From 6daf900a09adcca981f620744bf89851654d88e0 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期二, 05 八月 2025 09:58:08 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 406 ++++++++++++++++++---------------------------------------
1 files changed, 129 insertions(+), 277 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 c5287f2..09cefc6 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -12,7 +12,7 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
-import com.zy.core.action.ForkLiftAction;
+import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
@@ -67,7 +67,7 @@
@Autowired
private ShuttleAction shuttleAction;
@Autowired
- private ForkLiftAction forkLiftAction;
+ private LiftAction liftAction;
@Autowired
private NotifyUtils notifyUtils;
@Autowired
@@ -87,7 +87,7 @@
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
- List<List<MapNode>> lists = navigateMapData.getJsonData(lev, -1, null, 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.setData(JSON.toJSONString(lists));
@@ -183,7 +183,7 @@
//妫�娴嬮殰纰嶇墿杞�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
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;
@@ -374,7 +374,7 @@
//妫�娴嬮殰纰嶇墿杞�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
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;
@@ -383,6 +383,13 @@
//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;
}
@@ -429,99 +436,6 @@
return false;
}
return true;
- }
-
- /**
- * 鍥涘悜绌挎杞︿换鍔″畬鎴�
- */
- public synchronized void shuttleFinished() {
- try {
- 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());
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- 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
- ) {
- //灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo());
- if (wrkMast != null) {
- if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) {
- //5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) {
- //102.灏忚溅鎼繍涓� ==> 103.灏忚溅鎼繍瀹屾垚
- wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY.sts) {
- //302.灏忚溅绉诲姩鑷宠繎鐐逛腑 ==> 303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴�
- wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) {
- //304.灏忚溅杩佸叆鎻愬崌鏈轰腑 ==> 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴�
- wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) {
- //308.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 309.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
- if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) {
- continue;//灏忚溅鏈埌杈剧洰鏍囧眰
- }
- wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) {
- //310.灏忚溅绉诲姩涓� ==> 311.灏忚溅绉诲姩瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);
- shuttleThread.setSyncTaskNo(0);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//瑙﹀彂閫氱煡
- } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) {
- //204.灏忚溅鍏呯數涓� ==> 205.灏忚溅鍏呯數瀹屾垚
- wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts);
- shuttleThread.setSyncTaskNo(0);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//瑙﹀彂閫氱煡
- } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) {
- //502.灏忚溅鎼繍涓� ==> 509.绉诲簱瀹屾垚
- wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);
- shuttleThread.setSyncTaskNo(0);
- notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//瑙﹀彂閫氱煡
- } else {
- continue;
- }
-
- if (wrkMastService.updateById(wrkMast)) {
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- 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());
- }
- } else {
- Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo());
- if(object != null){
- ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class);
- if (!assignCommand.getAuto()) {
- //鎵嬪姩妯″紡
- //宸ヤ綔鍙锋竻闆�
- shuttleThread.setTaskNo(0);
- //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
- shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
- 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());
- }
- }
- }
- }
-
- }
- } catch (Exception e) {
- e.printStackTrace();
- }
}
/**
@@ -580,15 +494,29 @@
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())) {
+ //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�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
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;
@@ -599,9 +527,10 @@
assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.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.setLocNo(wrkMast.getLocNo());
//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.getDfxWithDevice(), assignCommand, shuttleThread);
+ 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;
@@ -720,65 +649,65 @@
if (liftNo == null) {
//鏈垎閰嶆彁鍗囨満
Integer staNo = wrkMast.getSourceStaNo();
- liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
+ 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 applyForkLift = forkLiftAction.applyForkLift(liftNo, wrkMast.getWrkNo());
- if(!applyForkLift) {
+ 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;
}
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
return false;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
return false;
}
- if (!forkLiftThread.isIdle()) {
+ 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 (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
+ 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 = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
+ 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�
- ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
+ 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.shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
+ assignCommand.setLiftNo(liftNo);
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(ForkLiftTaskModeType.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
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
}
return false;
}
@@ -795,7 +724,7 @@
//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
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ 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�
@@ -855,51 +784,51 @@
return false;
}
//鐢宠鎻愬崌鏈鸿祫婧�
- boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
- if(!applyForkLift) {
+ 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;
}
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
return false;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
return false;
}
- if (!forkLiftThread.isIdle()) {
+ 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 (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
+ 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 = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
+ 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�
- ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), 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.shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
+ assignCommand.setLiftNo(liftNo);
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(ForkLiftTaskModeType.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
@@ -907,7 +836,7 @@
wrkMast.setModiTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
}
return false;
}
@@ -1166,6 +1095,16 @@
continue;
}
+ 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;
@@ -1301,7 +1240,7 @@
return false;
}
- if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) {
+ 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());
@@ -1447,7 +1386,7 @@
//妫�娴嬮殰纰嶇墿杞�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
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;
@@ -1547,14 +1486,9 @@
}
//鑾峰彇婧愯緭閫佺珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
if (liftSta == null) {
return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欏瓨鍦ㄦ墭鐩�", wrkMast.getWrkNo());
- return false;
}
if (liftSta.getHasCar()) {
@@ -1563,14 +1497,9 @@
}
//鑾峰彇鐩爣杈撻�佺珯
- ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ LiftStaProtocol liftStaTarget = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
if (liftStaTarget == null) {
return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftStaTarget.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏", wrkMast.getWrkNo());
- return false;
}
if (liftStaTarget.getHasCar()) {
@@ -1652,14 +1581,9 @@
}
//鑾峰彇婧愯緭閫佺珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
if (liftSta == null) {
return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欏瓨鍦ㄦ墭鐩�", wrkMast.getWrkNo());
- return false;
}
if (liftSta.getHasCar()) {
@@ -1668,14 +1592,9 @@
}
//鑾峰彇鐩爣杈撻�佺珯
- ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ LiftStaProtocol liftStaTarget = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
if (liftStaTarget == null) {
return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftStaTarget.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏", wrkMast.getWrkNo());
- return false;
}
if (liftStaTarget.getHasCar()) {
@@ -1683,29 +1602,47 @@
return false;
}
- List<WrkMast> outWrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .eq("io_type", 101)
- .in("wrk_sts"
- , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
- , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
- , WrkStsType.OUTBOUND_LIFT_RUN.sts
- , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
- )
- );
- for (WrkMast outWrkMast : outWrkMastList) {
- if(Utils.getLev(outWrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽瓨鍦ㄦ鍦ㄦ墽琛岀殑灏忚溅鍑哄簱浠诲姟锛岀姝㈢Щ鍔ㄨ嚦绔欑偣", wrkMast.getWrkNo());
+ 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;
}
- if (wrkMast.getLiftNo() == null) {
- //鐢宠鎻愬崌鏈鸿祫婧�(璇ヤ换鍔￠渶瑕佹崲灞傚繀椤绘彁鍓嶇嫭鍗犳彁鍗囨満)
- boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
- if(!applyForkLift) {
- 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ㄨ嚦绔欑偣", wrkMast.getWrkNo());
- 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;
+ }
+
+ int targetLev = Utils.getLev(wrkMast.getLocNo());
+ if (liftProtocol.getLev() != targetLev) {
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ LiftCommand liftCommand = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), targetLev);
+ 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(ForkLiftTaskModeType.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());
return false;
}
@@ -1716,7 +1653,7 @@
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(), liftSta.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getCurrentLocNo(), NavigationMapType.getNormalWithDevice(), 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
@@ -1750,23 +1687,23 @@
//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) {
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
- if (forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
return false;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
return false;
}
- if (!forkLiftThread.isIdle()) {
+ 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
- ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
//鑾峰彇鐩爣绔�
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ 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
@@ -1778,23 +1715,23 @@
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- ForkLiftCommand liftCommand = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
+ 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().shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
+ assignCommand.setLiftNo(wrkMast.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(ForkLiftTaskModeType.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
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
}
}
return true;
@@ -1900,7 +1837,7 @@
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.getNormalWithDevice(), assignCommand, shuttleThread);
+ 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
@@ -1989,91 +1926,6 @@
// }
// }
// }
- }
-
- //鍑哄簱浠诲姟棰勮皟搴︽彁鍗囨満
- public void outTaskPreviewDispatchForkLift() {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .in("wrk_sts"
- , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
- ));
- for (WrkMast wrkMast : wrkMasts) {
- if(wrkMast.getShuttleNo() == null){
- continue;
- }
-
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if(shuttleProtocol.getCurrentLocNo() == null){
- continue;
- }
-
- //閫氳繃杈撻�佺嚎绔欏彿鑾峰彇鎻愬崌鏈哄彿
- Integer liftNo = ForkLiftUtils.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());
- continue;
- }
-
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
- continue;
- }
-
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
-
- //瀛樺湪璋冨害閿�
- Object object = redisUtil.get(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo());
- if (object != null) {
- continue;
- }
-
- //鐢宠鎻愬崌鏈鸿祫婧�
- boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, null);
- if(!applyForkLift) {
- continue;//鎻愬崌鏈哄凡琚粦瀹氾紝涓嶅啀鎵ц棰勮皟搴︿换鍔�
- }
-
- if (!forkLiftThread.isIdle()) {
- continue;
- }
-
- //鎻愬崌鏈轰笉鍦ㄥ嚭搴撳眰
- if (forkLiftProtocol.getLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
- continue;
- }
-
- //绉诲姩
- int workNo = commonService.getWorkNo(WrkIoType.FORKLIFT_MOVE.id);//鑾峰彇浠诲姟鍙�
-
- //鑾峰彇鎻愬崌鏈哄懡浠�
- ForkLiftCommand liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo()));
- ArrayList<ForkLiftCommand> 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(forkLiftProtocol.getLiftNo().shortValue());
- assignCommand.setTaskNo((short) workNo);
- assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue());
-
- forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
-
- redisUtil.set(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo(), "lock", 30);//30绉掍笉鍐嶈皟搴�
- }
}
}
--
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