From 8ecad328df8465b3d81c15e37943f6e9d3adf86b Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期一, 23 十月 2023 16:32:33 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 157 ++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 127 insertions(+), 30 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 01873ba..42333be 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -25,6 +25,8 @@
import com.zy.core.model.protocol.*;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.*;
+import com.zy.system.entity.Config;
+import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -102,6 +104,10 @@
private RedisUtil redisUtil;
@Autowired
private WrkMastLocMapper wrkMastLocMapper;
+ @Autowired
+ private BasLiftOptService basLiftOptService;
+ @Autowired
+ private ConfigService configService;
/**
@@ -522,6 +528,7 @@
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.setLiftNo(null);// 鎻愬崌鏈烘竻绌�
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�");
@@ -844,6 +851,10 @@
BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo());
if (basDevp == null) {
return false;//鍑哄簱绔欑偣涓嶅瓨鍦�
+ }
+
+ if (!basDevp.getAutoing().equals("Y")) {
+ return false;//涓嶆槸鑷姩鐘舵��
}
if (!basDevp.getOutEnable().equals("Y")) {
@@ -1291,8 +1302,14 @@
&& liftProtocol.getTaskNo() != 0
&& !liftProtocol.getBusy()
) {
+ BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString());
+ int taskNo = liftProtocol.getTaskNo().intValue();
+ if (basLiftOpt != null) {
+ taskNo = basLiftOpt.getWrkNo();
+ }
+
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(liftProtocol.getTaskNo().intValue());
+ WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(taskNo);
if (wrkMast != null) {
switch (wrkMast.getWrkSts().intValue()) {
case 3://3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
@@ -1307,15 +1324,18 @@
wrkMast.setWrkSts(25L);
if (wrkMast.getIoType() == 11) {//搴撲綅绉昏浆
wrkMast.setWrkSts(4L);//4.鎻愬崌鏈烘惉杩愬畬鎴�
+ }else {
+ 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);
+ wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+ 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);
- }
-
- 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;
@@ -1484,7 +1504,7 @@
}
//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());
+ LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo()));
if (liftSta == null) {
return false;//娌℃湁鍙敤涓旂┖闂茬殑杈撻�佺珯鐐�
}
@@ -1530,14 +1550,47 @@
private boolean locToLocExecuteStep3(WrkMast wrkMast) {
Date now = new Date();
if (wrkMast.getWrkSts() == 23) {//23.灏忚溅鎼繍瀹屾垚
+ //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┖
+ }
+
+ int liftNo = staNo / 100;//鑾峰彇鎻愬崌鏈哄彿
+
//鑾峰彇鎻愬崌鏈虹嚎绋�
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
if (liftThread == null) {
return false;
}
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
if (liftProtocol == null) {
return false;
+ }
+
+ //鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo()));
+ if (liftStaProtocol == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
+ return false;//绔欑偣蹇呴』鑷姩銆佺┖闂层�佹湁鎵樼洏
+ }
+ NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
+ if (shuttleThread == null) {
+ return false;
+ }
+ NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
+ if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) {
+ //灏忚溅杩樺湪杈撻�佺珯鐐�
+ //璋冨害灏忚溅閬胯
+ boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread);
+ if (!result) {
+ return false;
+ }
}
if (!liftProtocol.isIdle()) {
@@ -1548,14 +1601,6 @@
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�
@@ -1592,13 +1637,17 @@
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
+ LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(wrkMast.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
+ if (liftStaProtocol == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+
+ if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) {
+ return false;//绔欑偣蹇呴』鑷姩銆佺┖闂层�佹湁鎵樼洏
}
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�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.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;
}
@@ -1616,14 +1665,14 @@
}
//鍒ゆ柇灏忚溅鏄惁鍒拌揪鐩爣杈撻�佺珯鐐�
- if (!shuttleProtocol.getCurrentLocNo().equals(targetBasDevp.getLocNo())) {
+ if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.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�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.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());
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getLocNo());
if (result == null) {//璺緞璁＄畻澶辫触
return false;
}
@@ -2001,8 +2050,6 @@
continue;//娌℃湁绌洪棽绔欑偣
}
- targetSta = (short) 317;
-
if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) {
//鍚慉GV鍙戣捣缁勬墭璇锋眰
try {
@@ -2020,6 +2067,7 @@
//瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
wrkMast.setStaNo(targetSta.intValue());
wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+ wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
if (wrkMastMapper.updateById(wrkMast) > 0) {
//鍚�300绔欏啓鍏ョ洰鏍囩珯
staProtocol = staProtocol.clone();
@@ -2041,6 +2089,7 @@
// //瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
// wrkMast.setStaNo(targetSta.intValue());
// wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
+// wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
// if (wrkMastMapper.updateById(wrkMast) > 0) {
// //鍚�300绔欏啓鍏ョ洰鏍囩珯
// staProtocol = staProtocol.clone();
@@ -2112,9 +2161,9 @@
continue;
}
- if (staProtocol309.isAutoing() && staProtocol309.isLoading()) {
+ if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 11);//308绔欐潯鐮佸櫒
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308绔欐潯鐮佸櫒
if (barcodeThread == null) {
continue;
}
@@ -2122,10 +2171,13 @@
if(!Cools.isEmpty(barcode)) {
//閫氱煡AGV鍙栬揣
agvRestockCall("CS-301-001-01@3", barcode);
+ log.info("閫氱煡AGV鍙栬揣锛屾潯鐮佸彿锛�" + barcode);
}
- } else if (staProtocol312.isAutoing() && staProtocol312.isLoading()) {
+ }
+
+ if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) {
// 鑾峰彇鏉＄爜鎵弿浠俊鎭�
- BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 12);//311绔欐潯鐮佸櫒
+ BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311绔欐潯鐮佸櫒
if (barcodeThread == null) {
continue;
}
@@ -2133,6 +2185,7 @@
if(!Cools.isEmpty(barcode)) {
//閫氱煡AGV鍙栬揣
agvRestockCall("CS-302-001-01@3", barcode);
+ log.info("閫氱煡AGV鍙栬揣锛屾潯鐮佸彿锛�" + barcode);
}
}
}
@@ -2179,7 +2232,7 @@
continue;
}
- if (wrkMast.getWrkSts() != 25) {//25.鎻愬崌鏈烘惉杩愬畬鎴�
+ if (wrkMast.getWrkSts() != 29) {//29.鍑哄簱瀹屾垚
continue;
}
@@ -2189,6 +2242,7 @@
//瑕嗙洊宸ヤ綔妗ｇ洰鏍囩珯
wrkMast.setStaNo(sourceStaNo);
wrkMast.setSourceStaNo(staNo);
+ wrkMast.setMk("N");
if (wrkMastMapper.updateById(wrkMast) > 0) {
//鍚�300绔欏啓鍏ョ洰鏍囩珯
staProtocol = staProtocol.clone();
@@ -2500,7 +2554,16 @@
}
} else if (wrkCharge.getWrkSts() == 52) {
//妫�娴嬪皬杞︽槸鍚︽弧鐢�
+
+ //鑾峰彇婊＄數闃堝��
int maxPower = 95;
+ EntityWrapper<Config> wrapper = new EntityWrapper<>();
+ wrapper.eq("code", "chargeMaxValue");
+ Config config = configService.selectOne(wrapper);
+ if (config != null) {
+ maxPower = Integer.parseInt(config.getValue());
+ }
+
if (shuttleProtocol.getPowerPercent() < maxPower) {
continue;
}
@@ -2794,6 +2857,27 @@
return false;
}
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+ //鑾峰彇鐩爣绔�
+ LiftStaProtocol targetLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ if (targetLiftSta == null) {
+ return false;//鎵句笉鍒扮珯鐐�
+ }
+ NavigateNode targetNode = NavigatePositionConvert.locNoToNode(targetLiftSta.getLocNo());//鐩爣鑺傜偣
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
+ List<NavigateNode> targetNodes = new ArrayList<>();
+ targetNodes.add(targetNode);
+ boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null);
+ if (!checkPathIsAvailable) {
+ return false;//妫�娴嬬洰鏍囩珯鐐硅矾寰勬槸鍚︽湭琚崰鐢�
+ }
+ //灏濊瘯閿佸畾鐩爣绔欒矾寰�
+ boolean result = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, true);//鎵�浣跨敤鐨勮矾寰勮繘琛岄攣瀹氱鐢�
+ if (!result) {
+ return false;//璺緞閿佸畾澶辫触
+ }
+ //*************灏濊瘯閿佸畾鐩爣绔欒矾寰�***************
+
//绔欑偣鑺傜偣
NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo());
@@ -2996,6 +3080,19 @@
if (basLift.getPoint() == null) {
return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
}
+
+ //*************灏濊瘯瑙ｉ攣鐩爣绔欒矾寰�***************
+ NavigateNode targetNode = NavigatePositionConvert.locNoToNode(liftSta.getLocNo());//鐩爣鑺傜偣
+ NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(wrkMast.getLocNo()));
+ List<NavigateNode> targetNodes = new ArrayList<>();
+ targetNodes.add(targetNode);
+ //灏濊瘯瑙ｉ攣鐩爣绔欒矾寰�
+ boolean result = navigateMapData.writeNavigateNodeToRedisMap(targetNodes, false);//鎵�浣跨敤鐨勮矾寰勮繘琛岃В閿�
+ if (!result) {
+ return false;//璺緞瑙ｉ攣澶辫触
+ }
+ //*************灏濊瘯瑙ｉ攣鐩爣绔欒矾寰�***************
+
NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
liftNode.setZ(liftSta.getLev());
--
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