // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
- if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗ｅけ璐�");
- }
-
- String sourceLocNo = wrkMast.getSourceLocNo().trim();
- // 鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬�
- wrkMast.setIoType(wrkMast.getIoType() - 50); // 鍏ュ嚭搴撶被鍨�: 103->53,104->54,107->57
- wrkMast.setWrkSts(2L); // 宸ヤ綔鐘舵��: 2.璁惧涓婅蛋
- wrkMast.setSourceStaNo(pickSta.getStaNo()); // 婧愮珯
- wrkMast.setStaNo(dto.getStaNo()); // 鐩爣绔�
- wrkMast.setCrnNo(dto.getCrnNo());
- wrkMast.setLocNo(dto.getLocNo()); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
- wrkMast.setSourceLocNo(""); // 婧愬簱浣嶆竻绌�
- 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�");
- }
- if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
- throw new CoolException(wrkMast.getWrkNo() + "鏇存柊宸ヤ綔妗ｆ暟鎹姸鎬佸け璐�");
- }
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- News.error("鍙戝竷鍛戒护鑷宠緭閫佺嚎闃熷垪澶辫触锛侊紒锛� [plc缂栧彿锛歿}]", devp.getId());
- }
-
- } else if (code == 500){
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
- }
- }
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- } else {
- staProtocol.setWorkNo((short) 32002);
- staProtocol.setStaNo(pickSta.getBackSta().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
-
- // led 寮傚父鏄剧ず
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
-// String errorMsg = barcode + "鎵樼洏璇嗗埆寮傚父锛岃鍏堣繘琛岀粍鎵橈紒";
- MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
- }
- }
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
- }
-
- }
- }
+ @Autowired
+ private ConfigService configService;
+ @Autowired
+ private NavigateMapData navigateMapData;
+ @Autowired
+ private NavigateUtils navigateUtils;
+ @Autowired
+ private ShuttleOperaUtils shuttleOperaUtils;
+ @Autowired
+ private ShuttleAction shuttleAction;
+ @Autowired
+ private LiftAction liftAction;
+ @Autowired
+ private NotifyUtils notifyUtils;
+ @Autowired
+ private BasShuttleChargeService basShuttleChargeService;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
+ @Autowired
+ private LiftDispatchUtils liftDispatchUtils;
+ @Autowired
+ private BasShuttleService basShuttleService;
/**
* 鍒濆鍖栧疄鏃跺湴鍥�
*/
public synchronized void initRealtimeBasMap() {
- for (int i = 1; i <= 4; i++) {//鎬诲叡鍥涘眰妤�
- Object data = redisUtil.get("realtimeBasMap_" + i);
- if (data == null) {//redis鍦板浘鏁版嵁涓虹┖锛屼粠鏁版嵁搴撲腑鑾峰彇
- BasMap basMap = basMapService.selectLatestMap(i);
- if (basMap == null) {
- //鏁版嵁搴撲腑涔熶笉瀛樺湪鍦板浘鏁版嵁锛屼粠鍦板浘鏂囦欢涓幏鍙�
+ try {
+
+ List<BasMap> basMaps = basMapService.selectList(new EntityWrapper<BasMap>().orderBy("lev", true));
+ for (BasMap basMap : basMaps) {
+ Integer lev = basMap.getLev();
+ Object data = redisUtil.get(RedisKeyType.MAP.key + lev);
+ if (data == null) {//redis鍦板浘鏁版嵁涓虹┖
//杞藉叆鍦板浘
- NavigateMapData mapData = new NavigateMapData(i);
- List<List<MapNode>> lists = mapData.getJsonData(-1, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
+ List<List<MapNode>> lists = navigateMapData.getJsonOriginData(lev, NavigationMapType.getMapTypes(NavigationMapType.NONE), null, null);//鑾峰彇瀹屾暣鍦板浘(鍖呮嫭鍏ュ簱鍑哄簱)
//瀛樺叆鏁版嵁搴�
- basMap = new BasMap();
basMap.setData(JSON.toJSONString(lists));
basMap.setCreateTime(new Date());
basMap.setUpdateTime(new Date());
- basMap.setLev(i);
-
- if (!basMapService.insert(basMap)) {
+ if (!basMapService.updateById(basMap)) {
log.info("鍦板浘鏁版嵁瀛樺偍澶辫触");
}
+
+ //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
+ redisUtil.set(RedisKeyType.MAP.key + lev, lists);
}
- //灏嗘暟鎹簱鍦板浘鏁版嵁瀛樺叆redis
- redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap));
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
- }
-
- /**
- * 浠巖edis涓噸鍚换鍔�
- */
- public synchronized void restartTaskFromRedis() {
- HashMap<Object, Object> map = redisUtil.getRedis();
- for (Object key : map.keySet()) {
- if (key.toString().contains("lift_wrk_no_")) {//鎻愬崌鏈轰换鍔�
- LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
- if (redisCommand == null) {
- continue;
- }
-
- Short liftNo = redisCommand.getLiftNo();
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
- if (liftThread == null) {
- continue;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
- if (!liftProtocol.isIdle()) {
- continue;
- }
-
- //鎻愬崌鏈哄浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
- liftProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗘彁鍗囨満绾跨▼鍒嗛厤浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
-
- }else if(key.toString().contains("shuttle_wrk_no_")){//鍥涘悜绌挎杞︿换鍔�
- ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
- if (redisCommand == null) {
- continue;
- }
-
- Short shuttleNo = redisCommand.getShuttleNo();
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
- if (shuttleThread == null) {
- continue;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
- if (!shuttleProtocol.isIdle()) {
- continue;
- }
-
- //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.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
- }
- }
-
}
/**
* 鍏ュ簱 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
*/
- public synchronized void shuttleIoInExecute() {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻鍏ュ簱绔�
- for (DevpSlave.StaRack staRack : devp.getRackInStn()) {
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo());
- if (staProtocol == null) {
+ public synchronized void shuttleInExecute() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .in("wrk_sts"
+ , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
+ )
+ .orderBy("io_pri", false)
+ .orderBy("appe_time", true)
+ );
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean step1 = this.shuttleInExecuteStep1(wrkMast);//灏忚溅鎼叆搴撲腑
+ Thread.sleep(100);
+ if (!step1) {
continue;
- } else {
- staProtocol = staProtocol.clone();
}
- Short workNo = staProtocol.getWorkNo();
-
- // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢锛岃嚜鍔ㄣ�佹湁鐗┿�佸洓鍚戠┛姊溅鍙彇淇″彿
- if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) {
- WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
- if (wrkMast != null) {
- if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
- ShuttleThread shuttleThread = null;
- HashMap<String, Object> searchIdleShuttle = null;
-
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
-
- if (wrkMast.getWrkSts() == 4) {
- //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
- searchIdleShuttle = this.searchIdleShuttle(wrkMast);
- shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
- }else if(wrkMast.getWrkSts() == 8){//鐘舵��8锛岄渶瑕佸悜灏忚溅涓嬪彂鍛戒护浠庢彁鍗囨満绉诲姩鍑哄幓锛岄渶瑕佸垽鏂彁鍗囨満鐘舵槸鍚︾┖闂层�佹彁鍗囨満鏄惁鍒拌揪鐩爣妤煎眰銆佺洰鏍囨ゼ灞傜珯鐐规槸鍚﹀瓨鍦ㄣ�佺洰鏍囨ゼ灞傜珯鐐规槸鍚︾粰鍑烘彁鍗囨満鍒颁綅淇″彿
- //鐘舵��8锛岀瓑寰呭懡浠よ繘琛屽叆搴撴惉杩愬姩浣�
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftProtocol.isIdleNoTask()) {
- try {
- Thread.sleep(1000);//浼戠湢1s
- } catch (InterruptedException e) {
- throw new RuntimeException(e);
- }
- continue;//鎻愬崌鏈哄繖
- }
- //鍒ゆ柇鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙锋槸鍚︿竴鑷�
- if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
- continue;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌浣嶏紝鍒ゆ柇绔欑偣鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙�
- String locNo = wrkMast.getLocNo();
- int lev = Utils.getLev(locNo);//鐩爣浜岀淮鐮佹墍鍦ㄦゼ灞�
- int liftLev = liftProtocol.getLev().intValue();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
- if (liftLev != lev) {
- continue;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傝烦杩�
- }
-
- Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
- //鑾峰彇鐩爣绔欎俊鎭�
- StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
- if (staProtocol1 == null) {
- continue;//绔欑偣淇℃伅涓嶅瓨鍦�
- }
- if (!staProtocol1.isLiftArrival()) {
- continue;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse
- }
-
- Integer shuttleNo = wrkMast.getShuttleNo();//鍥涘悜绌挎杞﹀彿
- shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
- }
-
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle()) {
- continue;
- }
-
- wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
-
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
-
- //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());//鍏ュ嚭搴撴ā寮�
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
-
- String locNo = wrkMast.getLocNo();//褰撳墠宸ヤ綔妗ｅ簱浣嶅彿
- Integer currentLev = wrkMast.getWrkSts() == 4 ? Utils.getLev(currentLocNo) : liftProtocol.getLev();//灏忚溅褰撳墠灞傞珮
-
- //鎻愬崌鏈哄彛绔欑偣搴撲綅鍙�
- String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
-
- if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
- //鍚屼竴灞傜洿鎺ュ彇璐ф棤闇�缁忚繃鎻愬崌鏈�
- //鐩存帴璁＄畻杞﹀埌鎻愬崌鏈哄彇璐у啀鍒板簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鎵句笉鍒拌矾寰勭瓑寰呬笅涓�娆�
- }
- if (wrkMast.getWrkSts() == 8) {
- //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
- Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//绔欑偣鍙�
- BasDevp basDevp = basDevpService.selectById(staNo);
-
- short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
- Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
- Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
- //鑾峰彇鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
- commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
- }
- assignCommand.setCommands(commands);
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(wrkMast.getLocNo());
- //鐩爣搴撲綅
- assignCommand.setLocNo(wrkMast.getLocNo());
- wrkMast.setWrkSts(9L);//灏忚溅鍏ュ簱涓�
- }else {
- //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿
-
- //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
-
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
- //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
- commands.add(moveCommand);
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(liftSiteLocNo);
- //鐩爣搴撲綅
- assignCommand.setLocNo(liftSiteLocNo);
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(5L);//灏忚溅杩佺Щ鐘舵��
- }
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
- }
- }
-
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
-
}
- //鑾峰彇璧风偣-缁堢偣鎸囦护
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- //鑾峰彇灏忚溅绉诲姩閫熷害
- BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
- Integer runSpeed = 1000;
- if (basShuttle != null) {
- Integer runSpeed1 = basShuttle.getRunSpeed();
- if (runSpeed1 != null) {
- runSpeed = runSpeed1;
+ /**
+ * 鍏ュ簱-灏忚溅鎼叆搴撲腑
+ * 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
+ */
+ public synchronized boolean shuttleInExecuteStep1(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) {
+ //鑾峰彇鐩爣绔�
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (liftSta == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
+ return false;
}
- }
- //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNo, mapType);
- List<ShuttleCommand> commands = new ArrayList<>();
- if (calc == null) {
- return null;
- }
-
- List<NavigateNode> allNode = new ArrayList<>();
- allNode.addAll(calc);
-
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (ArrayList<NavigateNode> nodes : data) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
- //涓棿璺緞
- NavigateNode middlePath = nodes.get(nodes.size() - 2);
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- //鑾峰彇绉诲姩鍛戒护
- ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
- commands.add(command);
- }
-
- assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
- //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
- navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
-
- return commands;
- }
-
- //鑾峰彇璧风偣-涓偣-缁堢偣鎸囦护
- public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) {
- //鑾峰彇灏忚溅绉诲姩閫熷害
- BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo());
- Integer runSpeed = 1000;
- if (basShuttle != null) {
- Integer runSpeed1 = basShuttle.getRunSpeed();
- if (runSpeed1 != null) {
- runSpeed = runSpeed1;
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+ return false;
}
- }
- List<NavigateNode> allNode = new ArrayList<>();
-
- //璁＄畻灏忚溅璧风偣鍒颁腑鐐规墍闇�鍛戒护
- List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id);//灏忚溅鏃犺揣锛岃蛋姝ｅ父搴撲綅閫氶亾
- List<ShuttleCommand> commands = new ArrayList<>();
-
- if (calc != null) {
- allNode.addAll(calc);
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
- //灏嗘瘡涓�娈佃矾寰勫垎鎴恈ommand鎸囦护
- for (ArrayList<NavigateNode> nodes : data) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
- //涓棿璺緞
- NavigateNode middlePath = nodes.get(nodes.size() - 2);
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- //鑾峰彇绉诲姩鍛戒护
- ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
- commands.add(command);
+ //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;
+ }
+ if (!shuttleThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅蹇欑涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁瀛樺湪绉诲姩浠诲姟
+ WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if (hasMoveWorking != null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}鍙峰皬杞︼紝瀛樺湪绉诲姩浠诲姟锛岀姝㈡淳鍙戜换鍔�", wrkMast.getShuttleNo());
+ return false;//瀛樺湪绉诲姩浠诲姟锛岀姝㈡墽琛屽叆搴撲换鍔�
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪杈撻�佺珯鐐瑰簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
+ //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄨ緭閫佺珯鐐硅繘琛屽彇璐�
+ News.info("{}浠诲姟锛寋}灏忚溅锛屾湭鍒拌揪杈撻�佺珯鐐癸紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ //妫�娴嬮殰纰嶇墿杞�
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }}, new ArrayList<>());
+ if (checkObstacle > 0) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+ assignCommand.setAuto(true);//鑷姩妯″紡
+
+ //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread);
+ if (commands == 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;
+ }
+
+ 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;
+ }
+
+ List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
+ if (liftCommand2 == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇涓嬮檷鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ commands.add(0, liftCommand.get(0));
+ commands.add(liftCommand2.get(0));
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 4.鎻愬崌鏈烘惉杩愬畬鎴� ==> 5.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
+ 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_TRANSPORT);
+ return false;
+ }
+ return false;
}
-
- //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉￠《鍗囨寚浠�
- commands.add(shuttleThread.getPalletCommand((short) 1));
-
- //璁＄畻灏忚溅涓偣鍒扮粓鐐规墍闇�鍛戒护
- List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id);//灏忚溅鏈夎揣锛岃蛋绂佺敤杩嘍FX搴撲綅鐨勫湴鍥鹃�氶亾
- if (calc2 == null) {
- return null;
- }
-
- allNode.addAll(calc2);
-
- //鑾峰彇鍒嗘璺緞
- ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
- for (ArrayList<NavigateNode> nodes : data2) {
- //寮�濮嬭矾寰�
- NavigateNode startPath = nodes.get(0);
- //涓棿璺緞
- NavigateNode middlePath = nodes.get(nodes.size() - 2);
- //鐩爣璺緞
- NavigateNode endPath = nodes.get(nodes.size() - 1);
- Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
-
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed);
- commands.add(moveCommand);
- }
-
- //灏忚溅鎸囦护鍒拌揪鐩爣浣嶇疆鍚庯紝鍐嶅彂鍑轰竴鏉℃墭鐩樹笅闄嶆寚浠�
- commands.add(shuttleThread.getPalletCommand((short) 2));
-
- assignCommand.setNodes(allNode);//褰撳墠浠诲姟鎵�鍗犵敤鐨勮妭鐐筶ist
- //鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
- NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo));
- navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
-
- return commands;
+ return true;
}
/**
* 鍑哄簱 ===>> 鍥涘悜绌挎杞﹀嚭搴撲綔涓氫笅鍙�
*/
- public synchronized void shuttleIoOutExecute() {
- for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
- //鎻愬彇涓�鏉″緟鍑哄簱浠诲姟
- if (wrkMast != null) {
- String outStaLocNo = null;//鍑哄簱绔欑偣搴撲綅鍙�
- //鑾峰彇鍑哄簱绔欑偣
- for (DevpSlave devpSlave : slaveProperties.getDevp()) {
- for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
- if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
- //鍑哄簱绔欑偣鍜屽伐浣滄。鍑哄簱绔欑偣涓�鑷�
- outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
- }
- }
-
- }
-
- if (wrkMast.getWrkSts() == 21
- || wrkMast.getWrkSts() == 25
- || wrkMast.getWrkSts() == 31) {
- ShuttleThread shuttleThread = null;
- HashMap<String, Object> searchIdleShuttle = null;
-
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
-
- if (wrkMast.getWrkSts() == 21) {
- //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
- searchIdleShuttle = this.searchIdleShuttle(wrkMast);
- shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
- }else if(wrkMast.getWrkSts() == 25) {//鐘舵��25锛岄渶瑕佸悜灏忚溅涓嬪彂鍛戒护浠庢彁鍗囨満绉诲姩鍑哄幓锛岄渶瑕佸垽鏂彁鍗囨満鐘舵槸鍚︾┖闂层�佹彁鍗囨満鏄惁鍒拌揪鐩爣妤煎眰銆佺洰鏍囨ゼ灞傜珯鐐规槸鍚﹀瓨鍦ㄣ�佺洰鏍囨ゼ灞傜珯鐐规槸鍚︾粰鍑烘彁鍗囨満鍒颁綅淇″彿
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftProtocol.isIdleNoTask()) {
- try {
- Thread.sleep(1000);//浼戠湢1s
- } catch (InterruptedException e) {
- throw new RuntimeException(e);
- }
- continue;//鎻愬崌鏈哄繖
- }
- //鍒ゆ柇鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙锋槸鍚︿竴鑷�
- if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
- continue;
- }
-
- //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌浣嶏紝鍒ゆ柇绔欑偣鏄惁缁欏嚭鎻愬崌鏈哄埌浣嶄俊鍙�
- String locNo = wrkMast.getSourceLocNo();
- int lev = Utils.getLev(locNo);//鐩爣浜岀淮鐮佹墍鍦ㄦゼ灞�
- int liftLev = liftProtocol.getLev().intValue();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
- if (liftLev != lev) {
- continue;//鎻愬崌鏈轰笉鍦ㄧ洰鏍囨ゼ灞傝烦杩�
- }
-
- Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev);
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
- //鑾峰彇鐩爣绔欎俊鎭�
- StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
- if (staProtocol1 == null) {
- continue;//绔欑偣淇℃伅涓嶅瓨鍦�
- }
- if (!staProtocol1.isLiftArrival()) {
- continue;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse
- }
-
- //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟
- shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- } else if (wrkMast.getWrkSts() == 31) {
- //缁х画瀹屾垚涔嬪墠灏忚溅鏈畬鎴愮殑浠诲姟
- shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- }
-
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (!shuttleProtocol.isIdle()) {
- continue;
- }
-
- if (outStaLocNo == null) {
- continue;
- }
-
- if (wrkMast.getWrkSts() == 21) {
-
- wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
- //婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
-
- //灏忚溅褰撳墠灞傞珮
- Integer currentLev = Utils.getLev(currentLocNo);
- //褰撳墠妤煎眰鎻愬崌鏈鸿緭閫佺珯鐐瑰簱浣嶅彿
- String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- //鍥涘悜绌挎杞﹀彿
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- //浠诲姟鍙�
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍏ュ嚭搴撴ā寮�
- assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
- assignCommand.setSourceLocNo(currentLocNo);
-
- //鍒ゆ柇灏忚溅鍜屽簱浣嶆槸鍚﹀湪鍚屼竴灞�
- if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
- //鍚屼竴灞�(灏嗗皬杞︾Щ鍔ㄥ埌璐х墿浣嶇疆)
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
- if (commands == null) {
- //鏈壘鍒拌矾寰勶紝绛夊緟涓嬩竴娆�
- continue;
- }
-
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
- String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//閬胯浣嶇疆
- LocMast locMast1 = locMastService.queryByLoc(disLocNo);
- if (locMast1 == null) {
- continue;//鎵句笉鍒板簱浣�
- }
- short disCode = Short.parseShort(locMast1.getQrCodeValue());
- //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
- commands.add(moveCommand);
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(currentLocNo);
- //鐩爣搴撲綅
- assignCommand.setLocNo(wrkMast.getSourceLocNo());
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }else {
- //涓嶅悓灞傦紝灏嗙洰鏍囧簱浣嶅垎閰嶆垚鎻愬崌鏈哄簱浣嶅彿(灏嗗皬杞︾Щ鍔ㄥ埌鎻愬崌鏈轰綅缃�)
-
- //灏忚溅鍒版彁鍗囨満鍙ｆ寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread);
- if (commands == null) {
- if (!currentLocNo.equals(liftSiteLocNo)) {//褰撳墠浣嶇疆涔熶笉鍦ㄦ彁鍗囨満鍙�
- continue;//鏈壘鍒拌矾寰�
- }
- commands = new ArrayList<>();
- }
- shuttleProtocol.setLocNo(liftSiteLocNo);
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(currentLocNo);
-
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
- //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500);
- commands.add(moveCommand);
-
- //鐩爣搴撲綅
- assignCommand.setLocNo(liftSiteLocNo);
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(22L);//灏忚溅杩佺Щ鐘舵��
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
- } else if (wrkMast.getWrkSts() == 25) {
-
- wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
-
- //褰撳墠妤煎眰鎻愬崌鏈鸿緭閫佺珯鐐瑰簱浣嶅彿
- String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue());
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- //鍥涘悜绌挎杞﹀彿
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- //浠诲姟鍙�
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍏ュ嚭搴撴ā寮�
- assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
- assignCommand.setSourceLocNo(liftSiteLocNo);
-
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
- String disLocNo = "190020" + Utils.getLev(liftSiteLocNo);//閬胯浣嶇疆
- LocMast locMast1 = locMastService.queryByLoc(disLocNo);
- if (locMast1 == null) {
- continue;//鎵句笉鍒板簱浣�
- }
- short disCode = Short.parseShort(locMast1.getQrCodeValue());
- //浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
- ShuttleCommand moveCommand2 = shuttleThread.getMoveCommand(endStartCode, disCode, 1400, ShuttleRunDirection.BOTTOM.id, endStartCode, 1400, 500);
-
- List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
- commands.add(moveCommand2);//浠诲姟鎵ц瀹屽悗锛屽皬杞﹁繘鍏ョЩ寮�鎻愬崌鏈哄彛绔欑偣浣嶇疆锛屼互鍏嶅潬钀�
-
- //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝闇�瑕佸涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
- short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
- Short distCode = commands.get(0).getStartCodeNum();//鐩爣浜岀淮鐮�
- //鑾峰彇绉诲姩鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500);
- commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(liftSiteLocNo);
- //鐩爣搴撲綅
- assignCommand.setLocNo(wrkMast.getSourceLocNo());
- assignCommand.setCommands(commands);
- wrkMast.setWrkSts(26L);//灏忚溅鎼繍涓�
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
+ public synchronized void shuttleOutExecute() {
+ try {
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .in("wrk_sts"
+ , WrkStsType.NEW_OUTBOUND.sts
+ )
+ .orderBy("io_pri", false)
+ .orderBy("appe_time", true)
+ );
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//灏忚溅鎼嚭搴撲腑
+ Thread.sleep(100);
+ if (!step1) {
+ continue;
}
}
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
/**
- * 鎼滅储绌洪棽涓旀渶杩戠殑鍥涘悜绌挎杞�(浠ュ伐浣滄。鐩爣搴撲綅涓哄熀鐐硅绠楁渶杩戜笖绌洪棽鐨勮溅)
+ * 鍑哄簱-灏忚溅鎼嚭搴撲腑
+ * 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
*/
- public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
- HashMap<String, Object> map = new HashMap<>();
- String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//搴撲綅鍙�
- LocMast locMast = locMastService.queryByLoc(locNo);//鎵惧埌搴撲綅璁板綍
- int lev = Utils.getLev(locNo);//褰撳墠宸ヤ綔妗ｅ簱浣嶅眰楂�
- ShuttleThread recentShuttle = null;//褰撳墠璺濈鏈�杩戠殑鍥涘悜绌挎杞︾嚎绋�
+ public synchronized boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
+ //101.鐢熸垚鍑哄簱浠诲姟 => 102.灏忚溅鎼繍涓�
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
+ Integer liftNo = wrkMast.getLiftNo();
+ if (liftNo == null) {
+ //閫氳繃杈撻�佺嚎绔欏彿鑾峰彇鎻愬崌鏈哄彿
+ liftNo = LiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
+ if (liftNo == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
+ return false;
+ }
+ }
- ArrayList<ShuttleThread> sameLev = new ArrayList<>();//鐩稿悓妤煎眰鐨勭┛姊溅
- ArrayList<ShuttleThread> diffLev = new ArrayList<>();//涓嶅悓妤煎眰鐨勭┛姊溅
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡嚭搴撴ā寮�
+ if (!liftProtocol.getIOModeType().equals(LiftIoModeType.OUT)) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡嚭搴撴ā寮忥紝绂佹鍑哄簱", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //鑾峰彇婧愮珯
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
+ if (liftSta == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
+ return false;
+ }
+
+ if (liftSta.getHasCar()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣瀛樺湪灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), liftSta.getSiteId());
+ return false;
+ }
+
+ if (liftSta.getHasTray()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣鏈夋墭鐩橈紝绂佹娲惧彂", wrkMast.getWrkNo(), liftSta.getSiteId());
+ return false;
+ }
+
+ List<WrkMast> shuttleMoveList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .eq("io_type", 200)
+ );
+ for (WrkMast moveWrkMast : shuttleMoveList) {
+ if(Utils.getLev(moveWrkMast.getLocNo()) != Utils.getLev(wrkMast.getSourceLocNo())) {
+ continue;
+ }
+
+ if(Utils.getLev(moveWrkMast.getLocNo()) == Utils.getLev(moveWrkMast.getSourceLocNo())) {
+ continue;
+ }
+
+ //瀛樺湪鎹㈠眰浠诲姟锛屽嚭搴撲换鍔℃殏鏃朵笉鎵ц
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽瓨鍦ㄦ崲灞備换鍔★紝鍑哄簱浠诲姟绛夊緟涓�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), liftSta.getLocNo());
+ if(!checkLocPathIsAvailable) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭璁＄畻鍒板彲鎵ц璺緞锛岀瓑寰呬腑", wrkMast.getWrkNo());
+ return false;
+ }
+
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ //寮哄埗棰勭暀涓�鍙板皬杞︾粰鍏ュ簱浠诲姟
+ int lev = Utils.getLev(wrkMast.getSourceLocNo());
+ //鑾峰彇褰撳墠妤煎眰鏈夊嚑鍙板彲鐢ㄥ皬杞�
+ int shuttleCount = shuttleDispatchUtils.getShuttleEnableUseCountByLev(lev);
+ if (shuttleCount >= 2) {//鍙湁鍙敤灏忚溅鏁伴噺澶т簬2锛屾墠杩涜鍏ュ簱浠诲姟棰勭暀灏忚溅
+ int shuttleWrkInObligateCount = 1;//棰勭暀灏忚溅鏁伴噺
+ Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleWrkInObligateCount").eq("status", 1));
+ if (config != null) {
+ shuttleWrkInObligateCount = Integer.parseInt(config.getValue());
+ }
+ //鍙敤鍑哄簱灏忚溅鏁伴噺(缁欏叆搴撲换鍔￠鐣欎竴鍙拌溅)
+ int useShuttleCount = shuttleCount - shuttleWrkInObligateCount;
+ //鏌ヨ妤煎眰宸插垎閰嶈溅杈嗙殑鍑哄簱浠诲姟鏁伴噺
+ List<WrkMast> wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev);
+ if (wrkMasts.size() >= useShuttleCount) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽綋鍓嶆ゼ灞傚彲鐢ㄥ皬杞}鍙帮紝鍑哄簱浠诲姟宸插垎閰峽}鍙帮紝绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size());
+ return false;
+ }
+ }
+ boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓��", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+ return false;
+ }
+
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) {
- continue;
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
}
- if (!shuttleProtocol.isIdle()) {
- continue;
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ if (!shuttleThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽繖纰屼腑", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
}
- String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
- if (shuttleLocNo == null) {
- continue;
- }
- int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//搴撲綅鍙峰搴斿眰楂�
- if (lev == shuttleLocNoLey) {
- //宸ヤ綔妗ｆゼ灞傜浉鍚岀殑绌挎杞�
- sameLev.add(shuttleThread);
- }else {
- //宸ヤ綔妗ｄ笉鍚屾ゼ灞傜殑绌挎杞�
- diffLev.add(shuttleThread);
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //妫�娴嬮殰纰嶇墿杞�
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }}, new ArrayList<>());
+ if (checkObstacle > 0) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屾湭鍒拌揪杈撻�佺珯鐐癸紝绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
}
+ //妫�娴嬫槸鍚﹀瓨鍦ㄧЩ鍔ㄤ换鍔�
+ WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if (moveWorking != null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹀瓨鍦ㄧЩ鍔ㄤ换鍔�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(liftSta.getLocNo());//鐩爣搴撲綅
+ assignCommand.setAuto(true);//鑷姩妯″紡
+
+ //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.getDfxWithDevice(), assignCommand, shuttleThread);
+ if (commands == 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;
+ }
+
+ 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;
+ }
+
+ List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
+ if (liftCommand2 == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇涓嬮檷鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ commands.add(0, liftCommand.get(0));
+ commands.add(liftCommand2.get(0));
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 101.鐢熸垚鍑哄簱浠诲姟 ==> 102.灏忚溅鎼繍涓�
+ wrkMast.setSourceStaNo(liftSta.getSiteId());
+ wrkMast.setModiTime(new Date());
+ 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_TRANSPORT);
+ return false;
+ }
+ return false;
}
-
- if (sameLev.size() > 0) {
- //鍚屼竴妤煎眰鏈夌┖闂茬┛姊溅锛屽垯鍙湪宸ヤ綔妗ｆゼ灞傚鎵�
- //瀵绘壘绂讳换鍔℃渶杩戠殑绌挎杞�
- for (ShuttleThread shuttleThread : sameLev) {
- if (recentShuttle == null) {//鏈�杩戠┛姊溅涓虹┖锛屽垯榛樿璧嬩簣涓烘渶杩戠┛姊溅
- recentShuttle = shuttleThread;
- }
-
- //鍒ゆ柇鍏朵粬绌洪棽绌挎杞︽槸鍚︾浠诲姟鏈�杩�
- String distLocNo = null;//鐩爣鍦扮偣锛屽叆搴�=銆嬫彁鍗囨満鍙ｏ紝鍑哄簱=銆嬭揣鐗╁簱浣嶅彿
- if (wrkMast.getIoType() < 101) {
- //鍏ュ簱
- distLocNo = Utils.levToOutInStaLocNo(lev);
- }else {
- //鍑哄簱
- distLocNo = locNo;
- }
-
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
- //鐩墠鏈�杩戠┛姊溅搴撲綅鍙�
- String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();
-
- //褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒扮洰鏍囧湴鐐硅窛绂�
- List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- //褰撳墠绌挎杞︾嚎绋嬪埌鐩爣鍦扮偣璺濈
- List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- if (recentShuttlePath == null || currentShuttlePath == null) {
- continue;
- }
- Integer recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- if (currentAllDistance < recentAllDistance) {
- //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
- recentShuttle = shuttleThread;
- }
- }
-
- map.put("sameLay", true);//鍚屽眰
- map.put("result", recentShuttle);
- }else {
- //鍚屼竴妤煎眰锛屾病鏈夌┖闂茬┛姊溅锛屽彧鑳戒粠鍏朵粬妤煎眰璋冨害
- //瀵绘壘绂讳换鍔℃渶杩戠殑绌挎杞�
- for (ShuttleThread shuttleThread : diffLev) {
- if (recentShuttle == null) {//鏈�杩戠┛姊溅涓虹┖锛屽垯榛樿璧嬩簣涓烘渶杩戠┛姊溅
- recentShuttle = shuttleThread;
- }
-
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
- int currentLev = Utils.getLev(currentLocNo);
- //鐩墠鏈�杩戠┛姊溅搴撲綅鍙�
- String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo();
- int recentLev = Utils.getLev(recentLocNo);
-
- //褰撳墠鏈�杩戝洓鍚戠┛姊溅鍒板綋鍓嶈溅瀛愭墍鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
- List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- //褰撳墠绌挎杞︾嚎绋嬪埌褰撳墠杞﹀瓙鎵�鍦ㄦゼ灞傜殑鎻愬崌鏈哄彛璺濈
- List<NavigateNode> currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id);//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- if (recentShuttlePath == null || currentShuttlePath == null) {
- continue;
- }
-
- Integer recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//璁＄畻褰撳墠璺緞琛岃蛋鎬昏窛绂�
- if (currentAllDistance < recentAllDistance) {
- //濡傛灉褰撳墠妤煎眰鐨勮溅璺緞鏇村皬锛屽垯鏇存柊鏈�杩戠┛姊溅
- recentShuttle = shuttleThread;
- }
- }
-
- map.put("sameLay", false);//涓嶅悓灞�
- map.put("result", recentShuttle);
- }
- return map;
+ return true;
}
/**
- * 鍥涘悜绌挎杞︿换鍔″畬鎴�
+ * 鎵ц绉诲簱浠诲姟
*/
- public synchronized void shuttleFinished() {
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
- //鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
-
- //鍥涘悜绌挎杞︾姸鎬佷负绛夊緟纭銆佸皬杞﹀浜庣┖闂茬姸鎬�
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //浠诲姟瀹屾垚绛夊緟纭
- && shuttleProtocol.getTaskNo() != 0
- && shuttleProtocol.getBusyStatus() == 0
- ) {
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
-
- //灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
- if (wrkMast != null) {
- switch (wrkMast.getWrkSts().intValue()) {
- case 9://9.灏忚溅鍏ュ簱鎼繍涓� ==> 14.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(14L);
- break;
- case 5://5.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(6L);
- break;
- case 22://22.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙� ==> 23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴�
- wrkMast.setWrkSts(23L);
- break;
- case 26://26.灏忚溅鍑哄簱鎼繍涓� ==> 27.灏忚溅鍑哄簱鎼繍瀹屾垚
- wrkMast.setWrkSts(27L);
- break;
- default:
- }
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
- //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);
- News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- } else {
- News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
- }
+ public synchronized void shuttleLocMoveExecute() {
+ try {
+ //鏌ヨ绉诲簱浠诲姟
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts)
+ .orderBy("io_pri", false)
+ .orderBy("appe_time", true)
+ );
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//绉诲簱浠诲姟-灏忚溅鍘荤洰鏍囩偣
+ if (!stepToTarget) {
+ continue;
}
}
-
- //鍥涘悜绌挎杞︾姸鎬佷负鍏呯數鐘舵��
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //鍏呯數鏍囪瘑
- && shuttleProtocol.getTaskNo() != 0) {
- //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
- WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
- if (wrkCharge != null) {
- switch (wrkCharge.getWrkSts().intValue()) {
- case 52://鍥涘悜绌挎杞﹁縼绉诲埌鎻愬崌鏈哄彛
- wrkCharge.setWrkSts(53L);//杩佺Щ瀹屾垚
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
- break;
- case 56://灏忚溅鍘诲厖鐢垫々涓�
- wrkCharge.setWrkSts(57L);//鍒拌揪鍏呯數妗�
- break;
- default:
- }
-
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- if (wrkCharge.getWrkSts() == 60) {
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- }
- if (wrkCharge.getWrkSts() != 57) {
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
- //婧愬簱浣嶆竻闆�
- shuttleProtocol.setSourceLocNo(null);
- //鐩爣搴撲綅娓呴浂
- shuttleProtocol.setLocNo(null);
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- shuttleProtocol.setAssignCommand(null);
- }
- News.info("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- } else {
- News.error("鍥涘悜绌挎杞﹀凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傚洓鍚戠┛姊溅鍙�={}锛屽伐浣滃彿={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
- }
- }
- }
-
+ } catch (Exception e) {
+ e.printStackTrace();
}
+ }
+
+ /**
+ * 绉诲簱浠诲姟-灏忚溅鍘荤洰鏍囩偣
+ * 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 shuttleLocMoveExecuteToTarget(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� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) {
+ boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), wrkMast.getLocNo());
+ if(!checkLocPathIsAvailable) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭璁＄畻鍒板彲鎵ц璺緞锛岀瓑寰呬腑", wrkMast.getWrkNo());
+ return false;
+ }
+
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒拌揣鐗╃偣杩涜鍙栬揣
+ News.info("{}浠诲姟锛岃皟搴﹀皬杞}绯荤粺绛夊緟涓�", wrkMast.getWrkNo(), result ? "鎴愬姛" : "澶辫触");
+ return false;
+ }
+
+ //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;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //浠诲姟琚伩闅滃彇娑�
+ Object cancelLock = redisUtil.get(RedisKeyType.TRAFFIC_CONTROL_SHUTTLE_OBSTACLE_CANCEL_TASK_LOCK.key + wrkMast.getShuttleNo());
+ if(cancelLock != null) {
+ return false;
+ }
+
+ //灏忚溅鏈埌杈惧彇璐т綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞︽湭鍒拌揪鍙栬揣浣嶇疆", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
+ return false;
+ }
+
+ //妫�娴嬫槸鍚﹀瓨鍦ㄧЩ鍔ㄤ换鍔�
+ WrkMast moveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if (moveWorking != null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹀瓨鍦ㄧЩ鍔ㄤ换鍔�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //妫�娴嬮殰纰嶇墿杞�
+ int checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }}, new ArrayList<>());
+ if (checkObstacle > 0) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+ assignCommand.setAuto(true);//鑷姩妯″紡
+
+ //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.DFX), assignCommand, shuttleThread);
+ if (commands == 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;
+ }
+
+ 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;
+ }
+
+ List<ShuttleCommand> liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false);
+ if (liftCommand2 == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅鑾峰彇涓嬮檷鍛戒护澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ commands.add(0, liftCommand.get(0));
+ commands.add(liftCommand2.get(0));
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//灏忚溅鎼繍涓� 501.鐢熸垚绉诲簱浠诲姟 ==> 502.灏忚溅鎼繍涓�
+ 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;
+ }
+ return true;
}
/**
* 鎻愬崌鏈轰换鍔�
*/
public synchronized void liftIoExecute() {
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
- if (liftThread == null) {
- continue;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
-
-
-// if (!liftProtocol.isIdle()) {
-// continue;
-// }
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬侊紝娌℃湁鍒ゆ柇浠诲姟鍙凤紝鍙兘鎻愬崌鏈哄浜庣┖闂诧紝浣嗘槸杩樻湁浠诲姟鏈畬鎴�
- if (!liftProtocol.isIdleNoTask()) {
- continue;
- }
-
+ try {
//鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
- WrkMast wrkMast = wrkMastMapper.selectLiftStep262327();
- if (wrkMast == null) {
- continue;
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts));
+ if (wrkMasts.isEmpty()) {
+ return;
}
- //鍛戒护list
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//鎻愬崌鏈哄叆搴�
+ if (!stepIn) {
+ continue;
+ }
+
+ boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//鎻愬崌鏈哄嚭搴�
+ if (!stepOut) {
+ continue;
+ }
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈哄叆搴�
+ * 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 liftIoExecuteStepIn(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈哄叆搴�-----------------------------------------//
+ Date now = new Date();
+
+ //1.鐢熸垚鍏ュ簱浠诲姟 ==> 3.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
+ //鑾峰彇婧愯緭閫佺珯
+ LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ if (sourceLiftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (!sourceLiftSta.getHasTray()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欐棤鎵樼洏", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //鑾峰彇鐩爣杈撻�佺珯
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (liftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (liftSta.getHasTray()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
+ boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
+ if (!checkLevHasShuttle) {
+ if (wrkMast.getShuttleNo() != null) {
+ return false;
+ }
+
+ String targetLocNo = navigateUtils.calcEndLocation(wrkMast.getLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 2);
+ if (targetLocNo == null) {//鍑鸿緭閫佺嚎绔欑偣璁＄畻澶辫触
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞﹀幓鍏ュ簱灞傝繎鐐硅绠楀け璐�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲緟鏈轰綅
+ boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetLocNo);
+ if (!dispatchShuttle) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞﹀幓鍏ュ簱灞傚け璐�", wrkMast.getWrkNo());
+ return false;
+ }
+ return false;
+ }
+
+ Integer liftNo = wrkMast.getLiftNo();
+ if (liftNo == null) {
+ //鏈垎閰嶆彁鍗囨満
+ Integer staNo = wrkMast.getSourceStaNo();
+ liftNo = LiftUtils.getConveyorBindLiftNo(staNo);
+ if(liftNo == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //鐢宠鎻愬崌鏈鸿祫婧�
+ boolean applyLift = liftAction.applyLift(liftNo, wrkMast.getWrkNo());
+ if(!applyLift) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀敵璇锋彁鍗囨満璧勬簮澶辫触锛岀姝㈠叆搴�", wrkMast.getWrkNo());
+ return false;
+ }
+ return false;
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftSta.getLiftNo());
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡叆搴撴ā寮�
+ if (!liftProtocol.getIOModeType().equals(LiftIoModeType.IN)) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡叆搴撴ā寮忥紝绂佹鍏ュ簱", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //璇锋眰涓婄骇绯荤粺锛屾槸鍚﹀厑璁稿叆搴�
+ boolean inMission = LiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
+ if (!inMission) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屼笂绾х郴缁熶笉鍏佽鍏ュ簱", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getSiteId());
ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
- DevpThread devpThread = null;
- Integer devpId = null;
- for (DevpSlave devp : slaveProperties.getDevp()){
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- devpId = devp.getId();
- }
-
- if (wrkMast.getWrkSts() == 2) {//2.璁惧涓婅蛋
- if (liftProtocol.getTaskNo().intValue() != 0) {
- //瀛樺湪鏈畬鎴愪换鍔″彿
- continue;
- }
- if (liftProtocol.getPlatShuttleCheck()) {
- //鎻愬崌鏈烘鏃舵湁鍥涘悜杞︼紝鍙兘鏈夋湭瀹屾垚鐨勪换鍔★紝绂佹鍒嗛厤鏂颁换鍔�
- continue;
- }
-
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getLocNo();
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
- int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
-
- Integer levTmp = wrkMastLocNoLey;
- if (wrkMastLocNoLey >= 2) {
- levTmp += 1;
- }
- Integer distStaNo = Utils.levToOutInStaNo(levTmp);
-
- if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) {
- //鎻愬崌鏈轰笉鍦ㄨ緭閫佺嚎妤煎眰锛岃幏鍙栧埌杈撻�佺嚎灞傜殑鎻愬崌鏈哄懡浠�
- LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
- }
-
- //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(鏃犺揣姝ｈ浆)
- LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3);
- command2.setOperaStaNo((short) 102);//鎿嶄綔102绔�
- command2.setRotationDire(1);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屾杞�
- command2.setDevpId(devpId);
- command2.setStaNo(distStaNo.shortValue());//璁剧疆鐩爣绔�
- commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
- LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp);
- commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(姝ｈ浆)
- //杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
- LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1);
- command4.setOperaStaNo(distStaNo.shortValue());//鎿嶄綔鐩爣妤煎眰绔欑偣
- command4.setRotationDire(1);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屾杞�
- command4.setDevpId(devpId);
- command4.setStaNo(distStaNo.shortValue());//璁剧疆鐩爣绔�
- commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
-
- wrkMast.setWrkSts(3L);//3.鎻愬崌鏈烘惉杩愪腑
- } else if (wrkMast.getWrkSts() == 6) {//6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
- //鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛屼笖鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙蜂笉涓�鑷�
- continue;
- }
- liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
-
- //鍒ゆ柇灏忚溅鏄惁鍦ㄦ彁鍗囨満鍐咃紝涓斿浜庣┖闂茬姸鎬�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- continue;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
- if (!shuttleProtocol.isIdle()) {
- continue;//灏忚溅鐘舵�佸繖
- }
- if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
- continue;//灏忚溅褰撳墠浜岀淮鐮佸拰鎻愬崌鏈哄唴閮ㄤ簩缁寸爜涓嶄竴鑷达紝涓嶅厑璁告墽琛�
- }
- if (!liftProtocol.getPlatShuttleCheck()) {
- //鎻愬崌鏈烘湭妫�娴嬪埌灏忚溅锛岀姝㈡墽琛�
- continue;
- }
-
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getLocNo();
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
- int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
- if (wrkMastLocNoLey >= 2) {
- wrkMastLocNoLey++;
- }
-
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
- LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
-
- wrkMast.setWrkSts(7L);//6.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 7.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- } else if(wrkMast.getWrkSts() == 23) {//23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
- //鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛屼笖鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙蜂笉涓�鑷�
- continue;
- }
- liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
-
- //鍒ゆ柇灏忚溅鏄惁鍦ㄦ彁鍗囨満鍐咃紝涓斿浜庣┖闂茬姸鎬�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- continue;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if (!shuttleProtocol.isIdle()) {
- continue;//灏忚溅鐘舵�佸繖
- }
- if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
- continue;//灏忚溅褰撳墠浜岀淮鐮佸拰鎻愬崌鏈哄唴閮ㄤ簩缁寸爜涓嶄竴鑷达紝涓嶅厑璁告墽琛�
- }
- if (!liftProtocol.getPlatShuttleCheck()) {
- //鎻愬崌鏈烘湭妫�娴嬪埌灏忚溅锛岀姝㈡墽琛�
- continue;
- }
-
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶅彿
- String wrkMastLocNo = wrkMast.getSourceLocNo();
- //宸ヤ綔妗ｇ洰鏍囧簱浣嶆ゼ灞�
- int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
- if (wrkMastLocNoLey >= 2) {
- wrkMastLocNoLey++;
- }
-
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰(宸ヤ綔妗ｇ洰鏍囨ゼ灞�)
- LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
-
- wrkMast.setWrkSts(24L);//23.杩佺Щ灏忚溅鑷虫彁鍗囨満鍙ｅ畬鎴� => 24.鎻愬崌鏈鸿縼绉诲皬杞︿腑
- } else if (wrkMast.getWrkSts() == 27) {//27.灏忚溅鍑哄簱鎼繍瀹屾垚
- if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) {
- //鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛屼笖鎻愬崌鏈轰换鍔″彿鍜屽綋鍓嶅伐浣滄。浠诲姟鍙蜂笉涓�鑷�
- continue;
- }
- if (liftProtocol.getPlatShuttleCheck()) {
- //鎻愬崌鏈烘鏃舵湁鍥涘悜杞︼紝鍙兘鏈夋湭瀹屾垚鐨勪换鍔★紝绂佹鍒嗛厤鏂颁换鍔�
- continue;
- }
-
- //宸ヤ綔妗ｆ簮搴撲綅鍙�
- String wrkMastLocNo = wrkMast.getSourceLocNo();
- //宸ヤ綔妗ｆ簮搴撲綅妤煎眰
- int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo);
-
- //鎻愬崌鏈哄綋鍓嶆ゼ灞�
- int liftLev = liftProtocol.getLev().intValue();
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀埌浣�
- StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//璧峰绔欑偣
- if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) {
- //鎻愬崌鏈轰笉鍦ㄥ伐浣滄。婧愬簱浣嶆ゼ灞傦紝璋冨害鎻愬崌鏈�
- LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey);
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
- }
-
- //杈撻�佺嚎灏嗚揣鐗╄繍杩涙潵(鏃犺揣鍙嶈浆)
- LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4);
- command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//杈撻�佺嚎鎿嶄綔绔欑偣鍙�
- command2.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
- command2.setDevpId(devpId);//杈撻�佺嚎iD
- command2.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
- commands.add(command2);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄墠寰�鍑哄簱鍙ｏ紝杈撻�佺嚎妤煎眰
- LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev);
- commands.add(command3);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈哄埌杈炬寚瀹氭ゼ灞傦紝杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓(鍙嶈浆)
- //杈撻�佺嚎灏嗚揣鐗╃Щ鍑哄幓
- LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2);
- command4.setOperaStaNo((short) 102);//鎿嶄綔102绔�
- command4.setRotationDire(2);//缁欒緭閫佺嚎涓嬪彂閾炬潯杞姩淇″彿锛屽弽杞�
- command4.setDevpId(devpId);
- commands.add(command4);//灏嗗懡浠ゆ坊鍔犺繘list
-
- //鎻愬崌鏈洪摼鏉℃墽琛屽畬姣曞悗锛岀粰102绔欏啓鍏ヨ祫鏂�
- LiftCommand command5 = liftThread.getResetCommand();
- command5.setDevpId(devpId);//杈撻�佺嚎iD
- command5.setOperaStaNo((short) 102);//鎿嶄綔102绔�
- command5.setStaNo((short) 104);//鍐欏叆鍑哄簱鐩爣绔�104
- command5.setRotationDire(0);//閾炬潯杞姩鍋滄
- commands.add(command5);
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
-
- wrkMast.setWrkSts(28L);//28.鎻愬崌鏈烘惉杩愪腑
- }
-
- //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
+ //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(liftProtocol.getTaskNo());
- if (wrkMastMapper.updateById(wrkMast) > 0) {
+ assignCommand.setLiftNo(liftNo);
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);
+
+ wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 1.鐢熸垚鍏ュ簱浠诲姟 ==> 3.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
}
+ return false;
}
+ return true;
+ }
+
+ /**
+ * 鎻愬崌鏈哄嚭搴�
+ * 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 liftIoExecuteStepOut(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈哄嚭搴�-----------------------------------------//
+ //103.灏忚溅鎼繍瀹屾垚 ==> 104.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
+ //鑾峰彇婧愮珯
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ if (liftSta == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾壘涓嶅埌绔欑偣锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if(wrkMast.getShuttleNo() != null) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if(shuttleProtocol == null) {
+ return false;
+ }
+
+ if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) {
+ //灏忚溅杩樺湪杈撻�佺珯鐐�
+ //灏忚溅鍑烘彁鍗囨満杩戠偣璺濈
+ int shuttleOutLiftLocationDistance = 2;
+ Config shuttleOutLiftLocationDistanceConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleOutLiftLocationDistance"));
+ if (shuttleOutLiftLocationDistanceConfig != null) {
+ shuttleOutLiftLocationDistance = Integer.parseInt(shuttleOutLiftLocationDistanceConfig.getValue());
+ }
+
+ String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, shuttleOutLiftLocationDistance);
+ if (targetLocNo == null) {//鍑鸿緭閫佺嚎绔欑偣璁＄畻澶辫触
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽嚭杈撻�佺嚎绔欑偣璁＄畻澶辫触", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲緟鏈轰綅
+ boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetLocNo, wrkMast.getShuttleNo());
+ if (!dispatchShuttle) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹀湪杈撻�佺珯鐐硅皟搴﹀皬杞﹂伩璁╁け璐�", wrkMast.getWrkNo());
+ return false;
+ }
+ } else {
+ //灏忚溅宸蹭笉鍦ㄨ緭閫佺珯鐐逛綅缃紝閲婃斁灏忚溅
+ wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+ return false;
+ }
+
+ if (!liftSta.getHasTray()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}绔欑偣鏃犳墭鐩橈紝绂佹娲惧彂", wrkMast.getWrkNo(), liftSta.getSiteId());
+ return false;
+ }
+
+ Integer liftNo = wrkMast.getLiftNo();
+ if (liftNo == null) {
+ //鏈垎閰嶆彁鍗囨満
+ Integer staNo = wrkMast.getStaNo();
+ liftNo = LiftUtils.getConveyorBindLiftNo(staNo);
+ if(liftNo == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
+ return false;
+ }
+ //鐢宠鎻愬崌鏈鸿祫婧�
+ boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
+ if(!applyLift) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀敵璇锋彁鍗囨満璧勬簮澶辫触锛岀姝㈡墽琛屽嚭搴�", wrkMast.getWrkNo());
+ return false;
+ }
+ return false;
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftSta.getLiftNo());
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡嚭搴撴ā寮�
+ if (!liftProtocol.getIOModeType().equals(LiftIoModeType.OUT)) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡嚭搴撴ā寮忥紝绂佹鍑哄簱", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //璇锋眰涓婄骇绯荤粺锛屾槸鍚﹀厑璁稿嚭搴�
+ boolean outMission = LiftUtils.queryOutMission(wrkMast.getStaNo());
+ if (!outMission) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屼笂绾х郴缁熶笉鍏佽鍑哄簱", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getSiteId(), wrkMast.getStaNo());
+ ArrayList<LiftCommand> 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(liftNo);
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(LiftTaskModeType.PICK_PUT.id);
+
+ wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 103.鐢熸垚鍏ュ簱浠诲姟 ==> 104.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMast.setModiTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ }
+ return false;
+ }
+ return true;
}
/**
* 鎻愬崌鏈轰换鍔″畬鎴�
*/
public synchronized void liftFinished() {
- for (LiftSlave liftSlave : slaveProperties.getLift()) {
- //鑾峰彇鎻愬崌鏈轰俊鎭�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
-
- //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
- if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
- && liftProtocol.getTaskNo() != 0
- && !liftProtocol.getRunning()
- ) {
-
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
-
- DevpThread devpThread = null;
- Integer devpId = null;
- for (DevpSlave devp : slaveProperties.getDevp()){
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- devpId = devp.getId();
+ try {
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ //鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
+ if(liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
}
- //灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
- 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�
- //缁欑洰鏍囩珯璁剧疆宸ヤ綔鍙�
- StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//鐩爣绔�
- staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
- staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
- boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- wrkMast.setWrkSts(4L);
- break;
- case 7://7.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
- wrkMast.setWrkSts(8L);
- break;
- case 24://24.鎻愬崌鏈鸿縼绉诲皬杞︿腑 ==> 25.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
- wrkMast.setWrkSts(25L);
- break;
- case 28://28.鎻愬崌鏈烘惉杩愪腑 ==> 29.鎻愬崌鏈烘惉杩愬畬鎴�
- wrkMast.setWrkSts(29L);
- wrkMast.setWrkSts(34L);//34.鍑哄簱瀹屾垚锛屾殏鏃跺厛鐩存帴瀹屾垚鍑哄簱宸ヤ綔妗ｏ紝鍚庣画闇�瑕佹牴鎹緭閫佺嚎缁欏嚭鐨勭姸鎬佹潵纭畾34.鍑哄簱瀹屾垚鐘舵��
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
- break;
- default:
- }
-
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- //浠诲姟鎸囦护娓呴浂
- liftProtocol.setAssignCommand(null);
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
- } else {
- News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
- }
+ if (!liftThread.isDeviceIdle()) {
+ continue;
}
- //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
- WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
- if (wrkCharge != null) {
- switch (wrkCharge.getWrkSts().intValue()) {
- case 54://鎻愬崌鏈烘惉杩愪腑
- wrkCharge.setWrkSts(55L);//鎻愬崌鏈烘惉杩愬畬鎴�
- break;
- default:
- }
+ //鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
+ if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
+ && liftProtocol.getTaskNo() != 0
+ ) {
+ //灏嗕换鍔℃。鏍囪涓哄畬鎴�
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
+ if (wrkMast != null) {
+ if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
+ //3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ }else if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY_COMPLETE.sts) {
+ //303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴� -- 璋冨害鎻愬崌鏈哄埌灏忚溅灞�
+ } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
+ //304.鎻愬崌鏈烘惉杩愪腑 ==> 109.鍑哄簱瀹屾垚
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
+ //306.鎻愬崌鏈烘惉杩愪腑 ==> 307.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
+ } else {
+ News.error("鎻愬崌鏈虹‘璁ゅけ璐ワ紝鎻愬崌鏈哄彿={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
+ return;
+ }
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- liftProtocol.setAssignCommand(null);
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
- } else {
- News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
- }
- }
-
- //涓嶆槸鍏ュ嚭搴撹皟搴︿换鍔°�佸伐浣滄。浠诲姟锛岃繘琛屾彁鍗囨満鐨勫浣�
- if (liftProtocol.getAssignCommand() != null) {
- //璁剧疆鎻愬崌鏈轰负绌洪棽鐘舵��
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
- //浠诲姟鎸囦护娓呴浂
- liftProtocol.setAssignCommand(null);
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
- }
-
- }
- }
- }
-
- /**
- * 褰撳墠搴撲綅缁勬槸鍚﹀瓨鍦ㄧ┖闂插皬杞�
- */
- public Integer hasCar(String locNo) {
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(ste.getId());
- if (Cools.isEmpty(steProtocol, basSte)) { continue; }
- if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
- && basSte.getBay() == Utils.getBay(locNo)
- && basSte.getLev() == Utils.getLev(locNo)) {
- return ste.getId();
- }
- }
- return null;
- }
-
- /**
- * 褰撳墠搴撲綅缁勬槸鍚﹀瓨鍦ㄥ叾浠栧皬杞�
- */
- public Integer existOtherSte(String locNo, Integer steNo) {
- Integer otherSteNo = null;
- for (SteSlave ste : slaveProperties.getSte()) {
- if (ste.getId().equals(steNo)) { continue; }
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.isEnable()) {
- BasSte basSte = basSteService.selectById(ste.getId());
- if (basSte != null) {
- if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
- && basSte.getBay() == Utils.getBay(locNo)
- && basSte.getLev() == Utils.getLev(locNo))
- ||
- (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
- && steProtocol.getBay() == Utils.getBay(locNo)
- && steProtocol.getLev() == Utils.getLev(locNo))
- ) {
- otherSteNo = ste.getId();
- break;
+ wrkMast.setModiTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ liftThread.reset();
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ } else {
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
+ }
+ }else {
+ boolean checkPreviewDispatchLift = commonService.checkWorkNoContainMk(liftProtocol.getTaskNo(), WrkIoType.PREVIEW_LIFT_MOVE.id);
+ if (checkPreviewDispatchLift) {
+ //灞炰簬鎻愬崌鏈洪璋冨害绉诲姩浠诲姟
+ //鏃犲伐浣滄。鏀拺锛岀洿鎺ョ‘璁ゅ畬鎴�
+ liftThread.setSyncTaskNo(0);
+ liftThread.reset();
+ News.info("宸茬‘璁ゆ彁鍗囨満棰勮皟搴︾Щ鍔ㄤ换鍔°�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ }
}
}
}
- }
- return otherSteNo;
- }
-
- /**
- * 褰撳墠搴撲綅缁勬槸鍚﹀瓨鍦ㄧ┖闂插皬杞�
- */
- public Integer hasCarOfIdle(String locNo) {
- for (SteSlave ste : slaveProperties.getSte()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (steProtocol.isIdle()) {
- if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
- && steProtocol.getBay() == Utils.getBay(locNo)
- && steProtocol.getLev() == Utils.getLev(locNo)) {
- return steProtocol.getSteNo().intValue();
- }
- }
- }
- return null;
- }
-
- /**
- * 鏌ユ壘褰撳墠搴撲綅鏈�閫傚悎鐨勭┛姊溅鏉ヤ綔涓�
- */
- public SteThread queryIdleCar(WrkMast wrkMast) {
- List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
- int val = 0;
- SteThread result = null;
- for (BasSte basSte : basStes) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (!steProtocol.isIdle()) { continue; }
-// if (steProtocol.getRow() == 1) { continue; }
- String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
- // 濡傛灉鍦ㄥ悓涓�涓簱浣嶇粍
- if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
- && steProtocol.getBay().intValue() == Utils.getBay(locNo)
- && steProtocol.getLev().intValue() == Utils.getLev(locNo)) {
- return steThread;
- }
- LocMast locMast = locMastService.selectById(locNo);
- int lev = locMast.getLev1();
- int bay = locMast.getBay1();
- int levAbs = Math.abs(lev - steProtocol.getLev());
- int bayAbs = Math.abs(bay - steProtocol.getBay());
- if (val == 0) {
- val = levAbs + bayAbs;
- result = steThread;
- } else {
- if ((levAbs + bayAbs) < val) {
- val = levAbs + bayAbs;
- result = steThread;
- }
- }
- }
- return result;
- }
-
- public SteThread queryIdleCar(CrnProtocol crnProtocol) {
- List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
- int val = 0;
- SteThread result = null;
- for (BasSte basSte : basStes) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { continue; }
- if (!steProtocol.isIdle()) { continue; }
- if (steProtocol.getRow() == 1) { continue;}
- int lev = crnProtocol.getLevel();
- int bay = crnProtocol.getBay();
- int levAbs = Math.abs(lev - steProtocol.getLev());
- int bayAbs = Math.abs(bay - steProtocol.getBay());
- if (val == 0) {
- val = levAbs + bayAbs;
- result = steThread;
- } else {
- if ((levAbs + bayAbs) < val) {
- val = levAbs + bayAbs;
- result = steThread;
- }
- }
- }
- return result;
- }
-
- /**
- * 璁╁皬杞﹁璧拌嚦寰呮満浣�
- */
- public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
-
- // 濡傛灉澶勪簬寰呮満浣�
- if (steProtocol.locaType.equals(SteLocaType.A_WAITING) || steProtocol.locaType.equals(SteLocaType.B_WAITING)) {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkMast.setWrkSts(3L);
- wrkMast.setSteNo(steNo);
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- } else {
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 浠诲姟妯″紡: 琛岃蛋鑷冲緟鏈轰綅
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkMast.setSteNo(steNo);
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
- }
-
- public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
-
- if (!basSteService.updatePakMk(steNo, "Y")) {
- News.error("淇敼绌挎杞︿綔涓氱姸鎬� 澶辫触锛侊紒锛岀┛姊溅={}", steNo);
- return;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkCharge.setSteNo(steNo);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
- }
-
- /**
- * 璁╁皬杞︿粠 杩滅偣 ====>> 绉诲姩鍒拌繎鐐�
- * 绛夊緟鍫嗗灈鏈烘惉杩�
- */
- public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkMast.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkMast.setSteNo(steNo);
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkMast.getWrkNo());
- }
- }
- }
- }
-
- /**
- * 璁╁皬杞︿粠 杩滅偣 ====>> 绉诲姩鍒拌繎鐐�
- * 绛夊緟鍫嗗灈鏈烘惉杩�
- */
- public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
- // 鑾峰彇绌挎杞︿俊鎭�
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (steProtocol == null) { return; }
- if (steProtocol.isIdle()) {
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 浠诲姟妯″紡: 鍘昏繎鐐� 绛夊緟鍫嗗灈鏈哄弶鍙�
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞�
- wrkCharge.setSteNo(steNo);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼宸ヤ綔妗ｇ姸鎬� 缁戝畾绌挎杞� 澶辫触锛侊紒锛屽伐浣滃彿={}", wrkCharge.getWrkNo());
- }
- }
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
@@ -2077,6 +941,7 @@
public void recErr() {
try {
this.recShuttleErr();
+ this.recLiftErr();
} catch (Exception e) {
News.error("recErr fail", e);
}
@@ -2087,28 +952,31 @@
*/
private void recShuttleErr() {
Date now = new Date();
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
- // 鑾峰彇鍫嗗灈鏈轰俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
}
if (shuttleProtocol.getTaskNo() != 0) {
//鏈変换鍔�
- BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(device.getDeviceNo(), shuttleProtocol.getTaskNo());
// 鏈夊紓甯�
if (latest == null) {
- if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
- WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
+ if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
if (wrkMast == null) {
continue;
}
- BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode());
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode);
String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
null, // 缂栧彿
@@ -2117,82 +985,35 @@
null, // 缁撴潫鏃堕棿
wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
- shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ device.getDeviceNo(), // 鍥涘悜绌挎杞�
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
- (int) shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ errorCode, // 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);
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName);
}
}
} else {
// 寮傚父淇
- if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) {
+ if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) {
latest.setEndTime(now);
latest.setUpdateTime(now);
latest.setStatus(2);
if (!basShuttleErrLogService.updateById(latest)) {
- News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
- }
- }
- }
- }else {
- //鏃犱换鍔�
- BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
- // 鏈夊紓甯�
- if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
- // 璁板綍鏂板紓甯�
- if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
- BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
- String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
- BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
- null, // 缂栧彿
- null, // 宸ヤ綔鍙�
- now, // 鍙戠敓鏃堕棿
- null, // 缁撴潫鏃堕棿
- null, // 宸ヤ綔鐘舵��
- null, // 鍏ュ嚭搴撶被鍨�
- shuttleSlave.getId(), // 鍥涘悜绌挎杞�
- null, // plc
- null, // 鐩爣搴撲綅
- null, // 鐩爣绔�
- null, // 婧愮珯
- null, // 婧愬簱浣�
- null, // 鏉＄爜
- (int)shuttleProtocol.getStatusErrorCode(), // 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
- "鏃犱换鍔″紓甯�" // 澶囨敞
- );
- 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);
- }
- }
- // 鏃犲紓甯�
- } else {
- // 寮傚父淇
- if (latest != null && latest.getStatus() == 1) {
- latest.setEndTime(now);
- latest.setUpdateTime(now);
- latest.setStatus(2);
- if (!basShuttleErrLogService.updateById(latest)) {
- News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId());
}
}
}
@@ -2200,255 +1021,76 @@
}
}
- // -------------------------------------------------------------------------------
-
/**
- * 绌烘爤鏉垮垵濮嬪寲鍏ュ簱,鍙夎溅鍏ュ簱绔欐斁璐�
+ * 鎻愬崌鏈哄紓甯镐俊鎭褰�
*/
- public void storeEmptyPlt(){
- for (DevpSlave devp : slaveProperties.getDevp()) {
- // 閬嶅巻绌烘澘鍏ュ簱鍙�
- for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
- // 鑾峰彇绌烘澘鍏ュ簱绔欎俊鎭�
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
- if (staProtocol == null) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 绔欑偣鏉′欢鍒ゆ柇
- if (staProtocol.isAutoing()
- && staProtocol.isLoading()
- && staProtocol.isInEnable()
- && staProtocol.isEmptyMk()
- && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
- && staProtocol.isPakMk()) {
-
- // 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- String barcode = null;
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
- if (barcodeThread != null) {
- String barcode0 = barcodeThread.getBarcode();
- if(!Cools.isEmpty(barcode0)) {
-// News.info("{}鍙锋潯鐮佹壂鎻忓櫒妫�娴嬫潯鐮佷俊鎭細{}", emptyInSta.getBarcode(), barcode0);
- if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
- barcode = barcode0;
- }
- }
- }
-
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
-
- try {
- LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
-
- SearchLocParam param = new SearchLocParam();
- param.setIoType(10);
- if (!Cools.isEmpty(barcode)) {
- param.setBarcode(barcode);
- }
- param.setSourceStaNo(emptyInSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
- String response = new HttpHandler.Builder()
- .setUri(wmsUrl)
- .setPath("/rpc/pakin/loc/v1")
- .setJson(JSON.toJSONString(param))
- .build()
- .doPost();
- JSONObject jsonObject = JSON.parseObject(response);
- Integer code = jsonObject.getInteger("code");
- if (code.equals(200)) {
- StartupDto dto = jsonObject.getObject("data", StartupDto.class);
-
- // 鏇存柊绔欑偣淇℃伅 涓� 涓嬪彂plc鍛戒护
- staProtocol.setWorkNo(dto.getWorkNo().shortValue());
- staProtocol.setStaNo(dto.getStaNo().shortValue());
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
- if (!result) {
- throw new CoolException("鏇存柊plc绔欑偣淇℃伅澶辫触");
- }
- } else {
- if (ledThread != null) {
- String errorMsg = jsonObject.getString("msg");
- if (!Cools.isEmpty(errorMsg)) {
- MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
- }
- }
- News.error("璇锋眰鎺ュ彛澶辫触锛侊紒锛乽rl锛歿}锛況equest锛歿}锛況esponse锛歿}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
- }
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
-
-
- }
- }
- }
-
- /**
- * 鍑哄簱 ===>> 宸ヤ綔妗ｄ俊鎭啓鍏ed鏄剧ず鍣�
- */
- public void ledExecute() {
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- List<LedCommand> commands = new ArrayList<>();
- // 宸ヤ綔妗ｉ泦鍚�
- List<WrkMast> wrkMasts = new ArrayList<>();
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- // 鑾峰彇宸ヤ綔妗ｆ暟鎹�
- WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
- if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
- wrkMasts.add(wrkMast);
- // 缁勮鍛戒护
- LedCommand ledCommand = new LedCommand();
- ledCommand.setWorkNo(wrkMast.getWrkNo());
- ledCommand.setIoType(wrkMast.getIoType());
- // 鍑哄簱妯″紡
- switch (wrkMast.getIoType()) {
- case 101:
- ledCommand.setTitle("鍏ㄦ澘鍑哄簱");
- break;
- case 103:
- ledCommand.setTitle("鎷ｆ枡鍑哄簱");
- break;
- case 104:
- ledCommand.setTitle("骞舵澘鍑哄簱");
- break;
- case 107:
- ledCommand.setTitle("鐩樼偣鍑哄簱");
- break;
- case 110:
- ledCommand.setTitle("绌烘澘鍑哄簱");
- ledCommand.setEmptyMk(true);
- break;
- default:
- News.error("浠诲姟鍏ュ嚭搴撶被鍨嬮敊璇紒锛侊紒[宸ヤ綔鍙凤細{}] [鍏ュ嚭搴撶被鍨嬶細{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
- break;
- }
- ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
- ledCommand.setLocNo(wrkMast.getLocNo());
- ledCommand.setStaNo(wrkMast.getStaNo());
- if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
- List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
- wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
- }
- commands.add(ledCommand);
- }
- Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
- // 鑾峰彇LED绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // 鐩稿悓宸ヤ綔鍙烽泦鍚堝垯杩囨护
- if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
+ private void recLiftErr() {
+ Date now = new Date();
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ // 鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
+ if (liftThread == null) {
continue;
}
- // 鍛戒护涓嬪彂 -------------------------------------------------------------------------------
- if (!commands.isEmpty()) {
- if (led.getId()>3){
- if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId()-3, led.getIp(), led.getPort());
- continue;
- }else {
- ledThread.setLedMk(false);
- }
- }else {
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
- log.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
- continue;
- }else {
- ledThread.setLedMk(false);
- }
- }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
}
- try {
- // 淇敼涓绘。led鏍囪
- for (WrkMast wrkMast : wrkMasts) {
- wrkMast.setOveMk("Y");
- wrkMast.setModiTime(new Date());
- if (wrkMastMapper.updateById(wrkMast) == 0) {
- throw new CoolException("鏇存柊宸ヤ綔妗ｅけ璐�");
+ if (liftProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(device.getDeviceNo(), liftProtocol.getTaskNo());
+ // 鏈夊紓甯�
+ if (latest == null) {
+ if (liftProtocol.getErrorCode() != null && liftProtocol.getErrorCode() != 0) {
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ BasLiftErr basLiftErr = basLiftErrService.queryByCode(liftProtocol.getErrorCode());
+ String errName = basLiftErr==null? "鏈煡寮傚父":basLiftErr.getErrName();
+
+ 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�
+ device.getDeviceNo(), // 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:{}]", device.getDeviceNo(), errName);
+ }
}
- }
-
- // 鏇存柊绾跨▼褰撳墠宸ヤ綔鍙烽泦鍚�
- ledThread.setWorkNos(workNos);
-
- } catch (Exception e) {
- e.printStackTrace();
- TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
- }
-
- }
- }
-
- /**
- * 鍏朵粬 ===>> LED鏄剧ず鍣ㄥ浣嶏紝鏄剧ず榛樿淇℃伅
- */
- public void ledReset() {
- for (LedSlave led : slaveProperties.getLed()) {
-
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- boolean reset = true;
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) {
- continue;
- }
- if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
- reset = false;
- break;
- }
- }
- // 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
- News.error(" - {}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
} else {
-
- }
- }
- }
- for (LedSlave led : slaveProperties.getLed()) {
- // 鑾峰彇杈撻�佺嚎plc绾跨▼
- DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
- // 鍛戒护闆嗗悎
- boolean reset = true;
- for (Integer staNo : led.getStaArr()) {
- // 鑾峰彇鍙夎溅绔欑偣
- StaProtocol staProtocol = devpThread.getStation().get(staNo);
- if (staProtocol == null) { continue; }
- if (staProtocol.getWorkNo() != 0) {
- reset = false;
- break;
- }
- }
- // 鑾峰彇led绾跨▼
- LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
- // led鏄剧ず榛樿鍐呭
- if (reset && !ledThread.isLedMk()) {
- ledThread.setLedMk(true);
- if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
- News.error("{}鍙稬ED鍛戒护涓嬪彂澶辫触锛侊紒锛乕ip锛歿}] [port锛歿}]", led.getId(), led.getIp(), led.getPort());
+ // 寮傚父淇
+ if (liftProtocol.getErrorCode() == null || liftProtocol.getErrorCode() == 0) {
+ 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:{}]", device.getDeviceNo(), latest.getId());
+ }
+ }
}
}
}
@@ -2458,53 +1100,130 @@
* 鍥涘悜绌挎杞︾數閲忔娴� ===>> 鍙戣捣鍏呯數
*/
public synchronized void loopShuttleCharge() {
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
+ try {
+
+ List<BasShuttleCharge> charges = basShuttleChargeService.selectList(new EntityWrapper<BasShuttleCharge>().orderBy("charge_id", true));
+ if (charges.isEmpty()) {
+ return;//鏃犲厖鐢垫々
}
- //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
- if (!shuttleProtocol.isRequireCharge()) {
- continue;
- }
-
- WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue());
- if (wrkCharge != null) {//宸叉湁鍏呯數浠诲姟
- continue;
- }
-
- ShuttleChargeType shuttleCharge = null;
- for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
- if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
- shuttleCharge = chargeType;
- break;
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ continue;
}
- }
- if (shuttleCharge == null) {
- continue;
- }
+ //鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
+ if (shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.NONE)) {
+ continue;//鏃犻渶鍏呯數
+ }
- String chargeLocNo = shuttleCharge.locNo;
- wrkCharge = new WrkCharge();
- wrkCharge.setShuttleNo(shuttle.getId());
- wrkCharge.setCharge(shuttleCharge.id);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
- wrkCharge.setWrkSts(51L); // 21.鍑嗗鍏呯數
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setLocNo(chargeLocNo);
- wrkCharge.setMemo("charge");
- wrkCharge.setAppeTime(new Date());
- if (!wrkChargeService.insert(wrkCharge)) {
- News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", shuttle.getId());
- continue;
- }
+ boolean forceCharge = true;
+ if (shuttleThread.isRequireCharge().equals(ShuttleRequireChargeType.SUGGEST_CHARGE)) {
+ BasShuttle basShuttle = basShuttleService.selectOne(new EntityWrapper<BasShuttle>().eq("shuttle_no", device.getDeviceNo()));
+ if (basShuttle != null) {
+ Integer suggestChargeLine = basShuttle.getSuggestChargeLine();
+ boolean chargeSuggestResult = Integer.parseInt(shuttleProtocol.getBatteryPower()) < suggestChargeLine;
+ if (chargeSuggestResult) {
+ //妫�娴嬬郴缁熸槸鍚︽湁浠诲姟
+ List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("io_type", 1, 101, 201));
+ if (wrkMasts.isEmpty()) {
+ forceCharge = false;
+ }else {
+ continue;
+ }
+ }
+ }
+ }
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//鍏呯數涓�
- News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", shuttle.getId());
+ WrkMast wrkMast1 = wrkMastService.selectShuttleWorking(shuttleProtocol.getShuttleNo());
+ if (wrkMast1 != null) {
+ continue;
+ }
+
+ WrkMast wrkMast2 = wrkMastService.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo());
+ if (wrkMast2 != null) {
+ continue;
+ }
+
+ WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo());
+ if (wrkMast != null) {//宸叉湁鍏呯數浠诲姟
+ continue;
+ }
+
+ //灏忚溅鎵�鍦ㄦゼ灞�
+ int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ BasShuttleCharge shuttleCharge = null;
+
+ //鎼滅储灏忚溅鎵�鍦ㄦゼ灞傛湁娌℃湁鍏呯數妗�
+ for (BasShuttleCharge charge : charges) {
+ if (lev != Utils.getLev(charge.getLocNo())) {
+ continue;//灏忚溅鍜屽厖鐢垫々涓嶅湪鍚屼竴灞�
+ }
+
+ if (charge.getStatus() == 0) {
+ continue;//鍏呯數妗╄绂佺敤
+ }
+
+ //灏忚溅鍜屽厖鐢垫々鍦ㄥ悓涓�灞�
+ if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
+ shuttleCharge = charge;
+ break;
+ }
+ }
+
+ if (shuttleCharge == null) {
+ //鍚屾ゼ灞傛病鏈夋壘鍒板厖鐢垫々锛屾壘鍙敤鍏呯數妗�
+ //灏忚溅鍚屾ゼ灞傛病鏈夊厖鐢垫々锛屽彧瑕佸厖鐢垫々鍙敤灏辩敓鎴愬厖鐢典换鍔�
+ for (BasShuttleCharge charge : charges) {
+ if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) {
+ //鍒ゆ柇褰撳墠鍏呯數妗╂槸鍚︽湁灏忚溅锛屽鏈夊皬杞︼紝涓嶅垎閰嶈鍏呯數妗�
+ ArrayList<String> locs = new ArrayList<>();
+ locs.add(charge.getLocNo());
+ Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs);
+ if(checkHasShuttle != null) {
+ //褰撳墠鍏呯數妗╂湁绌挎杞︼紝涓嶅垎閰嶈鍏呯數妗�
+ continue;
+ }
+
+ if (charge.getStatus() == 0) {
+ continue;//鍏呯數妗╄绂佺敤
+ }
+
+ shuttleCharge = charge;
+ break;
+ }
+ }
+ }
+
+ if (shuttleCharge == null) {
+ continue;
+ }
+
+ String chargeLocNo = shuttleCharge.getLocNo();
+ wrkMast = new WrkMast();
+ wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId()));
+ wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id));
+ wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts);
+ wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.鍏呯數
+ wrkMast.setIoPri((double) 999);
+ wrkMast.setLocNo(chargeLocNo);
+ wrkMast.setShuttleNo(device.getDeviceNo());
+ wrkMast.setMemo(forceCharge ? "forceCharge" : "suggestCharge");
+ wrkMast.setAppeTime(new Date());
+ if (!wrkMastService.insert(wrkMast)) {
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", device.getDeviceNo());
+ continue;
+ }
+
+ News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", device.getDeviceNo());
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
}
}
@@ -2512,480 +1231,814 @@
* 鎵ц鍥涘悜绌挎杞﹀厖鐢典换鍔�
*/
public synchronized void executeShuttleCharge() {
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
- WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId());
- if (wrkCharge == null) {
- continue;
- }
-
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
- if (shuttleThread == null) {
- continue;
- }
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (shuttleProtocol == null) {
- continue;
- }
-
- //鑾峰彇鎻愬崌鏈�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- if (liftThread == null) {
- continue;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- continue;
- }
- //鍏呯數搴撲綅鍙�
- String chargeLocNo = wrkCharge.getLocNo();
- //鍏呯數搴撲綅灞傞珮
- Integer chargeLocNoLev = Utils.getLev(chargeLocNo);
-
- if (wrkCharge.getWrkSts() == 51) {
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleProtocol.getCurrentLocNo();
- if (currentLocNo == null) {
- continue;
- }
- //灏忚溅褰撳墠灞傞珮
- Integer currentLev = Utils.getLev(currentLocNo);
-
- if (currentLev == chargeLocNoLev) {
- //鍚屼竴灞傛棤闇�缁忚繃鎻愬崌鏈�
- //鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-
- //鑾峰彇灏忚溅鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
- //杩涜鍏呯數涓�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
-
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
-
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
- commands.add(command);
-
- //鎸囦护闆嗗垎閰�
- assignCommand.setCommands(commands);
-
- wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬�
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }else {
- //涓嶅悓灞傦紝璋冨害灏忚溅鍒板厖鐢垫々鐩爣灞�
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-
- //鑾峰彇灏忚溅褰撳墠妤煎眰鐨勭珯鐐瑰彿
- String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev);
-
- //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｇ珯鐐癸紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
-
- //鑾峰彇褰撳墠灏忚溅鎵�鍦ㄦゼ灞傜殑绔欑偣淇℃伅
- BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo);
- if (basDevp == null) {
- continue;//鎵句笉鍒扮珯鐐逛俊鎭�
- }
- Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//绔欑偣浜岀淮鐮�
-
- //澧炲姞绉诲姩杩涙彁鍗囨満鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, basDevpQrCode, 1400, 500);
- commands.add(moveCommand);
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(chargeLocNo);
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
- //鐩爣搴撲綅
- assignCommand.setLocNo(chargeLocNo);
- //婧愬簱浣�
- assignCommand.setSourceLocNo(currentLocNo);
- assignCommand.setCommands(commands);
- wrkCharge.setWrkSts(52L);//灏忚溅杩佺Щ鐘舵��
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
- }else if(wrkCharge.getWrkSts() == 53){
- //灏忚溅宸茬粡杈惧埌鎻愬崌鏈哄唴
-
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庣┖闂茬姸鎬�
- if (!liftProtocol.isIdle()) {
- continue;
- }
-
- //鍒ゆ柇灏忚溅鏄惁鍦ㄦ彁鍗囨満鍐�
- if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) {
- //灏忚溅涓嶅湪鎻愬崌鏈哄唴
- continue;
- }
-
- //缁欐彁鍗囨満鍒嗛厤浠诲姟
- liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//璁剧疆浠诲姟鍙�
- liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//璁剧疆鍥涘悜绌挎杞﹀彿
- liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//璁剧疆鎻愬崌鏈虹姸鎬佷负宸ヤ綔涓�
-
- //鍛戒护list
- ArrayList<LiftCommand> commands = new ArrayList<>();
-
- //鎻愬崌鏈哄墠寰�鐩爣妤煎眰
- //鑾峰彇鍏呯數搴撲綅鐩爣妤煎眰鍛戒护
- LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev >= 2 ? chargeLocNoLev + 1 : chargeLocNoLev);
- commands.add(command1);//灏嗗懡浠ゆ坊鍔犺繘list
-
- wrkCharge.setWrkSts(54L);//鎻愬崌鏈烘惉杩愪腑
- //鎵�闇�鍛戒护缁勫悎瀹屾瘯锛屾洿鏂版暟鎹簱锛屾彁浜ゅ埌绾跨▼鍘诲伐浣�
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(liftProtocol.getLiftNo());
- assignCommand.setTaskNo(liftProtocol.getTaskNo());
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
- }
-
- }else if(wrkCharge.getWrkSts() == 55){//55.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴�
- //鐩存帴璁＄畻杞﹀埌鍏呯數搴撲綅
-
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
-
- Short liftLev = liftProtocol.getLev();
- if (liftLev == null) {
- continue;
- }
- //鍒ゆ柇鎻愬崌鏈烘ゼ灞傛槸鍚﹀埌杈剧洰鏍囨ゼ灞�
- if (liftLev.intValue() != chargeLocNoLev) {
- continue;//娌℃湁鍒拌揪鐩爣妤煎眰
- }
-
- //姝ゆ椂杞﹀湪鎻愬崌鏈哄唴閮紝涓嬭揪涓�姝ユ寚浠よ杞︾Щ鍔ㄥ埌鎻愬崌鏈哄彛
- Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//绔欑偣鍙�
- BasDevp basDevp = basDevpService.selectById(staNo);
- if (basDevp == null) {
- continue;//绔欑偣涓嶅瓨鍦�
- }
-
- //鑾峰彇鎻愬崌鏈哄彛鍒板厖鐢靛簱浣嶈矾寰勬寚浠�
- List<ShuttleCommand> commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
-
- short startCode = liftProtocol.getBarcode();//鎻愬崌鏈哄唴閮ㄤ簩缁寸爜
- Short distCode = Short.parseShort(basDevp.getQrCodeValue());//鎻愬崌鏈哄彛绔欑偣浜岀淮鐮�
- Short runDirection = ShuttleRunDirection.BOTTOM.id;//杩愯鏂瑰悜
- //鑾峰彇鍛戒护
- ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500);
- commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
-
- //杩涜鍏呯數涓�
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
-
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 9);//鍏呯數
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);//鍏呯數浠诲姟
-
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//寮�濮嬪厖鐢�
- commands.add(command);
-
- //鎸囦护闆嗗垎閰�
- assignCommand.setCommands(commands);
-
- wrkCharge.setWrkSts(56L);//鍏呯數涓姸鎬�
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }else if (wrkCharge.getWrkSts() == 57) {//57.灏忚溅鍒拌揪鍏呯數妗�
- //鍏呯數涓�
- //鍒ゆ柇灏忚溅鏄惁鍏呮弧鐢甸噺锛屾弧鐢�1000鎴栫數鍘�54V浠ヤ笂
- if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) {
- //鍏呮弧锛屾柇寮�鍏呯數
- List<ShuttleCommand> commands = new ArrayList<>();
- ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode((short) 0);
- assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
- assignCommand.setCharge(true);
-
- //鍒涘缓鍏呯數鎸囦护
- ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//鏂紑鍏呯數
- commands.add(command);
-
- //鎸囦护闆嗗垎閰�
- assignCommand.setCommands(commands);
-
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
-
- wrkCharge.setWrkSts(60L);//60.鍏呯數浠诲姟瀹屾垚
- if (wrkChargeMapper.updateById(wrkCharge) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
- }
- }
-
- if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
- shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
- }
- }
- }
-
- }
-
- public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
- public synchronized void demo() {
- if (Cools.isEmpty(crn2DemoLocs)) {
- crn2DemoLocs = locMastService.getDemoNextLoc(2);
- }
- for (CrnSlave crn : slaveProperties.getCrn()) {
- if (!crn.getDemo()) {
- continue;
- }
- // 蹇呴』涓烘紨绀虹姸鎬�
- CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
- CrnProtocol crnProtocol = crnThread.getCrnProtocol();
- if (crnProtocol == null) {
- continue;
- }
-
- // 鍙湁褰撳爢鍨涙満绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
-
- // filter
- if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
- .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
- continue;
- }
-
- SteThread steThread = queryIdleCar(crnProtocol);
- if (Cools.isEmpty(steThread)) {
- News.warn("娌℃湁绌洪棽鐨勫皬杞﹁繘琛屾紨绀哄姛鑳�");
- continue;
- }
- int steNo = steThread.getSlave().getId();
- SteProtocol steProtocol = steThread.getSteProtocol();
- BasSte basSte = basSteService.selectById(steNo);
- if (Cools.isEmpty(steProtocol, basSte)) { continue; }
-
- // 鍙湁褰撶┛姊溅绌洪棽 骞朵笖 鏃犱换鍔℃椂鎵嶇户缁墽琛�
- if (steProtocol.isIdle()) {
-
- String locNo = null;
- Iterator<String> iterator = crn2DemoLocs.iterator();
- while (iterator.hasNext()) {
- String next = iterator.next();
- if (!Cools.isEmpty(this.hasCar(next))) { continue; }
- String lastLoc = crn2LastLoc;
- if (!Cools.isEmpty(lastLoc)) {
- if (!lastLoc.substring(2, 7).equals(next.substring(2, 7))
- || !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) {
- locNo = next;
- iterator.remove();
- break;
- } else {
- iterator.remove();
- }
- } else {
- locNo = next;
- iterator.remove();
- break;
- }
-
- }
- if (!Cools.isEmpty(locNo)) {
- crn2LastLoc = locNo;
- }
-
- News.info("{}鍙峰爢鍨涙満瀵箋}搴撲綅杩涜婕旂ず", crn.getId(), locNo);
-
- String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());
-
- WrkCharge wrkCharge = new WrkCharge();
- wrkCharge.setCrnNo(crn.getId());
- wrkCharge.setSteNo(steNo);
- wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
- wrkCharge.setWrkSts(31L); // 31.鐢熸垚婕旂ずID
- wrkCharge.setIoPri((double) 10);
- wrkCharge.setSourceLocNo(sourceLocNo);
- wrkCharge.setLocNo(locNo);
- wrkCharge.setMemo("demo");
- if (!wrkChargeService.insert(wrkCharge)) {
- News.error("鐢熸垚婕旂ず浠诲姟澶辫触锛屽爢鍨涙満鍙凤細{}锛屽皬杞︼細{}锛屾簮搴撲綅锛歿}锛岀洰鏍囧簱浣嶏細{}", crn.getId(), steNo, sourceLocNo, locNo);
- }
- }
- }
- }
- }
-
- /**
- * 婕旂ず鍙栬揣
- */
- private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
- // 鑾峰彇宸ヤ綔妗ｄ俊鎭�
- WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
- .in("wrk_sts", 31, 33, 35));
- if (null == wrkCharge) {
- return;
- }
- SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
- SteProtocol steProtocol = steThread.getSteProtocol();
- if (null == steProtocol) { return; }
- if (steProtocol.isIdle()) {
- // 31.鐢熸垚婕旂ずID
- if (wrkCharge.getWrkSts() == 31L) {
- this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
- wrkCharge.setWrkSts(32L);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 31.鐢熸垚婕旂ずID ==>> 32.灏忚溅璧拌 澶辫触!", wrkCharge.getWrkNo());
- }
- // 33.灏忚溅寰呮惉
- } else if (wrkCharge.getWrkSts() == 33L) {
- LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
- // 鍫嗗灈鏈哄懡浠や笅鍙戝尯 --------------------------------------------------------------------------
- CrnCommand crnCommand = new CrnCommand();
- crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 鍫嗗灈鏈虹紪鍙�
- crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 宸ヤ綔鍙�
- crnCommand.setAckFinish((short) 0); // 浠诲姟瀹屾垚纭浣�
- crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 浠诲姟妯″紡: 搴撲綅绉昏浆
- crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 婧愬簱浣嶆帓
- crnCommand.setSourcePosY(steProtocol.getBay()); // 婧愬簱浣嶅垪
- crnCommand.setSourcePosZ(steProtocol.getLev()); // 婧愬簱浣嶅眰
- crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 鐩爣搴撲綅鎺�
- crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 鐩爣搴撲綅鍒�
- crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 鐩爣搴撲綅灞�
- if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
- News.error("鍫嗗灈鏈哄懡浠や笅鍙戝け璐ワ紝鍫嗗灈鏈哄彿={}锛屼换鍔℃暟鎹�={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
- } else {
- // 淇敼绌挎杞﹁繍琛屼腑鎺掑垪灞�
- steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
- // 淇敼宸ヤ綔妗ｇ姸鎬� 33.灏忚溅寰呮惉 => 34.鍚婅溅鎼繍
- Date now = new Date();
- wrkCharge.setWrkSts(34L);
- wrkCharge.setCrnStrTime(now);
- wrkCharge.setModiTime(now);
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 33.灏忚溅寰呮惉 => 34.鍚婅溅鎼繍 澶辫触!", wrkCharge.getWrkNo());
- }
- }
- // 35.灏忚溅灏辩华
- } else if (wrkCharge.getWrkSts() == 35L) {
-
- int steNo = steProtocol.getSteNo().intValue();
- if (!basSteService.updatePakMk(steNo, "Y")) {
- News.error("淇敼绌挎杞︿綔涓氱姸鎬� 澶辫触锛侊紒锛岀┛姊溅={}", steNo);
- return;
- }
-
- // 鍛戒护涓嬪彂鍖� --------------------------------------------------------------------------
- SteCommand steCommand = new SteCommand();
- steCommand.setSteNo(steNo); // 绌挎杞︾紪鍙�
- steCommand.setTaskNo(wrkCharge.getWrkNo()); // 宸ヤ綔鍙�
- SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
- if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
- originByLoc = SteTaskModeType.BACK_ORIGIN;
- } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
- originByLoc = SteTaskModeType.GO_ORIGIN;
- } else {
- return;
- }
- steCommand.setTaskMode(originByLoc);
-
- steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
- steCommand.setBay(steProtocol.getBay());
- steCommand.setLev(steProtocol.getLev());
-
- if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
- News.error("绌挎杞﹀懡浠や笅鍙戝け璐ワ紝绌挎杞﹀彿={}锛屼换鍔℃暟鎹�={}", steNo, JSON.toJSON(steCommand));
- } else {
- // 淇敼宸ヤ綔妗ｇ姸鎬� 35.灏忚溅灏辩华 => 36.灏忚溅璧拌
- wrkCharge.setWrkSts(36L);
- wrkCharge.setModiTime(new Date());
- if (!wrkChargeService.updateById(wrkCharge)) {
- News.error("淇敼婕旂ず浠诲姟{}宸ヤ綔妗� 35.灏忚溅灏辩华 => 36.灏忚溅璧拌 澶辫触!", wrkCharge.getWrkNo());
- }
- }
- }
- }
-
- }
- /**
- * 鍑哄叆搴撴ā寮忓垏鎹�
- */
- public synchronized void outAndIn() {
try {
- // 鏍规嵁杈撻�佺嚎plc閬嶅巻
- for (DevpSlave devp : slaveProperties.getDevp()) {
- for (DevpSlave.Sta inSta : devp.getInSta()) {
- Thread.sleep(500);
- boolean a=true,b=true;
- List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
- if (Cools.isEmpty(wrkMasts)){
- b=false;
- }else {
- for (WrkMast wrkMast:wrkMasts){
- if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
- a=false;
- break;
- }
- }
- }
- switch (inSta.getStaNo()) {
- case 102://1F
- if (a && b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
- }else if (b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
- }else {
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
- }
- break;
- case 202://2F
- if (a && b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
- }else if (b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
- }else {
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
- }
- break;
- case 302://3F
- if (a && b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
- }else if (b){
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
- }else {
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
- }
- break;
- }
+ //鏌ヨ灏忚溅鍏呯數浠诲姟
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ WrkMast wrkMast = wrkMastService.selectChargeWorking(device.getDeviceNo());
+ if(wrkMast == null) {
+ continue;
+ }
+
+ boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//灏忚溅绛夊緟鍏呯數妗�
+ if (!result1) {
+ continue;
+ }
+
+ boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//灏忚溅鍒拌揪鍏呯數妗�
+ if (!result2) {
+ continue;
+ }
+
+ boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//灏忚溅寮�濮嬪厖鐢�
+ if (!result3) {
+ continue;
+ }
+
+ boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//灏忚溅鍋滄鍏呯數
+ if (!result4) {
+ continue;
+ }
+
+ boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//灏忚溅绂诲紑鍏呯數妗�
+ if (!result5) {
+ continue;
}
}
-
} catch (Exception e) {
e.printStackTrace();
}
}
+ /**
+ * 灏忚溅鍓嶅線鍏呯數妗�
+ */
+ private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ if (wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
+ //灏忚溅鍦ㄥ厖鐢垫々浣嶇疆
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲厖鐢垫々
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo());
+ if (!dispatched) {
+ return false;
+ }
+
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//灏忚溅鍓嶅線鍏呯數妗�
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅鍒拌揪鍏呯數妗�
+ */
+ private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //鍒ゆ柇鏄惁瀛樺湪鏈畬鎴愮殑绉诲姩浠诲姟
+ WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if(moveWrk != null) {
+ return false;
+ }
+
+ if (!wrkMast.getLocNo().equals(shuttleProtocol.getCurrentLocNo())) {
+ return false;
+ }
+
+ //灏忚溅鍦ㄥ厖鐢垫々浣嶇疆
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//灏忚溅鍒拌揪鍏呯數妗�
+ wrkMast.setModiTime(new Date());
+ wrkMastService.updateById(wrkMast);
+
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅寮�濮嬪厖鐢�
+ private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝厖鐢靛懡浠�
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_ON.id);//鍏呯數寮�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_START_CHARGING.sts);
+ wrkMast.setModiTime(new Date());
+ if (!wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//瑙﹀彂閫氱煡
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅鍋滄鍏呯數
+ private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ boolean stopCharge = false;
+ if (wrkMast.getMemo().equals("suggestChargeTaskStop")) {
+ stopCharge = true;
+ }else {
+ if (shuttleThread.isChargingCompleted()) {
+ stopCharge = true;
+ }
+ }
+
+ if (!stopCharge) {
+ return false;
+ }
+
+ Object limitObj = redisUtil.get(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo());
+ if (limitObj != null) {
+ return false;
+ }
+
+ //灏忚溅宸茬粡鍦ㄥ厖鐢垫々浣嶇疆锛屼笅鍙戝仠姝㈠厖鐢靛懡浠�
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_OFF.id);//鍏呯數鍏�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+
+ List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ redisUtil.set(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo(), "limit", 10);
+ return false;
+ }
+ return true;
+ }
+
+ //灏忚溅绂诲紑鍏呯數妗�
+ private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_CHARGING_COMPLETE.sts) {
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper<BasShuttleCharge>().eq("charge_id", wrkMast.getMk()));
+ if(basShuttleCharge == null) {
+ return false;
+ }
+
+ //妫�娴嬮殰纰嶇墿杞�
+ int checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
+ add(shuttleProtocol.getShuttleNo());
+ }}, new ArrayList<>());
+ if (checkObstacle > 0) {
+ News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲緟鏈轰綅
+ boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo());
+ if (!dispatched) {
+ return false;
+ }
+
+ wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts);
+ wrkMast.setModiTime(new Date());
+ if (wrkMastService.updateById(wrkMast)) {
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 鎵ц灏忚溅绉诲簱浠诲姟
+ */
+ public synchronized void shuttleMoveExecute() {
+ try {
+ //鏌ヨ灏忚溅绉诲簱浠诲姟
+ List<WrkMast> wrkMasts = wrkMastService.selectShuttleMoveWrk();
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean stepMoveNearby = this.shuttleMoveExecuteStepMoveNearby(wrkMast);//灏忚溅绉诲姩鍒拌繎鐐�
+ if (!stepMoveNearby) {
+ continue;
+ }
+
+ boolean stepMoveInLift = this.shuttleMoveExecuteStepMoveInLift(wrkMast);//灏忚溅杩佸叆鎻愬崌鏈轰腑
+ if (!stepMoveInLift) {
+ continue;
+ }
+
+ boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//鎻愬崌鏈烘惉杩愪腑
+ if (!stepLiftMove) {
+ continue;
+ }
+
+ boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+ if (!updateShuttleLocation) {
+ continue;
+ }
+
+ boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ if (!stepMoveLoc) {
+ continue;
+ }
+
+ }
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒拌繎鐐逛腑
+ * 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 shuttleMoveExecuteStepMoveNearby(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅绉诲姩鍒拌繎鐐逛腑-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鍒拌繎鐐� 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.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;
+ }
+
+ if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) {
+ //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(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
+ wrkMast.setModiTime(now);
+ if (wrkMastService.updateById(wrkMast)) {
+ //涓嬪彂浠诲姟
+ return true;//鐩存帴杩涘叆309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 310.灏忚溅绉诲姩涓�
+ }
+ return false;
+ }
+
+ //鎼滅储鏈�杩戜笖鏃犳晠闅滄彁鍗囨満
+ LiftStaProtocol recentLiftStation = liftDispatchUtils.getRecentLiftStation(shuttleProtocol.getShuttleNo(), Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ if(recentLiftStation == null) {
+ News.info("{}鍙峰皬杞︼紝{}鐩爣搴撲綅锛屾病鏈夊彲鐢ㄧ┖闂茶緭閫佺珯鐐�", shuttleProtocol.getShuttleNo(), wrkMast.getLocNo());
+ return false;
+ }
+
+ LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByLev(recentLiftStation.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
+ if(targetLiftSta == null) {
+ return false;
+ }
+
+ //璁＄畻杩戠偣浣嶇疆
+ String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), recentLiftStation.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
+ if (endLocation == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹁繎鐐逛綅缃绠楀け璐�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //灏忚溅宸插湪杩戠偣浣嶇疆鏃犻渶鍓嶅線
+ if (shuttleProtocol.getCurrentLocNo().equals(endLocation)) {
+ wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.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 ==> 303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴�
+ wrkMast.setSourceStaNo(recentLiftStation.getSiteId());
+ wrkMast.setStaNo(targetLiftSta.getSiteId());
+ wrkMast.setModiTime(now);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMastService.updateById(wrkMast);
+ return true;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(endLocation);
+ assignCommand.setAuto(true);//鑷姩妯″紡
+
+ //鑾峰彇灏忚溅鍒拌繎鐐硅璧板懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.getMapTypes(NavigationMapType.NORMAL, NavigationMapType.SHUTTLE), assignCommand, shuttleThread);
+ if (commands == 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
+ }
+
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY.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 ==> 302.灏忚溅绉诲姩鑷宠繎鐐逛腑
+ wrkMast.setSourceStaNo(recentLiftStation.getSiteId());
+ wrkMast.setStaNo(targetLiftSta.getSiteId());
+ 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);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
+ //瑙﹀彂閫氱煡
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅杩佸叆鎻愬崌鏈轰腑
+ * 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 shuttleMoveExecuteStepMoveInLift(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅杩佸叆鎻愬崌鏈轰腑-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅杩佸叆鎻愬崌鏈� 303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴� ==> 304.灏忚溅杩佸叆鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY_COMPLETE.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;
+ }
+
+ //鑾峰彇婧愯緭閫佺珯
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ if (liftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (liftSta.getHasCar()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欏瓨鍦ㄥ皬杞�", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //鑾峰彇鐩爣杈撻�佺珯
+ LiftStaProtocol liftStaTarget = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (liftStaTarget == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (liftStaTarget.getHasCar()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪灏忚溅", wrkMast.getWrkNo());
+ return false;
+ }
+
+ if (wrkMast.getLiftNo() == null) {
+ //鐢宠鎻愬崌鏈鸿祫婧�
+ boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
+ if(!applyLift) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀敵璇锋彁鍗囨満璧勬簮澶辫触锛岀姝㈢Щ鍔�", wrkMast.getWrkNo());
+ return false;
+ }
+ return false;
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満蹇欑涓紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
+ return false;
+ }
+
+ Object object = redisUtil.get(RedisKeyType.LIFT_MOVE_TO_SHUTTLE_LIMIT.key + wrkMast.getWrkNo());
+ int targetLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
+ if (object == null || liftProtocol.getLev() != targetLev) {
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftStaProtocol startSta = LiftUtils.getLiftStaByLev(liftProtocol.getLiftNo(), liftProtocol.getLev());
+ LiftStaProtocol targetSta = LiftUtils.getLiftStaByLev(liftProtocol.getLiftNo(), targetLev);
+ if (startSta == null || targetSta == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛岀珯鐐规暟鎹笉瀛樺湪", wrkMast.getWrkNo(), wrkMast.getLiftNo());
+ return false;
+ }
+ LiftCommand liftCommand = liftThread.getMoveCommand(commonService.getWorkNo(WrkIoType.PREVIEW_LIFT_MOVE.id), startSta.getSiteId(), targetSta.getSiteId());
+ ArrayList<LiftCommand> 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(wrkMast.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(LiftTaskModeType.MOVE.id);
+ //涓嬪彂浠诲姟
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満鍦▄}灞傦紝鎻愬崌鏈轰笉鍦ㄥ皬杞﹀眰锛岃皟搴︾Щ鍔ㄤ腑", wrkMast.getWrkNo(), liftProtocol.getLev(), wrkMast.getLiftNo());
+ redisUtil.set(RedisKeyType.LIFT_MOVE_TO_SHUTTLE_LIMIT.key + wrkMast.getWrkNo(), "lift_moving", 60 * 3);
+ redisUtil.set(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo(), "lock", 8);
+ return false;
+ }
+
+ Object limitObj = redisUtil.get(RedisKeyType.TASK_RUN_LIMIT.key + wrkMast.getWrkNo());
+ if (limitObj != null) {
+ return false;
+ }
+
+ String liftLocNo = liftThread.getCurrentLocNo();
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(liftLocNo);
+ assignCommand.setAuto(true);//鑷姩妯″紡
+
+ //鑾峰彇灏忚溅鍒版彁鍗囨満琛岃蛋鍛戒护
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftLocNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread, "inLift");
+ if (commands == 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
+ }
+
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT.sts);//303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴� ==> 304.灏忚溅杩佸叆鎻愬崌鏈轰腑
+ 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);
+ notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING);
+ //瑙﹀彂閫氱煡
+ 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 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満蹇欑涓紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
+ return false;
+ }
+
+ //鑾峰彇婧愮珯
+ LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ //鑾峰彇鐩爣绔�
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (sourceLiftSta == null || liftSta == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ if (liftSta.getHasCar()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪灏忚溅锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
+ return false;//鏈夋墭鐩樿烦杩�
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getSiteId(), liftSta.getSiteId());
+ ArrayList<LiftCommand> 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(wrkMast.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
+ 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);
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愬畬鎴愭洿鏂板皬杞﹀潗鏍�
+ * 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 shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ Date now = new Date();
+
+ //鎻愬崌鏈烘惉杩愪腑 307.鎻愬崌鏈烘惉杩愬畬鎴� ==> 308.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.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﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
+ Object object = redisUtil.get(RedisKeyType.SHUTTLE_UPDATE_LOCATION.key + shuttleProtocol.getShuttleNo());
+ if(object != null) {
+ return false;
+ }
+
+ 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);
+ //涓嬪彂浠诲姟
+ shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand);
+ redisUtil.set(RedisKeyType.SHUTTLE_UPDATE_LOCATION.key + shuttleProtocol.getShuttleNo(), "update", 10);
+ return false;
+ }
+
+ //灏忚溅鍑烘彁鍗囨満杩戠偣璺濈
+ int shuttleOutLiftLocationDistance = 2;
+ Config shuttleOutLiftLocationDistanceConfig = configService.selectOne(new EntityWrapper<Config>().eq("code", "shuttleOutLiftLocationDistance"));
+ if (shuttleOutLiftLocationDistanceConfig != null) {
+ shuttleOutLiftLocationDistance = Integer.parseInt(shuttleOutLiftLocationDistanceConfig.getValue());
+ }
+
+ String targetLocNo = navigateUtils.calcFirstLocation(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, shuttleOutLiftLocationDistance);
+ if (targetLocNo == null) {//鍑烘彁鍗囨満杩戠偣璁＄畻澶辫触
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛屽嚭鎻愬崌鏈鸿繎鐐硅绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
+ 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(targetLocNo);//鐩爣搴撲綅
+
+ //鑾峰彇灏忚溅鍒拌繎鐐瑰懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), targetLocNo, NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread);
+ if (commands == 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
+ }
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ 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);
+ }
+ }
+ 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) {
+ //--------------------------------------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_OUT_LIFT_COMPLETE.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﹀繖纰屼腑锛岀姝㈡淳鍙�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
+ 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);
+ return false;
+ }
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//灏忚溅绉诲簱浠诲姟
+ 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
+
+ //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), assignCommand, shuttleThread);
+ if (commands == 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
+ }
+
+ assignCommand.setCommands(commands);
+
+ wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//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�
+ 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);
+ }
+ }
+ return true;
+ }
+
+ //鑷姩鍒囨崲鍑哄叆搴撴ā寮�
+ public void autoSwitchLiftIOMode() {
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
+ Integer liftNo = device.getDeviceNo();
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ List<Integer> liftAllStaNo = LiftUtils.getLiftAllStaNo(liftNo);
+ if (liftAllStaNo.isEmpty()) {
+ continue;
+ }
+
+ List<Integer> conveyorBindLiftAllStaNo = LiftUtils.getConveyorBindLiftAllStaNo(liftNo);
+ if (conveyorBindLiftAllStaNo.isEmpty()) {
+ continue;
+ }
+
+ //鑾峰彇鍏ュ簱浠诲姟
+ List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .in("sta_no", liftAllStaNo)
+ .in("wrk_sts"
+ , WrkStsType.NEW_INBOUND.sts
+ , WrkStsType.INBOUND_DEVICE_RUN.sts
+ , WrkStsType.INBOUND_LIFT_RUN.sts
+ , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
+ , WrkStsType.INBOUND_SHUTTLE_RUN.sts
+ , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
+ ));
+
+ //鑾峰彇鍑哄簱浠诲姟
+ List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .in("sta_no", conveyorBindLiftAllStaNo)
+ .in("wrk_sts"
+ , WrkStsType.NEW_OUTBOUND.sts
+ , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
+ , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
+ , WrkStsType.OUTBOUND_LIFT_RUN.sts
+ , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
+ ));
+
+ if (liftProtocol.getIOModeType().equals(LiftIoModeType.NONE)) {
+ //鏈煡妯″紡
+ if (!inWrkMasts.isEmpty()) {
+ liftThread.switchIOMode(LiftIoModeType.IN);
+ } else if (!outWrkMasts.isEmpty()) {
+ liftThread.switchIOMode(LiftIoModeType.OUT);
+ }else {
+ liftThread.switchIOMode(LiftIoModeType.IN);
+ }
+ } else if (liftProtocol.getIOModeType().equals(LiftIoModeType.IN)) {
+ //鍏ュ簱妯″紡
+ if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
+ liftThread.switchIOMode(LiftIoModeType.OUT);
+ }
+ } else if (liftProtocol.getIOModeType().equals(LiftIoModeType.OUT)) {
+ //鍑哄簱妯″紡
+ if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
+ liftThread.switchIOMode(LiftIoModeType.IN);
+ }
+ }
+ }
+ }
}
--
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