From 74e0eb7a7e84b5006903e79554c007d9d5fbbcbc Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期四, 05 十月 2023 17:04:32 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 3492 ++++++++++++++++++++++++++++++----------------------------
1 files changed, 1,807 insertions(+), 1,685 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 54bd758..293d0d1 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -3,8 +3,8 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
+import com.baomidou.mybatisplus.mapper.Wrapper;
import com.core.common.Cools;
-import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
@@ -12,11 +12,9 @@
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;
@@ -73,6 +71,8 @@
@Autowired
private BasShuttleErrLogService basShuttleErrLogService;
@Autowired
+ private BasLiftErrLogService basLiftErrLogService;
+ @Autowired
private BasShuttleErrService basShuttleErrService;
@Autowired
private BasCrnErrorMapper basCrnErrorMapper;
@@ -95,7 +95,14 @@
@Autowired
private OrderDetlMapper orderDetlMapper;
@Autowired
+ private BasLiftService basLiftService;
+ @Autowired
+ private ShuttleDispatchUtils shuttleDispatchUtils;
+ @Autowired
private RedisUtil redisUtil;
+ @Autowired
+ private WrkMastLocMapper wrkMastLocMapper;
+
/**
* 缁勬墭
@@ -200,16 +207,17 @@
}
// 杩囨护鐩樼偣/鎷ｆ枡/骞舵澘浠诲姟
-// if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
-// continue;
-// }
+ WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode);
+ if (null != wrkMast1) {
+ 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;
-// }
+ WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
+ if (wrkMast2 != 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�={}", wrkMast2.getWrkNo());
+ continue;
+ }
try {
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -217,7 +225,7 @@
param.setBarcode(barcode);
param.setIoType(1);
param.setSourceStaNo(inSta.getStaNo());
-// param.setLocType1(locTypeDto.getLocType1());
+ param.setLocType1(locTypeDto.getLocType1());
String response = new HttpHandler.Builder()
.setUri(wmsUrl)
.setPath("/rpc/pakin/loc/v1")
@@ -231,14 +239,14 @@
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");
- }
+// 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());
@@ -260,10 +268,10 @@
}
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.setRollback102(1);//102绔欏洖閫�淇″彿
- devpThread.setPakMk(staProtocol.getSiteId(), false);
- MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
+// staProtocol.setWorkNo((short) 32002);
+// staProtocol.setRollback102(1);//102绔欏洖閫�淇″彿
+// devpThread.setPakMk(staProtocol.getSiteId(), false);
+// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
// led 寮傚父鏄剧ず
if (ledThread != null) {
@@ -382,6 +390,7 @@
/**
* 鎷ｆ枡銆佸苟鏉裤�佺洏鐐瑰啀鍏ュ簱
*/
+ @Transactional
public synchronized void stnToCrnStnPick(){
for (DevpSlave devp : slaveProperties.getDevp()) {
// 閬嶅巻鎷ｆ枡鍏ュ簱鍙�
@@ -397,24 +406,20 @@
}
if (staProtocol.isAutoing()
&& staProtocol.isLoading()
- // 0 - 9990 鎴栬�� 9996
- && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
- && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
+// && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999)
+// && 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;
-// }
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
+ if (barcodeThread == null) {
+ continue;
+ }
+ String barcode = barcodeThread.getBarcode();
WrkMast wrkMast = null;
- if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
- wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
- if (null == wrkMast) {
- continue;
- }
- } else {
+ wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
+ if (wrkMast == null) {
continue;
}
// if (staProtocol.getWorkNo() == 9996) {
@@ -454,6 +459,7 @@
// 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;
@@ -502,14 +508,20 @@
}
String sourceLocNo = wrkMast.getSourceLocNo().trim();
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//鑾峰彇鍥炲簱鎻愬崌鏈虹洰鏍囩珯
+ if (liftStaProtocol == null) {
+ continue;
+ }
+
// 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.setStaNo(dto.getStaNo()); // 鐩爣绔�
+// wrkMast.setCrnNo(dto.getCrnNo());
+ wrkMast.setStaNo(liftStaProtocol.getStaNo());//鐩爣绔�
+ wrkMast.setLocNo(sourceLocNo); // 鐩爣搴撲綅 = 鍑哄簱鏃剁殑婧愬簱浣�
+ wrkMast.setShuttleNo(null); // 绌挎杞︽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�");
@@ -518,14 +530,24 @@
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());
+ // 淇敼搴撲綅鐘舵�� Q.鎷ｆ枡/鐩樼偣/骞舵澘鍐嶅叆搴�
+ LocMast locMast = locMastService.selectById(sourceLocNo);
+ locMast.setLocSts("Q");
+ locMast.setModiTime(new Date());
+ if (!locMastService.updateById(locMast)) {
+ throw new CoolException("淇敼搴撲綅鐘舵�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());
+// }
+
+ barcodeThread.setBarcode("");//娓呯悊鏉＄爜
} else if (code == 500){
if (ledThread != null) {
@@ -536,10 +558,10 @@
}
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));
+// 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) {
@@ -564,7 +586,7 @@
* 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�
+ for (int i = 1; i <= 10; 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);
@@ -628,11 +650,11 @@
}
Short shuttleNo = redisCommand.getShuttleNo();
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
@@ -641,7 +663,7 @@
}
//鍥涘悜绌挎杞﹀浜庣┖闂茬姸鎬侊紝杩涜浠诲姟鐨勬仮澶�
- shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
+ shuttleProtocol.setTaskNo(redisCommand.getWrkNo().intValue());//灏嗗洓鍚戠┛姊溅绾跨▼鍒嗛厤浠诲姟鍙�
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//宸ヤ綔鐘舵��
}
}
@@ -651,806 +673,247 @@
/**
* 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) {
- continue;
- } else {
- staProtocol = staProtocol.clone();
- }
- Short workNo = staProtocol.getWorkNo();
+ public synchronized void shuttleInExecute() {
+ List<WrkMast> wrkMasts = wrkMastMapper.selectInStep4();
+ for (WrkMast wrkMast : wrkMasts) {
+ //鑾峰彇婧愮珯
+ BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
+ if (sourceBasDevp == null) {
+ continue;//绔欑偣涓嶅瓨鍦�
+ }
- // 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;
- ShuttleProtocol shuttleProtocol = null;
- HashMap<String, Object> searchIdleShuttle = null;
+ //鑾峰彇鐩爣绔�
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
+ if (liftStaProtocol == null) {
+ continue;//绔欑偣涓嶅瓨鍦�
+ }
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ // 鍒ゆ柇鏄惁婊¤冻鍏ュ簱鏉′欢锛岃嚜鍔ㄣ�佺┖闂层�佹湁鐗�
+ if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
+ continue;
+ }
- if (wrkMast.getWrkSts() == 4) {
- if (wrkMast.getShuttleNo() == null) {
- //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");
- wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
- wrkMastMapper.updateById(wrkMast);
- shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle()) {
- continue;
- }
- }else {
- //鐩存帴浣跨敤浠诲姟淇濆瓨涓殑灏忚溅
- shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle(workNo)) {
- continue;
- }
- }
- }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);
- shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle(workNo)) {
- continue;
- }
- }
-
- if (shuttleThread == null) {
- continue;
- }
-
- if (shuttleProtocol == null) {
- 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() == 4) {
- if (currentLev == Utils.getLev(locNo)) {
- //灏忚溅鍜岀洰鏍囧湪鍚屼竴妤煎眰
- //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�
- }
- 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 {
- //灏忚溅鍜岀洰鏍囦笉鍦ㄥ悓涓�妤煎眰
- //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(), 1600, ShuttleRunDirection.TOP.id, null, null, 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��
- }
- } else if (wrkMast.getWrkSts() == 8) {
- //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�
- }
-
- //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, 1600, runDirection, null, null, 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�
- }
-
-// 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, 1600, runDirection, startCode, 1600, 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(), 1600, ShuttleRunDirection.TOP.id, endStartCode, 1600, 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));
- }
- }
-
- }
- }
-
+ boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//灏忚溅鎼叆搴撲腑
+ if (!step1) {
+ continue;
}
}
-
}
- //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 ===>> 鍥涘悜绌挎杞﹀叆搴撲綔涓氫笅鍙�
+// */
+// public synchronized void shuttleInExecute() {
+// // 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) {
+// continue;
+// } else {
+// staProtocol = staProtocol.clone();
+// }
+// Short workNo = staProtocol.getWorkNo();
+// BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
+// if (basDevp == null) {
+// continue;//绔欑偣淇℃伅涓嶅瓨鍦�
+// }
+//
+// // 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())) {
+// continue;
+// }
+//
+// WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId());
+// if (wrkMast == null) {
+// continue;
+// }
+//
+// boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//灏忚溅鎼叆搴撲腑
+// if (!step1) {
+// continue;
+// }
+//
+// }
+// }
+//
+// }
- //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, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo)));
- List<ShuttleCommand> commands = new ArrayList<>();
- if (calc == null) {
- return null;
- }
- if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
- 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 = null;
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = null;
- Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 3);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 2);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ /**
+ * 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 boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) {
+ if (wrkMast.getWrkSts() == 4) {
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.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�
+ return false;
}
- //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�
- //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 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;
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
}
- }
-
- 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, null);//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) {
- if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
- return null;
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+ if (shuttleProtocol.getToken() != 0) {
+ return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
}
- 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 = null;
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = null;
- Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 3);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 2);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- }
-
- //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�
-
- //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 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);
- }
- }
-
- //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, null);//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;
- }
- if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//妫�娴嬬┛姊溅琛岃蛋璺緞锛屾槸鍚﹀瓨鍦ㄥ叾浠栧皬杞︼紝濡傛湁鍏朵粬灏忚溅鍒欒繘琛岃皟绂�
- 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 = null;
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- Short middleCodeNum = null;
- Integer middleToDistDistance = null;//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- if (nodes.size() > 10) {//涓鐮佷紶鍊掓暟绗笁涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 3);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
- } else if (nodes.size() > 5) {//涓鐮佷紶鍊掓暟绗簩涓�
- //涓棿璺緞
- middlePath = nodes.get(nodes.size() - 2);
- //閫氳繃xy鍧愭爣灏忚溅浜岀淮鐮�
- middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ());
- middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes, middlePath);//璁＄畻涓棿鐐瑰埌鐩爣鐐硅璧拌窛绂�
+ //鍒ゆ柇灏忚溅鏄惁瀛樺湪绉诲姩浠诲姟
+ WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo());
+ if (hasMoveWorking != null) {
+ return false;//瀛樺湪绉诲姩浠诲姟锛岀姝㈡墽琛屽叆搴撲换鍔�
}
- //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�
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪杈撻�佺珯鐐瑰簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
+ //灏忚溅涓嶅湪杈撻�佺珯鐐逛綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.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�
+ return false;
+ }
- //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 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);
+ //灏忚溅宸叉姷杈捐緭閫佺珯鐐逛綅缃紝杩涜鎼繍璐х墿
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(5L);//4.鎻愬崌鏈烘惉杩愬畬鎴� => 5.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰灏忚溅浠ょ墝
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+
+ 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℃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() {
+ public synchronized void shuttleOutExecute() {
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) {
- if (wrkMast.getShuttleNo() == null) {
- //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");
- if (shuttleThread == null) {
- continue;
- }
- wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
- wrkMastMapper.updateById(wrkMast);
- }else {
- //鐩存帴浣跨敤浠诲姟淇濆瓨涓殑灏忚溅
- shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- }
- }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�
- Short liftLev = liftProtocol.getLev();//鎻愬崌鏈烘墍鍦ㄦゼ灞�
- if (liftLev == null) {//鎻愬崌鏈哄彲鑳藉湪杈撻�佺嚎妤煎眰
- continue;
- }
- if (liftLev.intValue() != 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 (outStaLocNo == null) {
- continue;
- }
-
- if (wrkMast.getWrkSts() == 21) {
-
- if (!shuttleProtocol.isIdle()) {
- continue;
- }
-
- //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 (currentLev == Utils.getLev(wrkMast.getSourceLocNo())) {
- //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;
- }
-
- //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(), 1600, ShuttleRunDirection.TOP.id, null, null, 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) {
- if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
- continue;
- }
-
- 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);
-
- List<ShuttleCommand> commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread);
- if (commands == null) {
- continue;//鏈壘鍒拌矾寰�
- }
-
- //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, 1600, commands.get(0).getRunDirection(), null, null, 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));
- }
- }
-
- }
+ boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//灏忚溅鎼嚭搴撲腑
+ if (!step1) {
+ continue;
}
}
}
/**
- * 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 boolean shuttleOutExecuteStep1(WrkMast wrkMast) {
+ //21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+ if (wrkMast.getWrkSts() == 21) {
+ EntityWrapper<StaDesc> wrapper = new EntityWrapper<>();
+ wrapper.eq("type_no", wrkMast.getIoType());//璺緞绫诲瀷
+ wrapper.eq("stn_no", wrkMast.getStaNo());//鍑哄簱绔欑偣缂栧彿
+ StaDesc staDesc = staDescService.selectOne(wrapper);
+ if (staDesc == null) {
+ return false;//鍑哄簱璺緞涓嶅瓨鍦�
+ }
- 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
+ //鑾峰彇鍑哄簱绔欑偣
+ BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
+ if (basDevp == null) {
+ return false;//鍑哄簱绔欑偣涓嶅瓨鍦�
+ }
- //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() == 1 || wrkMast.getIoType() == 10) {
- //鍏ュ簱
- distLocNo = Utils.levToOutInStaLocNo(lev);
- }else if(wrkMast.getIoType() == 101 || wrkMast.getIoType() == 103){
- //鍑哄簱
- distLocNo = locNo;
- } else if (wrkMast.getIoType() == 11) {
- //搴撲綅绉昏浆
- distLocNo = wrkMast.getSourceLocNo();
- }
+ if (!basDevp.getOutEnable().equals("Y")) {
+ return false;//鍑哄簱绔欑偣涓嶅彲鍑�
+ }
- //鍒ゆ柇褰撳墠浠诲姟鎵�鍦ㄦゼ灞傛槸鍚︽湁鍏朵粬浠诲姟宸茬粡鍒嗛厤浜嗗皬杞︼紝濡傛湁鍒欑洿鎺ョ敤璇ュ皬杞�(涓�灞傛ゼ浠呭垎閰嶄竴鍙拌溅)
- List<WrkMast> wrkMasts = wrkMastService.selectShuttleWrkByLev(lev);//鍒ゆ柇褰撳墠绌挎杞︽ゼ灞傛槸鍚﹀凡鏈夊垎閰嶈溅杈嗙殑浠诲姟锛屽鏋滄湁鍒欏垎閰嶈繖杈嗚溅
- if (wrkMasts.size() > 0) {
- //瀛樺湪鍏朵粬浠诲姟锛屽垎閰嶈繖杈嗚溅
- WrkMast wrkMast1 = wrkMasts.get(0);
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast1.getShuttleNo());
+ //鑾峰彇婧愮珯
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
+ if (liftStaProtocol == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
- map.put("sameLay", true);//鍚屽眰
- map.put("result", shuttleThread);
- return map;
- }
+ if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) {
+ return false;//绔欑偣蹇呴』鑷姩銆佺┖闂层�佹病鏈夋墭鐩�
+ }
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ if (wrkMast.getShuttleNo() == null) {//娌℃湁缁戝畾灏忚溅锛岃繘琛岃皟搴�
+ 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�
+ 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;
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
}
if (!shuttleProtocol.isIdle()) {
- continue;
+ return false;
+ }
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+ if (shuttleProtocol.getToken() != 0) {
+ return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
}
- String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//浜岀淮鐮佸搴斿簱浣嶅彿
- if (shuttleLocNo == null) {
- continue;
+ //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�
+ return false;
}
- if (shuttleLocNo.equals(distLocNo)) {
- //杞﹁締褰撳墠浣嶇疆宸茬粡鏄洰鏍囧簱浣嶏紝鏃犻渶璁＄畻
- map.put("sameLay", true);//鍚屽眰
- map.put("result", shuttleThread);
- return map;
+ //灏忚溅宸叉姷杈捐揣鐗╀綅缃紝杩涜鎼繍璐х墿
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//灏嗚揣鐗╂惉杩愯嚦鎻愬崌鏈鸿緭閫佺珯鐐�
+ if (result == null) {//鍑哄簱璺緞璁＄畻澶辫触
+ return false;
}
- 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_OUT.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+ wrkMast.setWrkSts(22L);//21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰灏忚溅浠ょ墝
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ return false;
}
-
- Integer recentAllDistance = 9999999;
- 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) {
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
- //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, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- if (currentShuttlePath == null) {
- continue;
- }
- 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) {
-
- //褰撳墠绌挎杞﹀簱浣嶅彿
- String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo();
- int currentLev = Utils.getLev(currentLocNo);
- List<WrkMast> wrkMasts1 = wrkMastService.selectNoShuttleWrkByLev(currentLev);//鍒ゆ柇褰撳墠绌挎杞︽ゼ灞傛槸鍚︽湁寰呭垎閰嶈溅杈嗙殑浠诲姟锛屽鏋滄湁鍒欎笉鍒嗛厤杩欒締杞�
- if (wrkMasts1.size() > 0) {
- //瀛樺湪鍏朵粬浠诲姟锛岃烦杩囪繖杈嗚溅
- continue;
- }
-
- //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, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//鎼滅储绌洪棽绌挎杞︼紝浣跨敤姝ｅ父閫氶亾鍦板浘
- if (currentShuttlePath == null) {
- continue;
- }
-
- 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;
}
/**
@@ -1459,142 +922,104 @@
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();
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ NyShuttleProtocol 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
+ && shuttleProtocol.getFree() == ShuttleStatusType.IDLE.id
) {
- //鏍囪澶嶄綅
- shuttleProtocol.setPakMk(true);
-
- ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
-
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
- ShuttleAssignCommand moveAssignCommand = null;//閬胯鍛戒护
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo());
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);
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
- 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
- //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�
- //鎼滅储涓�鏉℃病鏈夊皬杞︾殑绌哄贩閬擄紝骞惰皟搴﹀皬杞�
- int distLev = Utils.getLev(wrkMast.getSourceLocNo());//閬胯妤煎眰
- String startLocNo = "180020" + distLev;
- moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo);
- if (moveAssignCommand == null) {//璋冨害灏忚溅鍛戒护涓虹┖
- continue;
+ case 5://5.灏忚溅鎼繍涓� ==> 9.鍏ュ簱瀹屾垚
+ wrkMast.setWrkSts(9L);
+ shuttleProtocol.setTaskNo(0);
+ if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ //閲婃斁灏忚溅浠ょ墝
+ shuttleProtocol.setToken(0);
}
-
- wrkMast.setWrkSts(27L);
- //浠诲姟鍙锋竻闆�
- shuttleProtocol.setTaskNo((short) 0);
+ break;
+ case 22://22.灏忚溅鎼繍涓� ==> 23.灏忚溅鎼繍瀹屾垚
+ wrkMast.setWrkSts(23L);
+ shuttleProtocol.setTaskNo(0);
+ if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ //閲婃斁灏忚溅浠ょ墝
+ shuttleProtocol.setToken(0);
+ }
+ break;
+ case 102://102.灏忚溅绉诲姩鑷崇珯鐐� ==> 103.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴�
+ wrkMast.setWrkSts(103L);
+ break;
+ case 104://104.灏忚溅杩佸叆鎻愬崌鏈轰腑 ==> 105.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(105L);
+ shuttleProtocol.setTaskNo(0);//娓呯悊宸ヤ綔鍙�
+ break;
+ case 108://108.灏忚溅杩佸嚭鎻愬崌鏈轰腑 ==> 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴�
+ wrkMast.setWrkSts(109L);
+ break;
+ case 110://110.灏忚溅绉诲姩涓� ==> 111.灏忚溅绉诲姩瀹屾垚
+ wrkMast.setWrkSts(111L);
+ shuttleProtocol.setTaskNo(0);
+ if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ //閲婃斁灏忚溅浠ょ墝
+ shuttleProtocol.setToken(0);
+ }
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);
- //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());
-
- if (wrkMast.getWrkSts() == 27) {
- if (moveAssignCommand != null) {
- try {
- Thread.sleep(4000);
- //涓嬪彂浠诲姟
- shuttleProtocol.setPakMk(true);
- MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand));
- } catch (InterruptedException e) {
- throw new RuntimeException(e);
- }
+ if (wrkMast.getWrkSts() == 111) {
+ // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+ if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
+ log.info("淇濆瓨宸ヤ綔鍘嗗彶妗workNo={0}]澶辫触", wrkMast.getWrkNo());
+ }
+ // 鍒犻櫎宸ヤ綔涓绘。
+ if (!wrkMastService.deleteById(wrkMast)) {
+ log.info("鍒犻櫎宸ヤ綔涓绘。[workNo={0}]澶辫触", wrkMast.getWrkNo());
}
}
- } 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());
- }
- }
-
- if (assignCommand != null) {
- if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) {
- //閬胯浠诲姟
//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﹂伩璁╀换鍔″凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
- }
- }
-
- }
-
- //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());
}
+ }else {
+ ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand();
+ if (!assignCommand.getAuto()) {
+ //鎵嬪姩妯″紡
+ //宸ヤ綔鍙锋竻闆�
+ shuttleProtocol.setTaskNo(0);
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //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);
+ //娓呴浂浠ょ墝
+ shuttleProtocol.setToken(0);
+ 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());
+ }
}
+
}
}
@@ -1614,19 +1039,18 @@
continue;
}
+ if (!liftProtocol.isIdle()) {
+ 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()) {
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚﹁鍗犵敤
+ if (liftProtocol.getToken() != 0) {
continue;
}
//鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
- List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep262327();
- if (wrkMasts.size() == 0) {
+ List<WrkMast> wrkMasts = wrkMastMapper.selectLiftStep223103();
+ if (wrkMasts.isEmpty()) {
continue;
}
@@ -1637,243 +1061,212 @@
continue;
}
- //鍛戒护list
- ArrayList<LiftCommand> commands = new ArrayList<>();
-
- 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();
+ boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//鎻愬崌鏈哄叆搴�
+ if (!stepIn) {
+ continue;
}
- 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;
- }
-
- //鑾峰彇鐩爣绔�
- StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());
- if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//鐩爣绔欐湁鐗╋紝涓嶅彲鍏ワ紝绂佹鍒嗛厤浠诲姟
- 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.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
- 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(wrkMast.getWrkNo().shortValue())) {
- 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.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
- 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(wrkMast.getWrkNo().shortValue())) {
- 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.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
- 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);
- command3.setDevpId(devpId);//杈撻�佺嚎ID
- 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);//杈撻�佺嚎ID
- 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.setLiftNo(liftProtocol.getLiftNo().intValue());//璁剧疆鎻愬崌鏈哄彿鐢ㄤ簬閿佸畾鎻愬崌鏈洪槻姝㈣鍏朵粬浠诲姟鍗犵敤
- 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�
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(liftProtocol.getLiftNo());
- assignCommand.setTaskNo(liftProtocol.getTaskNo());
- if (wrkMastMapper.updateById(wrkMast) > 0) {
- //涓嬪彂浠诲姟
- MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//鎻愬崌鏈哄嚭搴�
+ if (!stepOut) {
+ continue;
}
}
}
+ }
+
+ /**
+ * 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();
+
+ //2.璁惧涓婅蛋 ==> 3.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == 2) {
+ //鑾峰彇婧愮珯
+ BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
+ if (sourceBasDevp == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (!sourceBasDevp.getInEnable().equals("Y")) {
+ return false;//绔欑偣涓嶅彲鍏�
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle()) {
+ return false;
+ }
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︽湭琚崰棰�
+ if (liftProtocol.getToken() != 0) {
+ return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夊皬杞�
+ if (liftProtocol.getHasCar()) {
+ return false;//鏈夊皬杞︼紝绂佹娲惧彂
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夋墭鐩�
+ if (liftProtocol.getHasTray()) {
+ return false;//鏈夋墭鐩橈紝绂佹娲惧彂
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+ if (liftWrkMast != null) {
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勭墰鐪兼彁鍗囨満绔欑偣缂栧彿(璧风偣缂栧彿)
+ Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue());
+ //鑾峰彇鎻愬崌鏈虹珯鐐�
+ LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
+ if (targetStaProtocol == null) {
+ return false;//绔欑偣涓嶅瓨鍦�
+ }
+
+ if (targetStaProtocol.getHasTray()) {
+ return false;//鎻愬崌鏈虹珯鐐规湁鎵樼洏锛岀姝㈡淳鍙�
+ }
+
+ Integer targetSta = targetStaProtocol.getStaNo();
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
+ if (wrkMast.getIoType() == 53) {
+ //鎷ｆ枡鍐嶅洖搴擄紝閲嶆柊鍒嗛厤璁惧宸ヤ綔鍙�
+ Random random = new Random();
+ int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//鑾峰彇璁惧宸ヤ綔鍙�
+ liftCommand.setTaskNo((short) deviceWrk);
+ }
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+
+ wrkMast.setWrkSts(3L);//2.璁惧涓婅蛋 ==> 3.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+ wrkMast.setModiTime(now);
+ liftProtocol.setToken(wrkMast.getWrkNo());//鐙崰鎻愬崌鏈轰护鐗�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+
+ 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�-----------------------------------------//
+ Date now = new Date();
+
+ //23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == 23) {
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+
+ //璋冨害灏忚溅閬胯
+ boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
+ if (!result) {
+ return false;
+ }
+
+ //鑾峰彇鍑哄簱绔欑偣(鐩爣绔�)
+ BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
+ if (basDevp == null) {
+ return false;//鍑哄簱绔欑偣涓嶅瓨鍦�
+ }
+
+ if (!basDevp.getOutEnable().equals("Y")) {
+ return false;//鍑哄簱绔欑偣涓嶅彲鍑�
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle()) {
+ return false;
+ }
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︽湭琚崰棰�
+ if (liftProtocol.getToken() != 0) {
+ return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+ }
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+ if (liftWrkMast != null) {
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勭墰鐪兼彁鍗囨満绔欑偣缂栧彿(璧风偣缂栧彿)
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getSourceLocNo()));
+ if (liftStaProtocol == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+ Integer startSta = liftStaProtocol.getStaNo();
+
+ //鑾风洰鏍囩珯婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
+ if (targetBasDevp == null) {
+ return false;//绔欑偣涓嶅瓨鍦�
+ }
+ //鑾峰彇鐗涚溂鎻愬崌鏈虹珯鐐圭紪鍙�(鐩爣缂栧彿)
+ Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue());
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+
+ wrkMast.setWrkSts(24L);//23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+ wrkMast.setModiTime(now);
+ liftProtocol.setToken(wrkMast.getWrkNo());//鐙崰鎻愬崌鏈轰护鐗�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+
+ return false;
+ }
+ return true;
}
/**
@@ -1891,66 +1284,38 @@
//鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
&& liftProtocol.getTaskNo() != 0
- && !liftProtocol.getRunning()
+ && !liftProtocol.getBusy()
) {
-
- 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();
- }
-
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue());
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
if (wrkMast != null) {
- //鍒ゆ柇鎻愬崌鏈烘槸鍚﹀埌杈句换鍔℃ゼ灞�
- String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
- int lev = Utils.getLev(locNo);//浠诲姟鐩爣妤煎眰
-
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
-
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�
- if (liftProtocol.getLev().intValue() != lev) {
- continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
- }
- //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);
- //浠诲姟鍙锋竻闆�
- liftProtocol.setTaskNo((short) 0);
- wrkMast.setLiftNo(null);//鎻愬崌鏈鸿В閿�
- 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�
- if (liftProtocol.getLev().intValue() != lev) {
- continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ //閲婃斁鎻愬崌鏈轰护鐗�
+ liftProtocol.setToken(0);
}
- 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�
- if (liftProtocol.getLev().intValue() != lev) {
- continue;//鎻愬崌鏈烘病鏈夊埌杈剧洰鏍�
- }
+ case 24://24.鎻愬崌鏈烘惉杩愪腑 ==> 25.鎻愬崌鏈烘惉杩愬畬鎴�
wrkMast.setWrkSts(25L);
- break;
- case 28://28.鎻愬崌鏈烘惉杩愪腑 ==> 29.鎻愬崌鏈烘惉杩愬畬鎴�
- if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) {
- continue;//鎻愬崌鏈烘槸鍚﹁揪鍒拌緭閫佺嚎妤煎眰
+ if (wrkMast.getIoType() == 11) {//搴撲綅绉昏浆
+ wrkMast.setWrkSts(4L);//4.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);
- wrkMast.setLiftNo(null);//鎻愬崌鏈鸿В閿�
+ if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ //閲婃斁鎻愬崌鏈轰护鐗�
+ liftProtocol.setToken(0);
+ }
+
+ if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) {
+ //涓嶉渶瑕佺敤鍒版満姊拌噦锛岀洿鎺ヨ浆29.鍑哄簱瀹屾垚
+ wrkMast.setWrkSts(29L);
+ }
+
+ break;
+ case 106://106.鎻愬崌鏈烘惉杩愪腑 ==> 107.鎻愬崌鏈烘惉杩愬畬鎴�
+ wrkMast.setWrkSts(107L);
break;
default:
}
@@ -1964,52 +1329,19 @@
} 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());
}
- }
-
- //鏌ヨ鏄惁鏈夊厖鐢典换鍔�
- WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
- if (wrkCharge != null) {
- //鏍囪澶嶄綅
- liftProtocol.setPakMk(true);
-
- 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:
- }
-
- 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());
+ }else {
+ LiftAssignCommand assignCommand = liftProtocol.getAssignCommand();
+ if (assignCommand != null) {
+ if (!assignCommand.getAuto()) {
+ //鎵嬪姩鎿嶄綔
+ //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("鎻愬崌鏈哄凡纭鎵嬪姩鎿嶄綔銆傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
+ }
}
}
-
- //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);
- //鍒ゆ柇鏄惁涓哄洓鍚戠┛姊溅璋冨害鎻愬崌鏈猴紝濡傛槸鍒欐棤闇�娓呯悊浠诲姟鍙�
- if (!liftProtocol.getSecurityMk()) {
- //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());
- }
-
}
}
}
@@ -2028,106 +1360,31 @@
//鏌ヨ搴撲綅绉昏浆宸ヤ綔妗�
List<WrkMast> wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast();
for (WrkMast wrkMast : wrkMasts1) {
-
- boolean step1 = this.locToLocExecuteStep1(wrkMast);//缁戝畾灏忚溅
- if (!step1) {
- continue;
- }
-
- boolean step2 = this.locToLocExecuteStep2(wrkMast);//璋冨害灏忚溅鍒扮洰鏍囨ゼ灞�
- if (!step2) {
- continue;
- }
-
- boolean step3 = this.locToLocExecuteStep3(wrkMast);//鍚屾ゼ灞傚簱浣嶇Щ杞�
- if (!step3) {
- continue;
- }
-
- }
- }
-
- /**
- * 缁戝畾灏忚溅骞惰皟搴﹁溅
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
- */
- private boolean locToLocExecuteStep1(WrkMast wrkMast) {
- if (wrkMast.getShuttleNo() == null) {//缁欏簱浣嶇Щ杞粦瀹氱┛姊溅鍙�
- //瀵绘壘鏈�杩戜笖绌洪棽鐨勫洓鍚戠┛姊溅
- HashMap<String,Object> searchIdleShuttle = this.searchIdleShuttle(wrkMast);
- ShuttleThread shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
- if (shuttleThread == null) {
- //娌℃湁鎵惧埌绌洪棽绌挎杞�
- return false;
- }
- wrkMast.setShuttleNo(shuttleThread.getSlave().getId());//缁欏伐浣滄。鍒嗛厤鍥涘悜绌挎杞﹀彿
- wrkMastMapper.updateById(wrkMast);
- }
- return true;
- }
-
- /**
- * 璋冨害灏忚溅鍒扮洰鏍囨ゼ灞�
- * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
- * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
- */
- private boolean locToLocExecuteStep2(WrkMast wrkMast) {
- if (wrkMast.getWrkSts() == 1 && wrkMast.getShuttleNo() != null) {
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
- return false;//灏忚溅澶勪簬涓嶇┖闂茬姸鎬�
- }
-
- String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅褰撳墠搴撲綅鍙�
- int shuttleLev = Utils.getLev(currentLocNo);//灏忚溅鎵�鍦ㄦゼ灞�
-
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
-
- //鍒ゆ柇灏忚溅鏄惁鍐嶇洰鏍囨ゼ灞�
- if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
- //灏忚溅鍜岀洰鏍囦笉鍦ㄥ悓涓�妤煎眰
-
- //鎻愬崌鏈哄彛绔欑偣搴撲綅鍙�
- String liftSiteLocNo = Utils.levToOutInStaLocNo(shuttleLev);
-
- //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�
- assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
-
- //灏忚溅绉诲姩鍒版彁鍗囨満鍙ｏ紝璁＄畻璺緞
- List<ShuttleCommand> commands = this.shuttleAssignCommand(shuttleProtocol.getLocNo(), liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread);
- if (commands == null) {
- return false;//鏈壘鍒拌矾寰�
+ if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
+ boolean step1 = this.locToLocExecuteStep1(wrkMast);//鍚屾ゼ灞傚簱浣嶇Щ杞�
+ if (!step1) {
+ continue;
+ }
+ }else {
+ //璺ㄦゼ灞傚簱浣嶇Щ杞�
+ boolean step2 = this.locToLocExecuteStep2(wrkMast);//璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鍑哄簱鍙�
+ if (!step2) {
+ continue;
}
- //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(), 1600, ShuttleRunDirection.TOP.id, null, null, 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));
+ boolean step3 = this.locToLocExecuteStep3(wrkMast);//鎻愬崌鏈烘惉杩愯揣鐗�
+ if (!step3) {
+ continue;
}
+
+ boolean step4 = this.locToLocExecuteStep4(wrkMast);//璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鍑哄簱鍙�
+ if (!step4) {
+ continue;
+ }
+
}
+
}
- return true;
}
/**
@@ -2135,108 +1392,256 @@
* 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
* ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
*/
- private boolean locToLocExecuteStep3(WrkMast wrkMast) {
- if (wrkMast.getShuttleNo() == null) {
- return false;
- }
+ private boolean locToLocExecuteStep1(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == 21) {//21.鐢熸垚鍑哄簱浠诲姟
+ if (wrkMast.getShuttleNo() == null) {
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
- if (!shuttleProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
- return false;//灏忚溅澶勪簬涓嶇┖闂茬姸鎬�
- }
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1);
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪婧愬簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //灏忚溅涓嶅湪婧愬簱浣嶄綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
- DevpThread devpThread = null;
- for (DevpSlave devp : slaveProperties.getDevp()){
- // 鑾峰彇鍏ュ簱绔欎俊鎭�
- devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
- }
-
- //鍒ゆ柇灏忚溅鏄惁鍦ㄥ伐浣滄。浠诲姟鐩爣妤煎眰
- String currentLocNo = shuttleProtocol.getCurrentLocNo();//灏忚溅褰撳墠搴撲綅鍙�
- int shuttleLev = Utils.getLev(currentLocNo);//灏忚溅鎵�鍦ㄦゼ灞�
- if (shuttleLev != Utils.getLev(wrkMast.getLocNo())) {
- return false;//涓嶅湪鍚屼竴妤煎眰
- }
-
- if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 8) {
- //璋冨害灏忚溅鎵ц鍚屾ゼ灞傜Щ搴撲换鍔�
+ //灏忚溅宸叉姷杈炬簮搴撲綅锛岃繘琛屾惉杩愯揣鐗�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
//鍒涘缓鍒嗛厤鍛戒护
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ嚭搴撴ā寮�
- assignCommand.setSourceLocNo(currentLocNo);//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//鍏ュ簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
- List<ShuttleCommand> commands = new ArrayList<>();
-
- if (wrkMast.getWrkSts() == 8) {//8.鎻愬崌鏈鸿縼绉诲皬杞﹀畬鎴愶紝闇�瑕佸皢灏忚溅绉诲嚭鎻愬崌鏈�
- //鍒ゆ柇鎻愬崌鏈烘槸鍚︾┖闂�
- if (!liftProtocol.isIdleNoTask()) {
- return false;//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()) {
- return false;
- }
-
- //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) {
- return false;//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) {
- return false;//绔欑偣淇℃伅涓嶅瓨鍦�
- }
- if (!staProtocol1.isLiftArrival()) {
- return false;//绔欑偣鎻愬崌鏈哄埌浣嶄俊鍙穎alse
- }
-
- 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, 1600, runDirection, null, null, 500);
- commands.add(0, moveCommand);//灏嗚鎸囦护娣诲姞鍒伴槦澶�
-
- currentLocNo = basDevp.getLocNo();//浣跨敤杈撻�佺珯鐐瑰彛浣滀负璧风偣鍧愭爣
- }
-
- //鐩存帴璁＄畻杞﹀埌婧愬簱浣嶅埌鐩爣搴撲綅璺緞
- List<ShuttleCommand> commands1 = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), wrkMast.getLocNo(), assignCommand, shuttleThread);
- if (commands1 == null) {
- return false;//鎵句笉鍒拌矾寰勭瓑寰呬笅涓�娆�
- }
- commands.addAll(commands1);
-
- //鍒嗛厤浠诲姟鍙�
- shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
- //鍒嗛厤婧愬簱浣�
- shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
-
- 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�
+ wrkMast.setWrkSts(5L);//21.鐢熸垚鍑哄簱浠诲姟 => 5.灏忚溅鎼繍涓�
+ wrkMast.setModiTime(new Date());
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
}
- }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 璺ㄦゼ灞傚簱浣嶇Щ杞�-璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鍑哄簱鍙�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean locToLocExecuteStep2(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == 21) {//21.鐢熸垚鍑哄簱浠诲姟
+ if (wrkMast.getShuttleNo() == null) {
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪婧愬簱浣�
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //灏忚溅涓嶅湪婧愬簱浣嶄綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒版簮搴撲綅杩涜鍙栬揣
+ return false;
+ }
+
+ //鑾峰彇绌挎杞︽渶杩戜笖绌洪棽鐨勬彁鍗囨満杈撻�佺珯鐐�
+ LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId());
+ if (liftSta == null) {
+ return false;//娌℃湁鍙敤涓旂┖闂茬殑杈撻�佺珯鐐�
+ }
+ //婧愮珯
+ Integer sourceStaNo = liftSta.getStaNo();
+ //鎻愬崌鏈哄彿*100+鐩爣妤煎眰=鐩爣绔欑偣
+ Integer staNo = liftSta.getLiftNo() * 100 + Utils.getLev(wrkMast.getLocNo());//鐩爣绔�
+
+ //灏忚溅宸叉姷杈炬簮搴撲綅锛屽皢璐х墿鎼繍鍒拌緭閫佺珯鐐�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//搴撲綅绉昏浆妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(22L);//21.鐢熸垚鍑哄簱浠诲姟 => 22.灏忚溅鎼繍涓�
+ wrkMast.setSourceStaNo(sourceStaNo);//婧愮珯
+ wrkMast.setStaNo(staNo);//鐩爣绔�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 璺ㄦゼ灞傚簱浣嶇Щ杞�-鎻愬崌鏈烘惉杩愯揣鐗�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean locToLocExecuteStep3(WrkMast wrkMast) {
+ Date now = new Date();
+ if (wrkMast.getWrkSts() == 23) {//23.灏忚溅鎼繍瀹屾垚
+ //鑾峰彇鎻愬崌鏈虹嚎绋�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftProtocol.isIdle()) {
+ return false;
+ }
+
+ //鎼滅储鏄惁鏈夊叾浠栦换鍔″崰鐢ㄤ簡鎻愬崌鏈猴紝濡傛灉鍗犵敤鎻愬崌鏈虹殑浠诲姟鍜屽綋鍓嶄换鍔＄浉鍚岋紝鍒欒繍琛屾墽琛�
+ WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue());
+ if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) {
+ return false;
+ }
+
+ //婧愮珯
+ Integer sourceStaNo = wrkMast.getSourceStaNo();
+ //鐩爣绔�
+ Integer staNo = wrkMast.getStaNo();
+ if (sourceStaNo == null || staNo == null) {
+ return false;//婧愮珯鎴栫洰鏍囩珯涓虹┖
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceStaNo, staNo, wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue());
+
+ wrkMast.setWrkSts(24L);//23.灏忚溅鎼繍瀹屾垚 ==> 24.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//浠诲姟妗ｇ粦瀹氭彁鍗囨満鍙�
+ wrkMast.setShuttleNo(null);//娓呯┖灏忚溅鍙凤紝绛夎揣鐗╂惉杩愬畬鎴愬悗锛屽埌鐩爣妤煎眰閲嶆柊鎼滅储灏忚溅
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 璺ㄦゼ灞傚簱浣嶇Щ杞�-璋冨害杞﹁締鍙栬揣骞惰繍閫佸埌鐩爣搴撲綅
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean locToLocExecuteStep4(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == 4) {//4.鎻愬崌鏈烘惉杩愬畬鎴�
+ //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+ BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
+ if (targetBasDevp == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ if (wrkMast.getShuttleNo() == null) {
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo());//璋冨害灏忚溅鍒扮洰鏍囪緭閫佺珯鐐硅繘琛屽彇璐�
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+ if (!shuttleProtocol.isIdle()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪鐩爣杈撻�佺珯鐐�
+ if (!shuttleProtocol.getCurrentLocNo().equals(targetBasDevp.getLocNo())) {
+ //灏忚溅涓嶅湪鐩爣杈撻�佺珯鐐�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒扮洰鏍囪緭閫佺珯鐐硅繘琛屽彇璐�
+ return false;
+ }
+
+ //灏忚溅宸叉姷杈剧洰鏍囪緭閫佺珯鐐癸紝灏嗚揣鐗╂惉杩愬埌鐩爣搴撲綅
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
+ if (result == null) {//璺緞璁＄畻澶辫触
+ return false;
+ }
+
+ //鍒涘缓鍒嗛厤鍛戒护
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_LOC_TO_LOC.id.shortValue());//搴撲綅绉昏浆妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(result.getCommands());//杩愯鍛戒护
+ assignCommand.setNodes(result.getNodes());//璺緞鑺傜偣
+
+ wrkMast.setWrkSts(5L);//4.鎻愬崌鏈烘惉杩愬畬鎴� => 5.灏忚溅鎼繍涓�
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setModiTime(new Date());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+
+ return false;
+ }
return true;
}
@@ -2246,6 +1651,7 @@
public void recErr() {
try {
this.recShuttleErr();
+ this.recLiftErr();
} catch (Exception e) {
News.error("recErr fail", e);
}
@@ -2257,27 +1663,27 @@
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());
+ // 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
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(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
// 鏈夊紓甯�
if (latest == null) {
- if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
+ if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) {
WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
if (wrkMast == null) {
continue;
}
- BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
+ BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode());
String errName = basShuttleErr==null? "鏈煡寮傚父":basShuttleErr.getErrName();
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
null, // 缂栧彿
@@ -2293,14 +1699,15 @@
wrkMast.getSourceStaNo(), // 婧愮珯
wrkMast.getSourceLocNo(), // 婧愬簱浣�
wrkMast.getBarcode(), // 鏉＄爜
- (int) shuttleProtocol.getStatusErrorCode(), // 寮傚父鐮�
+ shuttleProtocol.getErrCode(), // 寮傚父鐮�
errName, // 寮傚父
1, // 寮傚父鎯呭喌
now, // 娣诲姞鏃堕棿
null, // 娣诲姞浜哄憳
now, // 淇敼鏃堕棿
null, // 淇敼浜哄憳
- "浠诲姟涓紓甯�" // 澶囨敞
+ "浠诲姟涓紓甯�", // 澶囨敞
+ JSON.toJSONString(shuttleProtocol) // 绯荤粺鐘舵�佹暟鎹�
);
if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
@@ -2308,7 +1715,7 @@
}
} else {
// 寮傚父淇
- if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) {
+ if (shuttleProtocol.getErrState() == null || shuttleProtocol.getErrState() == 0) {
latest.setEndTime(now);
latest.setUpdateTime(now);
latest.setStatus(2);
@@ -2318,50 +1725,135 @@
}
}
}else {
- //鏃犱换鍔�
- BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
+// //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());
+// }
+// }
+// }
+ }
+ }
+ }
+
+ /**
+ * 鎻愬崌鏈哄紓甯镐俊鎭褰�
+ */
+ private void recLiftErr() {
+ Date now = new Date();
+ for (LiftSlave liftSlave : slaveProperties.getLift()) {
+ // 鑾峰彇鎻愬崌鏈轰俊鎭�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
+ if (liftThread == null) {
+ continue;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ continue;
+ }
+
+ if (liftProtocol.getTaskNo() != 0) {
+ //鏈変换鍔�
+ BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue());
// 鏈夊紓甯�
- if (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(
+ if (latest == null) {
+ if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) {
+ WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ String errName = "";
+ if (liftProtocol.getFrontOverrun()) {
+ errName = "鍓嶈秴闄�";
+ } else if (liftProtocol.getBackOverrun()) {
+ errName = "鍚庤秴闄�";
+ } else if (liftProtocol.getLeftOverrun()) {
+ errName = "宸﹁秴闄�";
+ } else if (liftProtocol.getRightOverrun()) {
+ errName = "鍙宠秴闄�";
+ } else if (liftProtocol.getOverHeight()) {
+ errName = "瓒呴珮";
+ } else if (liftProtocol.getOverWeight()) {
+ errName = "瓒呴噸";
+ }
+
+ BasLiftErrLog basLiftErrLog = new BasLiftErrLog(
null, // 缂栧彿
- null, // 宸ヤ綔鍙�
+ wrkMast.getWrkNo(), // 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�
+ wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
+ wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
+ liftSlave.getId(), // 鎻愬崌鏈�
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�
+ 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
- "鏃犱换鍔″紓甯�" // 澶囨敞
+ "浠诲姟涓紓甯�", // 澶囨敞
+ JSON.toJSONString(liftProtocol) // 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);
+ if (!basLiftErrLogService.insert(basLiftErrLog)) {
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName);
}
}
- // 鏃犲紓甯�
} else {
// 寮傚父淇
- if (latest != null && latest.getStatus() == 1) {
+ if (liftProtocol.getDeviceError() == null || !liftProtocol.getDeviceError()) {
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());
+ if (!basLiftErrLogService.updateById(latest)) {
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId());
}
}
}
@@ -2407,6 +1899,13 @@
}
}
+ if (!Cools.isEmpty(barcode)) {
+ WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//鏉＄爜瀛樺湪宸ヤ綔妗�
+ if (wrkMast != null) {
+ continue;
+ }
+ }
+
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
try {
@@ -2429,15 +1928,15 @@
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");
- }
+ barcodeThread.setBarcode("");
+// // 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");
@@ -2455,6 +1954,97 @@
}
+ }
+ }
+ }
+
+ /**
+ * AGV琛ヨ揣 => 鏈烘鑷傛嫞鏂�
+ */
+ public void agvRestockByRobot() {
+ //妫�娴�300绔欐槸鍚﹁嚜鍔ㄣ�佹湁鐗┿�佸伐浣滃彿
+ for (DevpSlave devp : slaveProperties.getDevp()) {
+ // 鑾峰彇鍏ュ簱绔欎俊鎭�
+ DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
+ StaProtocol staProtocol = devpThread.getStation().get(300);
+ if (staProtocol == null) {
+ continue;
+ }
+ if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) {
+ //鏌ヨ鏄惁鏈夊伐浣滄。
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue());
+ if (wrkMast == null) {
+ continue;
+ }
+
+ if (wrkMast.getWrkSts() != 25) {//25.鎻愬崌鏈烘惉杩愬畬鎴�
+ continue;
+ }
+
+ if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//鏍囪涓篩琛ㄧず闇�瑕佺敤鍒版満姊拌噦鎷ｆ枡
+ Short targetSta = null;//鐩爣绔�
+ //鍒ゆ柇鏈烘鑷傛嫞鏂欑珯鏄惁绌洪棽
+ StaProtocol staProtocol303 = devpThread.getStation().get(303);
+ StaProtocol staProtocol317 = devpThread.getStation().get(317);
+ if (staProtocol303.isAutoing() && !staProtocol303.isLoading()) {
+ //鑷姩銆佹棤鐗�
+ targetSta = (short) 303;
+ } else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) {
+ //鑷姩銆佹棤鐗�
+ targetSta = (short) 317;
+ }else {
+ continue;//娌℃湁绌洪棽绔欑偣
+ }
+
+ targetSta = (short) 317;
+
+ if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
+ //瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
+ wrkMast.setStaNo(targetSta.intValue());
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //鍚�300绔欏啓鍏ョ洰鏍囩珯
+ staProtocol = staProtocol.clone();
+ staProtocol.setStaNo(targetSta);//绉诲姩鍒扮洰鏍囩珯
+ boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
+ try {
+ Thread.sleep(500);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+ continue;
+ }
+ }
+ }
+ }
+
+ StaProtocol staProtocol303 = devpThread.getStation().get(303);
+ StaProtocol staProtocol317 = devpThread.getStation().get(317);
+ if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) {
+ //璋冨害鏈烘鑷�
+// //鏌ヨ鏄惁鏈夊伐浣滄。
+// WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue());
+// if (wrkMast == null) {
+// continue;
+// }
+// WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
+// if (wrkDetl == null) {
+// continue;
+// }
+// RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "303");
+ RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "303");
+ }else if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) {
+ //璋冨害鏈烘鑷�
+// //鏌ヨ鏄惁鏈夊伐浣滄。
+// WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue());
+// if (wrkMast == null) {
+// continue;
+// }
+// WrkDetl wrkDetl = wrkDetlService.selectById(wrkMast.getWrkNo());
+// if (wrkDetl == null) {
+// continue;
+// }
+// RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetl.getAnfme().intValue(), "317");
+ RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), -1, "317");
}
}
}
@@ -2629,8 +2219,8 @@
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();
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
if (shuttleProtocol == null) {
continue;
}
@@ -2645,11 +2235,39 @@
continue;
}
+ //灏忚溅鎵�鍦ㄦゼ灞�
+ int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
ShuttleChargeType shuttleCharge = null;
+
+ //鎼滅储灏忚溅鎵�鍦ㄦゼ灞傛湁娌℃湁鍏呯數妗�
for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
+ if (lev != Utils.getLev(chargeType.locNo)) {
+ continue;//灏忚溅鍜屽厖鐢垫々涓嶅湪鍚屼竴灞�
+ }
+
+ //灏忚溅鍜屽厖鐢垫々鍦ㄥ悓涓�灞�
if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
shuttleCharge = chargeType;
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 (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
+ if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) {
+ //鍒ゆ柇褰撳墠鍏呯數妗╂ゼ灞傛槸鍚︽湁灏忚溅锛屽鏈夊皬杞︼紝涓嶅垎閰嶈鍏呯數妗�
+ int chargeLev = Utils.getLev(chargeType.locNo);//鍏呯數妗╂ゼ灞�
+ boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//妫�娴嬫ゼ灞傛槸鍚︽湁绌挎杞�
+ if (checkLevHasShuttle) {
+ //褰撳墠鍏呯數妗╂ゼ灞傛湁绌挎杞︼紝涓嶅垎閰嶈鍏呯數妗�
+ continue;
+ }
+
+ shuttleCharge = chargeType;
+ break;
+ }
}
}
@@ -2672,7 +2290,6 @@
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());
}
}
@@ -2687,249 +2304,754 @@
continue;
}
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
if (shuttleThread == null) {
continue;
}
- ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ NyShuttleProtocol 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(ShuttleTaskModeType.CHARGE.id.shortValue());//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(), 1600, ShuttleRunDirection.TOP.id, basDevpQrCode, 1600, 500);
- commands.add(moveCommand);
-
- //鍒嗛厤鐩爣搴撲綅
- shuttleProtocol.setLocNo(chargeLocNo);
- assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
- assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//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(wrkCharge.getWrkNo().shortValue())) {
+ if (!shuttleProtocol.isIdleNoCharge()) {
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
+ if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) {
+ //灏忚溅涓嶅湪鍏呯數妗╀綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//璋冨害灏忚溅鍘诲厖鐢垫々
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
-
+ //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�
+ NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true);
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(chargeCommand);
+ //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(wrkCharge.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(commands);//杩愯鍛戒护
- 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, 1600, runDirection, startCode, 1600, 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(ShuttleTaskModeType.CHARGE.id.shortValue());//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�
+ wrkCharge.setWrkSts(52L);//51.鐢熸垚鍏呯數浠诲姟 => 52.灏忚溅鍘诲厖鐢典腑
+ wrkCharge.setModiTime(new Date());
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() == null || shuttleProtocol.getCurrentVoltage() == null) {
+ } else if (wrkCharge.getWrkSts() == 52) {
+ //妫�娴嬪皬杞︽槸鍚︽弧鐢�
+ int maxPower = 95;
+ if (shuttleProtocol.getPowerPercent() < maxPower) {
continue;
}
- 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);
- //灏嗗皬杞︾Щ鍔ㄥ埌绌洪棽鐨勫贩閬�
- ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null);
- if (assignCommand == null) {
+ //灏忚溅婊＄數锛岀粨鏉熷厖鐢典换鍔�
+ NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false);
+ ArrayList<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(chargeCommand);
+ //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(wrkCharge.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//鍑哄簱妯″紡
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
+ assignCommand.setCommands(commands);//杩愯鍛戒护
+
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ try {
+ Thread.sleep(3000);
+ } catch (Exception e) {
+ e.printStackTrace();
+ }
+
+ wrkCharge.setWrkSts(53L);//52.灏忚溅鍘诲厖鐢典腑 => 53.灏忚溅鍏呯數瀹屾垚
+ wrkCharge.setModiTime(new Date());
+ if (wrkChargeMapper.updateById(wrkCharge) > 0) {
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id);
+ shuttleProtocol.setTaskNo(0);
+ shuttleProtocol.setPakMk(false);
+ }
+ } else if (wrkCharge.getWrkSts() == 53) {
+ if (shuttleProtocol.getChargState() == 0) {//灏忚溅澶勪簬鏈厖鐢电姸鎬�
+ boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread);
+ if (!result) {
continue;
}
- wrkCharge.setWrkSts(60L);//60.鍏呯數浠诲姟瀹屾垚
+ wrkCharge.setWrkSts(60L);//53.灏忚溅鍏呯數瀹屾垚 => 60.鍏呯數浠诲姟瀹屾垚
+ wrkCharge.setModiTime(new Date());
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);
- }
}
+
}
}
+ /**
+ * 鎵ц灏忚溅绉诲簱浠诲姟
+ */
+ public synchronized void shuttleMoveExecute() {
+ //鏌ヨ灏忚溅绉诲簱浠诲姟
+ List<WrkMast> wrkMasts = wrkMastMapper.selectShuttleMoveWrk();
+ for (WrkMast wrkMast : wrkMasts) {
+ boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//灏忚溅绉诲姩鍒扮珯鐐�
+ if (!stepMoveSta) {
+ continue;
+ }
+
+ boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(wrkMast);//灏忚溅杩佸叆鎻愬崌鏈�
+ if (!stepIntoLift) {
+ continue;
+ }
+
+ boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//鎻愬崌鏈烘惉杩愪腑
+ if (!stepLiftMove) {
+ continue;
+ }
+
+ boolean stepOutLift = this.shuttleMoveExecuteStepOutLift(wrkMast);//灏忚溅杩佸嚭鎻愬崌鏈�
+ if (!stepOutLift) {
+ continue;
+ }
+
+ boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑
+ if (!stepMoveLoc) {
+ continue;
+ }
+
+// this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//娓呯悊111.灏忚溅绉诲姩瀹屾垚
+
+ }
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅绉诲姩鍒扮珯鐐�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepMoveSta(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� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅绉诲姩鑷崇珯鐐逛腑
+ if (wrkMast.getWrkSts() == 101) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁鏈鍗犻
+ if (shuttleProtocol.getToken() != 0) {
+ return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
+ }
+
+ if (Utils.getLev(wrkMast.getLocNo()) == shuttleProtocol.getPoint().getZ()) {
+ //鐩爣搴撲綅鍜屽皬杞﹀簱浣嶅浜庡悓涓�妤煎眰锛屼笉闇�瑕侀�氳繃鎻愬崌鏈鸿皟搴�
+ wrkMast.setWrkSts(109L);// 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
+ wrkMast.setModiTime(now);
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰璇ュ皬杞︿护鐗�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ return true;//鐩存帴杩涘叆109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
+ }
+ return false;
+ }
+
+ //鑾峰彇婧愯緭閫佺珯
+ LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ if (liftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟(璇ヤ换鍔￠渶瑕佹崲灞傚繀椤绘彁鍓嶇嫭鍗犳彁鍗囨満)
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftSta.getLiftNo());
+ if (liftWrkMast != null) {
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+
+ //鑾峰彇灏忚溅鍒拌緭閫佺珯鐐硅璧板懡浠�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id);
+ List<NyShuttleHttpCommand> commands = result.getCommands();
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(result.getNodes());
+
+ wrkMast.setWrkSts(102L);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 101.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 102.灏忚溅绉诲姩鑷崇珯鐐�
+ wrkMast.setModiTime(now);
+ wrkMast.setLiftNo(liftSta.getLiftNo());//鎻愬墠閿佸畾鎻愬崌鏈�
+ shuttleProtocol.setToken(wrkMast.getWrkNo());//鐙崰璇ュ皬杞︿护鐗�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅杩佸叆鎻愬崌鏈�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅杩佸叆鎻愬崌鏈�-----------------------------------------//
+ Date now = new Date();
+
+ //灏忚溅绉诲姩鍒版彁鍗囨満涓� 103.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 104.灏忚溅杩佸叆鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == 103) {
+ //鑾峰彇婧愮珯
+ LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ if (sourceLiftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ //鑾峰彇鐩爣杈撻�佺珯
+ LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (liftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+ BasLift basLift = basLiftService.selectById(liftSta.getLiftNo());
+ if (basLift == null) {
+ return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+ }
+
+ if (basLift.getPoint() == null) {
+ return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.getLiftNo());
+ if (liftWrkMast != null) {
+ if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+ }
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSta.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ //灏忚溅浠ょ墝鏄惁琚换鍔＄嫭鍗�
+ if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘ゼ灞�
+ if (liftProtocol.getLev().intValue() != shuttleProtocol.getPoint().getZ()) {
+ //鎻愬崌鏈轰笉鍦ㄥ皬杞︽ゼ灞�
+ //璋冨害鎻愬崌鏈�
+
+ if (liftProtocol.getToken() != 0) {
+ return false;//鎻愬崌鏈轰护鐗岃鍗犵敤
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠わ紝璋冨害鎻愬崌鏈哄埌婧愮珯浣嶇疆
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo());
+
+ Random random = new Random();
+ int deviceWrk = Math.abs((liftCommand.getTaskNo().intValue() + random.nextInt(9999)));//鑾峰彇璁惧宸ヤ綔鍙�
+ liftCommand.setTaskNo((short) deviceWrk);//鏇存崲闅忔満浠诲姟鍙�
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
+ assignCommand.setAuto(false);
+
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//閿佸畾鎻愬崌鏈洪槻姝㈣鍗犵敤
+ wrkMast.setModiTime(now);
+ liftProtocol.setToken(wrkMast.getShuttleNo());//鎻愬崌鏈轰护鐗岀粦瀹氬綋鍓嶅皬杞�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+ return false;//绛夊緟鎻愬崌鏈哄埌灏忚溅妤煎眰
+ }
+
+ if (liftProtocol.getToken() == 0) {//鎻愬崌鏈轰护鐗屾湭琚崰鐢�
+ //鐙崰鎻愬崌鏈�
+ liftProtocol.setToken(wrkMast.getShuttleNo());
+ return false;//绛夊緟涓嬩竴娆℃墽琛�
+ }
+
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︿负褰撳墠灏忚溅
+ if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
+ return false;//鎻愬崌鏈哄凡琚嫭鍗狅紝绂佹鍐嶆淳鍙戜换鍔�
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁涓哄綋鍓嶄换鍔＄嫭鍗�
+ if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ //绔欑偣鑺傜偣
+ NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo());
+
+ //鎻愬崌鏈鸿妭鐐�
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
+ liftNode.setZ(staNode.getZ());
+
+ //鑾峰彇灏忚溅杩涙彁鍗囨満琛岃蛋鍛戒护
+ NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), staNode, liftNode, true);
+ List<NyShuttleHttpCommand> commands = new ArrayList<>();
+ commands.add(moveCommand);
+ List<NavigateNode> nodes = new ArrayList<>();//琛岃蛋鑺傜偣璺緞
+ nodes.add(staNode);
+ nodes.add(liftNode);
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(nodes);
+
+ wrkMast.setWrkSts(104L);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 103.灏忚溅绉诲姩鑷崇珯鐐瑰畬鎴� ==> 104.灏忚溅杩佸叆鎻愬崌鏈轰腑
+ wrkMast.setModiTime(now);
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//閿佸畾鎻愬崌鏈洪槻姝㈣鍗犵敤
+ liftProtocol.setToken(wrkMast.getShuttleNo());//鎻愬崌鏈轰护鐗岀粦瀹氬綋鍓嶅皬杞�
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ return false;
+ }
+ return false;
+ }
+
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-鎻愬崌鏈烘惉杩愪腑
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) {
+ //--------------------------------------鎻愬崌鏈烘惉杩愪腑-----------------------------------------//
+ Date now = new Date();
+
+ //鎻愬崌鏈烘惉杩愪腑 105.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 106.鎻愬崌鏈烘惉杩愪腑
+ if (wrkMast.getWrkSts() == 105) {
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+ if (liftWrkMast != null) {
+ if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+ }
+
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︿负褰撳墠灏忚溅
+ if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
+ return false;//鎻愬崌鏈轰护鐗屽拰褰撳墠灏忚溅涓嶄竴鑷达紝绂佹娲惧彂
+ }
+
+ //鍒ゆ柇鎻愬崌鏈哄唴鏄惁鏈夊皬杞�
+ if (!liftProtocol.getHasCar()) {
+ return false;//鎻愬崌鏈哄唴鏃犲皬杞�
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁涓哄綋鍓嶄换鍔＄嫭鍗�
+ if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ //鑾峰彇婧愮珯
+ LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ //鑾峰彇鐩爣绔�
+ LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (sourceLiftSta == null || liftSta == null) {
+ return false;//缂哄皯绔欑偣淇℃伅
+ }
+
+ //鑾峰彇鎻愬崌鏈哄懡浠�
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), liftSta.getStaNo(), wrkMast.getWrkNo());
+
+ ArrayList<NyLiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(liftProtocol.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
+ assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_CAR.id.shortValue());
+
+ wrkMast.setWrkSts(106L);//鎻愬崌鏈烘惉杩愪腑 105.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 106.鎻愬崌鏈烘惉杩愪腑
+ wrkMast.setLiftNo(liftThread.getSlave().getId());//閿佸畾鎻愬崌鏈洪槻姝㈣鍗犵敤
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
+ }
+
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-灏忚溅杩佸嚭鎻愬崌鏈�
+ * 濡傞渶涓绘柟娉曟墽琛宑ontinue锛岃杩斿洖false
+ * ps:杩斿洖鍊紅rue骞朵笉浠ｈ〃璇ユ柟娉曟墽琛屾垚鍔燂紝杩斿洖鍊间粎鍋氭爣璁扮敤浜庝富鏂规硶鏄惁鎵цcontinue
+ */
+ private boolean shuttleMoveExecuteStepOutLift(WrkMast wrkMast) {
+ //--------------------------------------灏忚溅杩佸嚭鎻愬崌鏈�-----------------------------------------//
+ Date now = new Date();
+ //灏忚溅绉诲姩鍒版彁鍗囨満涓� 107.鎻愬崌鏈烘惉杩愬畬鎴� ==> 108.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ if (wrkMast.getWrkSts() == 107) {
+
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) {
+ return false;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈烘槸鍚︽湁鍏朵粬浠诲姟
+ WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId());
+ if (liftWrkMast != null) {
+ if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//鎻愬崌鏈轰换鍔″拰褰撳墠浠诲姟涓嶇浉鍚�
+ return false;//褰撳墠鎻愬崌鏈哄瓨鍦ㄦ湭瀹屾垚浠诲姟锛岀瓑寰呬笅涓�娆¤疆璇�
+ }
+ }
+
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚︿负褰撳墠灏忚溅
+ if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) {
+ return false;//鎻愬崌鏈轰护鐗屽拰褰撳墠灏忚溅涓嶄竴鑷达紝绂佹娲惧彂
+ }
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge()) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁涓哄綋鍓嶄换鍔＄嫭鍗�
+ if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ //鑾峰彇鐩爣绔�
+ LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (liftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ //鑾峰彇鎻愬崌鏈烘暟鎹�
+ BasLift basLift = basLiftService.selectById(liftProtocol.getLiftNo().intValue());
+ if (basLift == null) {
+ return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+ }
+ if (basLift.getPoint() == null) {
+ return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
+ }
+ NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
+ liftNode.setZ(liftSta.getLev());
+
+ List<NyShuttleHttpCommand> commands = new ArrayList<>();
+ //鑾峰彇灏忚溅鏇存柊妤煎眰鍛戒护
+ NyShuttleHttpCommand updateZCommand = NyHttpUtils.getUpdateZCommand(shuttleThread.getSlave().getId(), liftProtocol.getLev().intValue(), wrkMast.getWrkNo());
+ commands.add(updateZCommand);
+
+ //鑾峰彇灏忚溅鍑烘彁鍗囨満琛岃蛋鍛戒护
+ NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(liftSta.getLocNo()), false);
+ commands.add(moveCommand);//娣诲姞灏忚溅杩佸嚭鎻愬崌鏈哄懡浠�
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(null);
+
+ wrkMast.setWrkSts(108L);//灏忚溅杩佸嚭鎻愬崌鏈轰腑 107.鎻愬崌鏈烘惉杩愬畬鎴� ==> 108.灏忚溅杩佸嚭鎻愬崌鏈轰腑
+ wrkMast.setModiTime(now);
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ return false;
+ }
+ return false;
+ }
+ return true;
+ }
+
+ /**
+ * 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 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
+ if (wrkMast.getWrkSts() == 109) {
+
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅浠ょ墝鏄惁涓哄綋鍓嶄换鍔�
+ if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+// //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
+// BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getLocNo()), wrkMast.getLiftNo());
+// if (targetBasDevp == null) {
+// return false;//缂哄皯绔欑偣淇℃伅
+// }
+//
+// //鑾峰彇鎻愬崌鏈烘暟鎹�
+// BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
+// if (basLift == null) {
+// return false;//娌℃湁鎻愬崌鏈烘暟鎹�
+// }
+// if (basLift.getPoint() == null) {
+// return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
+// }
+// NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
+// liftNode.setZ(basLift.getPoint$().getZ());
+
+ //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())) {
+ if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) {
+ //閲婃斁灏忚溅浠ょ墝
+ shuttleProtocol.setToken(0);
+ }
+ wrkMast.setWrkSts(111L);//111.灏忚溅绉诲姩瀹屾垚
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setModiTime(now);
+ wrkMastMapper.updateById(wrkMast);
+
+ if (wrkMast.getWrkSts() == 111) {
+ // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+ if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
+ log.info("淇濆瓨宸ヤ綔鍘嗗彶妗workNo={0}]澶辫触", wrkMast.getWrkNo());
+ }
+ // 鍒犻櫎宸ヤ綔涓绘。
+ if (!wrkMastService.deleteById(wrkMast)) {
+ log.info("鍒犻櫎宸ヤ綔涓绘。[workNo={0}]澶辫触", wrkMast.getWrkNo());
+ }
+ }
+ return false;
+ }
+
+ //鑾峰彇灏忚溅鍒扮洰鏍囧簱浣嶅懡浠�
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id);
+ if (result == null) {
+ return false;//璺緞璁＄畻澶辫触
+ }
+ List<NyShuttleHttpCommand> commands = result.getCommands();
+
+ ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
+ assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 鍥涘悜绌挎杞︾紪鍙�
+ assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//灏忚溅绉诲簱浠诲姟
+ assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//浠诲姟鍙�
+ assignCommand.setAuto(true);//鑷姩妯″紡
+ assignCommand.setCommands(commands);
+ assignCommand.setNodes(result.getNodes());
+ assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�
+ assignCommand.setLocNo(wrkMast.getLocNo());//鐩爣搴撲綅
+
+ if (wrkMast.getLiftNo() != null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ LiftProtocol liftProtocol = liftThread.getLiftProtocol();
+ if (liftProtocol == null) {
+ return false;
+ }
+ if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo().intValue())) {
+ liftProtocol.setToken(0);//閲婃斁鎻愬崌鏈轰护鐗�
+ }
+ }
+
+ wrkMast.setWrkSts(110L);//灏忚溅绉诲姩鍒扮洰鏍囧簱浣嶄腑 109.灏忚溅杩佸嚭鎻愬崌鏈哄畬鎴� ==> 110.灏忚溅绉诲姩涓�
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
+ wrkMast.setModiTime(now);
+
+ if (wrkMastMapper.updateById(wrkMast) > 0) {
+ //涓嬪彂浠诲姟
+ MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
+ }
+ }
+ return true;
+ }
+
+ /**
+ * 灏忚溅杩佺Щ-娓呯悊111.灏忚溅绉诲姩瀹屾垚
+ */
+ private boolean shuttleMoveExecuteStepClearWrkMast(WrkMast wrkMast) {
+ if (wrkMast.getWrkSts() == 111) {
+ //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol == null) {
+ return false;
+ }
+
+ //灏忚溅澶勪簬绌洪棽鐘舵��
+ if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
+ return false;
+ }
+
+ Object o = redisUtil.get("shuttle_wrk_no_" + shuttleProtocol.getTaskNo());
+ if (o != null) {
+ ShuttleRedisCommand redisCommand = JSON.parseObject(o.toString(), ShuttleRedisCommand.class);
+ ShuttleAssignCommand assignCommand = redisCommand.getAssignCommand();
+ int size = assignCommand.getCommands().size();
+ NyShuttleHttpCommand command = assignCommand.getCommands().get(size - 1);//鑾峰彇鏈�鍚庝竴娈靛懡浠�
+ if (!command.getComplete()) {
+ return false;//鏈�鍚庝竴娈靛懡浠よ繕鏈畬鎴愶紝涓嶅仛鎿嶄綔
+ }
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(shuttleProtocol.getCurrentLocNo()));
+ navigateMapData.writeNavigateNodeToRedisMap(assignCommand.getNodes(), false);//瑙ｉ攣璺緞
+
+ //鍒犻櫎redis
+ redisUtil.del("shuttle_wrk_no_" + redisCommand.getWrkNo());
+ }
+
+ // 淇濆瓨宸ヤ綔涓绘。鍘嗗彶妗�
+ if (wrkMastLocMapper.save(wrkMast.getWrkNo()) <= 0) {
+ log.info("淇濆瓨宸ヤ綔鍘嗗彶妗workNo={0}]澶辫触", wrkMast.getWrkNo());
+ }
+ // 鍒犻櫎宸ヤ綔涓绘。
+ if (!wrkMastService.deleteById(wrkMast)) {
+ log.info("鍒犻櫎宸ヤ綔涓绘。[workNo={0}]澶辫触", wrkMast.getWrkNo());
+ }
+
+ //璁剧疆鍥涘悜绌挎杞︿负绌洪棽鐘舵��
+ shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
+ //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);
+ //宸ヤ綔鍙锋竻闆�
+ shuttleProtocol.setTaskNo(0);
+ //娓呴櫎浠ょ墝
+ shuttleProtocol.setToken(0);
+ News.info("鍥涘悜绌挎杞﹀凡纭涓旂Щ鍔ㄤ换鍔″畬鎴愮姸鎬�,澶嶄綅銆傚洓鍚戠┛姊溅鍙�={}", shuttleProtocol.getShuttleNo());
+ }
+
+ return true;
+ }
/**
* 鍑哄叆搴撴ā寮忓垏鎹�
--
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