From b63790fa580ea78777f16bff6bc79373d675dd10 Mon Sep 17 00:00:00 2001
From: Junjie <540245094@qq.com>
Date: 星期四, 21 八月 2025 16:50:47 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 164 +++++++++++++++---------------------------------------
1 files changed, 45 insertions(+), 119 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 2d0c45f..6bc7288 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -15,6 +15,7 @@
import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.dispatcher.LiftDispatchUtils;
import com.zy.core.dispatcher.ShuttleDispatchUtils;
import com.zy.core.enums.*;
import com.zy.core.model.command.*;
@@ -57,8 +58,6 @@
@Autowired
private ConfigService configService;
@Autowired
- private NavigateMapUtils navigateMapUtils;
- @Autowired
private NavigateMapData navigateMapData;
@Autowired
private NavigateUtils navigateUtils;
@@ -74,6 +73,8 @@
private BasShuttleChargeService basShuttleChargeService;
@Autowired
private DeviceConfigService deviceConfigService;
+ @Autowired
+ private LiftDispatchUtils liftDispatchUtils;
/**
* 鍒濆鍖栧疄鏃跺湴鍥�
@@ -568,9 +569,9 @@
}
/**
- * 璐у弶鎻愬崌鏈轰换鍔�
+ * 鎻愬崌鏈轰换鍔�
*/
- public synchronized void forkLiftIoExecute() {
+ public synchronized void liftIoExecute() {
try {
//鎼滅储鏄惁鏈夊緟澶勭悊鐨勪换鍔�
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
@@ -844,61 +845,63 @@
}
/**
- * 璐у弶鎻愬崌鏈轰换鍔″畬鎴�
+ * 鎻愬崌鏈轰换鍔″畬鎴�
*/
- public synchronized void forkLiftFinished() {
+ public synchronized void liftFinished() {
try {
- List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
- .eq("device_type", String.valueOf(SlaveType.ForkLift)));
- for (DeviceConfig device : forkliftList) {
+ List<DeviceConfig> liftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Lift)));
+ for (DeviceConfig device : liftList) {
//鑾峰彇鎻愬崌鏈轰俊鎭�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
- if(forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, device.getDeviceNo());
+ if(liftThread == null) {
continue;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
continue;
}
//鎻愬崌鏈轰负绛夊緟纭涓旂┖闂�
- if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id
- && forkLiftProtocol.getWrkNo() != 0
+ if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id
+ && liftProtocol.getTaskNo() != 0
) {
//灏嗕换鍔℃。鏍囪涓哄畬鎴�
- WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo());
+ WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo());
if (wrkMast != null) {
if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) {
//3.鎻愬崌鏈烘惉杩愪腑 ==> 4.鎻愬崌鏈烘惉杩愬畬鎴�
wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts);
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- forkLiftThread.setSyncTaskNo(0);
+ }else if (wrkMast.getWrkSts() == WrkStsType.MOVE_NEARBY_COMPLETE.sts) {
+ //303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴� -- 璋冨害鎻愬崌鏈哄埌灏忚溅灞�
} else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) {
- //104.鎻愬崌鏈烘惉杩愪腑 ==> 109.鍑哄簱瀹屾垚
+ //304.鎻愬崌鏈烘惉杩愪腑 ==> 109.鍑哄簱瀹屾垚
wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
wrkMast.setLiftNo(null);//閲婃斁鎻愬崌鏈�
- forkLiftThread.setSyncTaskNo(0);
- redisUtil.set(RedisKeyType.FORK_LIFT_PUT_COMPLETE.key + forkLiftProtocol.getLiftNo(), wrkMast.getWmsWrkNo(), 60 * 3);
} else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) {
//306.鎻愬崌鏈烘惉杩愪腑 ==> 307.鎻愬崌鏈烘惉杩愬畬鎴�
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts);
- forkLiftThread.setSyncTaskNo(0);
+ } else {
+ News.error("鎻愬崌鏈虹‘璁ゅけ璐ワ紝鎻愬崌鏈哄彿={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
+ return;
}
+
wrkMast.setModiTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
- forkLiftThread.reset();
- News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", forkLiftProtocol.getLiftNo());
+ liftThread.reset();
+ News.info("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬併�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
} else {
- News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo());
+ News.error("鎻愬崌鏈哄凡纭涓斾换鍔″畬鎴愮姸鎬�,澶嶄綅澶辫触锛屼絾鏈壘鍒板伐浣滄。銆傛彁鍗囨満鍙�={}锛屽伐浣滃彿={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
}
}else {
- boolean checkPreviewDispatchForkLift = commonService.checkWorkNoContainMk(forkLiftProtocol.getWrkNo(), WrkIoType.FORKLIFT_MOVE.id);
+ boolean checkPreviewDispatchForkLift = commonService.checkWorkNoContainMk(liftProtocol.getTaskNo(), WrkIoType.PREVIEW_LIFT_MOVE.id);
if (checkPreviewDispatchForkLift) {
//灞炰簬鎻愬崌鏈洪璋冨害绉诲姩浠诲姟
//鏃犲伐浣滄。鏀拺锛岀洿鎺ョ‘璁ゅ畬鎴�
- forkLiftThread.setSyncTaskNo(0);
- forkLiftThread.reset();
- News.info("宸茬‘璁ゆ彁鍗囨満棰勮皟搴︾Щ鍔ㄤ换鍔°�傛彁鍗囨満鍙�={}", forkLiftProtocol.getLiftNo());
+ liftThread.setSyncTaskNo(0);
+ liftThread.reset();
+ News.info("宸茬‘璁ゆ彁鍗囨満棰勮皟搴︾Щ鍔ㄤ换鍔°�傛彁鍗囨満鍙�={}", liftProtocol.getLiftNo());
}
}
}
@@ -1485,25 +1488,15 @@
return false;
}
- //鑾峰彇婧愯緭閫佺珯
- LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
- if (liftSta == null) {
- return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftSta.getHasCar()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欏瓨鍦ㄥ皬杞�", wrkMast.getWrkNo());
+ //鎼滅储鏈�杩戜笖鏃犳晠闅滄彁鍗囨満
+ LiftStaProtocol recentLiftStation = liftDispatchUtils.getRecentLiftStation(shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo()));
+ if(recentLiftStation == null) {
+ News.info("{}鍙峰皬杞︼紝{}鐩爣搴撲綅锛屾病鏈夊彲鐢ㄧ┖闂茶緭閫佺珯鐐�", shuttleProtocol.getShuttleNo(), wrkMast.getLocNo());
return false;
}
- //鑾峰彇鐩爣杈撻�佺珯
- LiftStaProtocol liftStaTarget = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
- if (liftStaTarget == null) {
- return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftStaTarget.getHasCar()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪灏忚溅", wrkMast.getWrkNo());
+ LiftStaProtocol targetLiftSta = LiftUtils.getLiftStaByLev(recentLiftStation.getLiftNo(), Utils.getLev(wrkMast.getLocNo()));
+ if(targetLiftSta == null) {
return false;
}
@@ -1514,7 +1507,7 @@
assignCommand.setAuto(true);//鑷姩妯″紡
//璁＄畻杩戠偣浣嶇疆
- String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
+ String endLocation = navigateUtils.calcEndLocation(shuttleProtocol.getCurrentLocNo(), recentLiftStation.getLocNo(), NavigationMapType.getMapTypes(NavigationMapType.NORMAL), null, null, 1);
if (endLocation == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞﹁繎鐐逛綅缃绠楀け璐�", wrkMast.getWrkNo());
return false;
@@ -1523,6 +1516,8 @@
//灏忚溅宸插湪杩戠偣浣嶇疆鏃犻渶鍓嶅線
if (shuttleProtocol.getCurrentLocNo().equals(endLocation)) {
wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY_COMPLETE.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 303.灏忚溅绉诲姩鑷宠繎鐐瑰畬鎴�
+ wrkMast.setSourceStaNo(recentLiftStation.getStaNo());
+ wrkMast.setStaNo(targetLiftSta.getStaNo());
wrkMast.setModiTime(now);
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMastService.updateById(wrkMast);
@@ -1539,6 +1534,8 @@
assignCommand.setCommands(commands);
wrkMast.setWrkSts(WrkStsType.MOVE_NEARBY.sts);//灏忚溅绉诲姩鍒版彁鍗囨満涓� 301.鐢熸垚灏忚溅绉诲簱浠诲姟 ==> 302.灏忚溅绉诲姩鑷宠繎鐐逛腑
+ wrkMast.setSourceStaNo(recentLiftStation.getStaNo());
+ wrkMast.setStaNo(targetLiftSta.getStaNo());
wrkMast.setModiTime(now);
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
if (wrkMastService.updateById(wrkMast)) {
@@ -1627,7 +1624,7 @@
return false;
}
- int targetLev = Utils.getLev(wrkMast.getLocNo());
+ int targetLev = Utils.getLev(shuttleProtocol.getCurrentLocNo());
if (liftProtocol.getLev() != targetLev) {
//鑾峰彇鎻愬崌鏈哄懡浠�
LiftCommand liftCommand = liftThread.getMoveCommand(wrkMast.getWrkNo(), liftProtocol.getLev(), targetLev);
@@ -1639,7 +1636,7 @@
assignCommand.setCommands(commands);
assignCommand.setLiftNo(wrkMast.getLiftNo());
assignCommand.setTaskNo(wrkMast.getWrkNo());
- assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id);
+ assignCommand.setTaskMode(LiftTaskModeType.MOVE.id);
//涓嬪彂浠诲姟
liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満鍦▄}灞傦紝鎻愬崌鏈轰笉鍦ㄥ皬杞﹀眰锛岃皟搴︾Щ鍔ㄤ腑", wrkMast.getWrkNo(), liftProtocol.getLev(), wrkMast.getLiftNo());
@@ -1724,7 +1721,7 @@
assignCommand.setCommands(commands);
assignCommand.setLiftNo(wrkMast.getLiftNo());
assignCommand.setTaskNo(wrkMast.getWrkNo());
- assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id);
+ assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
@@ -1855,77 +1852,6 @@
}
}
return true;
- }
-
- //鑷姩鍒囨崲鍑哄叆搴撴ā寮�
- public void autoSwitchForkLiftIOMode() {
-// List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
-// .eq("device_type", String.valueOf(SlaveType.ForkLift)));
-// for (DeviceConfig device : forkliftList) {
-// Integer liftNo = device.getDeviceNo();
-// ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
-// if (forkLiftThread == null) {
-// continue;
-// }
-// ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
-// if (forkLiftProtocol == null) {
-// continue;
-// }
-//
-// List<Integer> liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo);
-// if (liftAllStaNo.isEmpty()) {
-// continue;
-// }
-//
-// List<Integer> conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo);
-// if (conveyorBindLiftAllStaNo.isEmpty()) {
-// continue;
-// }
-//
-// //鑾峰彇鍏ュ簱浠诲姟
-// List<WrkMast> inWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
-// .in("sta_no", liftAllStaNo)
-// .in("wrk_sts"
-// , WrkStsType.NEW_INBOUND.sts
-// , WrkStsType.INBOUND_DEVICE_RUN.sts
-// , WrkStsType.INBOUND_LIFT_RUN.sts
-// , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts
-// , WrkStsType.INBOUND_SHUTTLE_RUN.sts
-// , WrkStsType.INBOUND_SHUTTLE_RUN_COMPLETE.sts
-// ));
-//
-// //鑾峰彇鍑哄簱浠诲姟
-// List<WrkMast> outWrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
-// .in("sta_no", conveyorBindLiftAllStaNo)
-// .in("wrk_sts"
-// , WrkStsType.NEW_OUTBOUND.sts
-// , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
-// , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
-// , WrkStsType.OUTBOUND_LIFT_RUN.sts
-// , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
-// ));
-//
-// if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.NONE)) {
-// //鏈煡妯″紡
-// if (!inWrkMasts.isEmpty()) {
-// forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
-// } else if (!outWrkMasts.isEmpty()) {
-// forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
-// }else {
-// forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
-// }
-// } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
-// //鍏ュ簱妯″紡
-// if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) {
-// forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT);
-// }
-// } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
-// //鍑哄簱妯″紡
-// if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) {
-// forkLiftThread.switchIOMode(ForkLiftIoModeType.IN);
-// }
-// }
-// }
}
}
--
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