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 | 444 ++++++++++++++++++------------------------------------
1 files changed, 150 insertions(+), 294 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 6843a68..6bc7288 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -12,9 +12,10 @@
import com.zy.common.service.CommonService;
import com.zy.common.utils.*;
import com.zy.core.News;
-import com.zy.core.action.ForkLiftAction;
+import com.zy.core.action.LiftAction;
import com.zy.core.action.ShuttleAction;
import com.zy.core.cache.SlaveConnection;
+import com.zy.core.dispatcher.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;
@@ -67,13 +66,15 @@
@Autowired
private ShuttleAction shuttleAction;
@Autowired
- private ForkLiftAction forkLiftAction;
+ private LiftAction liftAction;
@Autowired
private NotifyUtils notifyUtils;
@Autowired
private BasShuttleChargeService basShuttleChargeService;
@Autowired
private DeviceConfigService deviceConfigService;
+ @Autowired
+ private LiftDispatchUtils liftDispatchUtils;
/**
* 鍒濆鍖栧疄鏃跺湴鍥�
@@ -183,7 +184,7 @@
//妫�娴嬮殰纰嶇墿杞�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
@@ -374,7 +375,7 @@
//妫�娴嬮殰纰嶇墿杞�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
@@ -494,7 +495,14 @@
return false;
}
+ if (shuttleProtocol.getCurrentLocNo() == null) {
+ return false;
+ }
+
+ //鍒ゆ柇灏忚溅鏄惁鍒拌揪璐х墿搴撲綅
if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) {
+ //灏忚溅鏈埌杈惧彇璐т綅缃�
+ shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//璋冨害灏忚溅鍒拌揣鐗╂墍鍦ㄥ簱浣嶈繘琛屽彇璐�
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽皬杞︽湭鍒拌揪鍙栬揣浣嶇疆", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
return false;
}
@@ -509,7 +517,7 @@
//妫�娴嬮殰纰嶇墿杞�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
@@ -561,9 +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>()
@@ -642,65 +650,65 @@
if (liftNo == null) {
//鏈垎閰嶆彁鍗囨満
Integer staNo = wrkMast.getSourceStaNo();
- liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo);
+ liftNo = LiftUtils.getConveyorBindLiftNo(staNo);
if(liftNo == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
return false;
}
//鐢宠鎻愬崌鏈鸿祫婧�
- boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, wrkMast.getWrkNo());
- if(!applyForkLift) {
+ boolean applyLift = liftAction.applyLift(liftNo, wrkMast.getWrkNo());
+ if(!applyLift) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀敵璇锋彁鍗囨満璧勬簮澶辫触锛岀姝㈠叆搴�", wrkMast.getWrkNo());
return false;
}
return false;
}
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
return false;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
return false;
}
- if (!forkLiftThread.isIdle()) {
+ if (!liftThread.isIdle()) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftSta.getLiftNo());
return false;
}
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡叆搴撴ā寮�
- if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) {
+ if (!liftProtocol.getIOModeType().equals(LiftIoModeType.IN)) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡叆搴撴ā寮忥紝绂佹鍏ュ簱", wrkMast.getWrkNo());
return false;
}
//璇锋眰涓婄骇绯荤粺锛屾槸鍚﹀厑璁稿叆搴�
- boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
+ boolean inMission = LiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo());
if (!inMission) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屼笂绾х郴缁熶笉鍏佽鍏ュ簱", wrkMast.getWrkNo());
return false;
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev());
+ ArrayList<LiftCommand> commands = new ArrayList<>();
commands.add(liftCommand);
//鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
LiftAssignCommand assignCommand = new LiftAssignCommand();
assignCommand.setCommands(commands);
- assignCommand.setLiftNo(liftNo.shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
+ assignCommand.setLiftNo(liftNo);
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id);
wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 1.鐢熸垚鍏ュ簱浠诲姟 ==> 3.鎻愬崌鏈烘惉杩愪腑
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
}
return false;
}
@@ -717,7 +725,7 @@
//103.灏忚溅鎼繍瀹屾垚 ==> 104.鎻愬崌鏈烘惉杩愪腑
if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) {
//鑾峰彇婧愮珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
if (liftSta == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾壘涓嶅埌绔欑偣锛岀姝㈡淳鍙�", wrkMast.getWrkNo());
return false;//鎵句笉鍒扮珯鐐�
@@ -777,51 +785,51 @@
return false;
}
//鐢宠鎻愬崌鏈鸿祫婧�
- boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
- if(!applyForkLift) {
+ boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
+ if(!applyLift) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀敵璇锋彁鍗囨満璧勬簮澶辫触锛岀姝㈡墽琛屽嚭搴�", wrkMast.getWrkNo());
return false;
}
return false;
}
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo);
+ if (liftThread == null) {
return false;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
return false;
}
- if (!forkLiftThread.isIdle()) {
+ if (!liftThread.isIdle()) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屽繖纰屼腑", wrkMast.getWrkNo(), liftSta.getLiftNo());
return false;
}
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡嚭搴撴ā寮�
- if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) {
+ if (!liftProtocol.getIOModeType().equals(LiftIoModeType.OUT)) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾彁鍗囨満涓嶅浜庡嚭搴撴ā寮忥紝绂佹鍑哄簱", wrkMast.getWrkNo());
return false;
}
//璇锋眰涓婄骇绯荤粺锛屾槸鍚﹀厑璁稿嚭搴�
- boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo());
+ boolean outMission = LiftUtils.queryOutMission(wrkMast.getStaNo());
if (!outMission) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屼笂绾х郴缁熶笉鍏佽鍑哄簱", wrkMast.getWrkNo());
return false;
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- ForkLiftCommand liftCommand = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ LiftCommand liftCommand = liftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo());
+ ArrayList<LiftCommand> commands = new ArrayList<>();
commands.add(liftCommand);
//鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
LiftAssignCommand assignCommand = new LiftAssignCommand();
assignCommand.setCommands(commands);
- assignCommand.setLiftNo(liftNo.shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue());
+ assignCommand.setLiftNo(liftNo);
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id);
wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 103.鐢熸垚鍏ュ簱浠诲姟 ==> 104.鎻愬崌鏈烘惉杩愪腑
wrkMast.setShuttleNo(null);//閲婃斁灏忚溅
@@ -829,7 +837,7 @@
wrkMast.setModiTime(new Date());
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
}
return false;
}
@@ -837,61 +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());
}
}
}
@@ -1085,6 +1095,16 @@
//鍒ゆ柇褰撳墠灏忚溅鏄惁婊¤冻闇�瑕佸厖鐢佃姹�
if (!shuttleThread.isRequireCharge()) {
+ continue;
+ }
+
+ WrkMast wrkMast1 = wrkMastService.selectShuttleWorking(shuttleProtocol.getShuttleNo());
+ if (wrkMast1 != null) {
+ continue;
+ }
+
+ WrkMast wrkMast2 = wrkMastService.selectShuttleHasMoveWorking(shuttleProtocol.getShuttleNo());
+ if (wrkMast2 != null) {
continue;
}
@@ -1369,7 +1389,7 @@
//妫�娴嬮殰纰嶇墿杞�
boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList<Integer>() {{
add(shuttleProtocol.getShuttleNo());
- }});
+ }}, new ArrayList<>());
if (checkObstacle) {
News.info("{}浠诲姟锛岄伩闅滆寖鍥存湁灏忚溅锛岀瓑寰呴殰纰嶅皬杞﹁皟绂讳腑", wrkMast.getWrkNo());
return false;
@@ -1468,35 +1488,15 @@
return false;
}
- //鑾峰彇婧愯緭閫佺珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
- if (liftSta == null) {
- return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欏瓨鍦ㄦ墭鐩�", wrkMast.getWrkNo());
+ //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;
}
- if (liftSta.getHasCar()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欏瓨鍦ㄥ皬杞�", wrkMast.getWrkNo());
- return false;
- }
-
- //鑾峰彇鐩爣杈撻�佺珯
- ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
- if (liftStaTarget == null) {
- return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftStaTarget.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏", wrkMast.getWrkNo());
- return false;
- }
-
- if (liftStaTarget.getHasCar()) {
- 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;
}
@@ -1507,7 +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, NavigationMapType.PATH_LOCK), 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;
@@ -1516,6 +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);
@@ -1532,6 +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)) {
@@ -1574,14 +1578,9 @@
}
//鑾峰彇婧愯緭閫佺珯
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
if (liftSta == null) {
return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftSta.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾簮绔欏瓨鍦ㄦ墭鐩�", wrkMast.getWrkNo());
- return false;
}
if (liftSta.getHasCar()) {
@@ -1590,14 +1589,9 @@
}
//鑾峰彇鐩爣杈撻�佺珯
- ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ LiftStaProtocol liftStaTarget = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
if (liftStaTarget == null) {
return false;//鎵句笉鍒扮珯鐐�
- }
-
- if (liftStaTarget.getHasTray()) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪鎵樼洏", wrkMast.getWrkNo());
- return false;
}
if (liftStaTarget.getHasCar()) {
@@ -1605,29 +1599,47 @@
return false;
}
- List<WrkMast> outWrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .eq("io_type", 101)
- .in("wrk_sts"
- , WrkStsType.OUTBOUND_SHUTTLE_RUN.sts
- , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
- , WrkStsType.OUTBOUND_LIFT_RUN.sts
- , WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts
- )
- );
- for (WrkMast outWrkMast : outWrkMastList) {
- if(Utils.getLev(outWrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽瓨鍦ㄦ鍦ㄦ墽琛岀殑灏忚溅鍑哄簱浠诲姟锛岀姝㈢Щ鍔ㄨ嚦绔欑偣", wrkMast.getWrkNo());
+ if (wrkMast.getLiftNo() == null) {
+ //鐢宠鎻愬崌鏈鸿祫婧�
+ boolean applyLift = liftAction.applyLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
+ if(!applyLift) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀敵璇锋彁鍗囨満璧勬簮澶辫触锛岀姝㈢Щ鍔�", wrkMast.getWrkNo());
return false;
}
+ return false;
}
- if (wrkMast.getLiftNo() == null) {
- //鐢宠鎻愬崌鏈鸿祫婧�(璇ヤ换鍔￠渶瑕佹崲灞傚繀椤绘彁鍓嶇嫭鍗犳彁鍗囨満)
- boolean applyForkLift = forkLiftAction.applyForkLift(liftSta.getLiftNo(), wrkMast.getWrkNo());
- if(!applyForkLift) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀敵璇锋彁鍗囨満璧勬簮澶辫触锛岀姝㈢Щ鍔ㄨ嚦绔欑偣", wrkMast.getWrkNo());
- return false;
- }
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
+ return false;
+ }
+
+ if (!liftThread.isIdle()) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満蹇欑涓紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
+ return false;
+ }
+
+ int targetLev = Utils.getLev(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);
+ ArrayList<LiftCommand> commands = new ArrayList<>();
+ commands.add(liftCommand);
+
+ //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
+ LiftAssignCommand assignCommand = new LiftAssignCommand();
+ assignCommand.setCommands(commands);
+ assignCommand.setLiftNo(wrkMast.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(LiftTaskModeType.MOVE.id);
+ //涓嬪彂浠诲姟
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満鍦▄}灞傦紝鎻愬崌鏈轰笉鍦ㄥ皬杞﹀眰锛岃皟搴︾Щ鍔ㄤ腑", wrkMast.getWrkNo(), liftProtocol.getLev(), wrkMast.getLiftNo());
return false;
}
@@ -1638,7 +1650,7 @@
assignCommand.setAuto(true);//鑷姩妯″紡
//鑾峰彇灏忚溅鍒版彁鍗囨満琛岃蛋鍛戒护
- List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread);
+ List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftThread.getCurrentLocNo(), NavigationMapType.getNormalWithDevice(), assignCommand, shuttleThread, "inLift");
if (commands == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}灏忚溅锛岃矾寰勮绠楀け璐�", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
return false;//璺緞瑙ｉ攣澶辫触
@@ -1672,23 +1684,23 @@
//鎻愬崌鏈烘惉杩愪腑 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_COMPLETE.sts) {
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo());
- if (forkLiftThread == null) {
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
+ if (liftThread == null) {
return false;
}
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
+ LiftProtocol liftProtocol = liftThread.getStatus();
+ if (liftProtocol == null) {
return false;
}
- if (!forkLiftThread.isIdle()) {
+ if (!liftThread.isIdle()) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛寋}鍙锋彁鍗囨満锛屾彁鍗囨満蹇欑涓紝绂佹娲惧彂", wrkMast.getWrkNo(), wrkMast.getLiftNo());
return false;
}
//鑾峰彇婧愮珯
- ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
+ LiftStaProtocol sourceLiftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo());
//鑾峰彇鐩爣绔�
- ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
+ LiftStaProtocol liftSta = LiftUtils.getLiftStaByStaNo(wrkMast.getStaNo());
if (sourceLiftSta == null || liftSta == null) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀己灏戠珯鐐逛俊鎭紝绂佹娲惧彂", wrkMast.getWrkNo());
return false;//缂哄皯绔欑偣淇℃伅
@@ -1700,23 +1712,23 @@
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- ForkLiftCommand liftCommand = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
+ LiftCommand liftCommand = liftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev());
+ ArrayList<LiftCommand> commands = new ArrayList<>();
commands.add(liftCommand);
//鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
LiftAssignCommand assignCommand = new LiftAssignCommand();
assignCommand.setCommands(commands);
- assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue());
- assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
- assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue());
+ assignCommand.setLiftNo(wrkMast.getLiftNo());
+ assignCommand.setTaskNo(wrkMast.getWrkNo());
+ assignCommand.setTaskMode(LiftTaskModeType.SHUTTLE_SWITCH.id);
wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//鎻愬崌鏈烘惉杩愪腑 305.灏忚溅杩佸叆鎻愬崌鏈哄畬鎴� ==> 306.鎻愬崌鏈烘惉杩愪腑
wrkMast.setSystemMsg("");//娓呯┖娑堟伅
wrkMast.setModiTime(now);
if (wrkMastService.updateById(wrkMast)) {
//涓嬪彂浠诲姟
- forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
+ liftAction.assignWork(wrkMast.getLiftNo(), assignCommand);
}
}
return true;
@@ -1840,162 +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);
-// }
-// }
-// }
- }
-
- //鍑哄簱浠诲姟棰勮皟搴︽彁鍗囨満
- public void outTaskPreviewDispatchForkLift() {
- List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
- .in("wrk_sts"
- , WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts
- ));
- for (WrkMast wrkMast : wrkMasts) {
- if(wrkMast.getShuttleNo() == null){
- continue;
- }
-
- //鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
- if (shuttleThread == null) {
- continue;
- }
-
- ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
- if (shuttleProtocol == null) {
- continue;
- }
-
- if(shuttleProtocol.getCurrentLocNo() == null){
- continue;
- }
-
- //閫氳繃杈撻�佺嚎绔欏彿鑾峰彇鎻愬崌鏈哄彿
- Integer liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo());
- if (liftNo == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭鎵惧埌鍖归厤鐨勬彁鍗囨満", wrkMast.getWrkNo());
- continue;
- }
-
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo);
- if (forkLiftThread == null) {
- continue;
- }
-
- ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
- if (forkLiftProtocol == null) {
- continue;
- }
-
- //瀛樺湪璋冨害閿�
- Object object = redisUtil.get(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo());
- if (object != null) {
- continue;
- }
-
- //鐢宠鎻愬崌鏈鸿祫婧�
- boolean applyForkLift = forkLiftAction.applyForkLift(liftNo, null);
- if(!applyForkLift) {
- continue;//鎻愬崌鏈哄凡琚粦瀹氾紝涓嶅啀鎵ц棰勮皟搴︿换鍔�
- }
-
- if (!forkLiftThread.isIdle()) {
- continue;
- }
-
- //鎻愬崌鏈轰笉鍦ㄥ嚭搴撳眰
- if (forkLiftProtocol.getLev().equals(Utils.getLev(wrkMast.getSourceLocNo()))) {
- continue;
- }
-
- //绉诲姩
- int workNo = commonService.getWorkNo(WrkIoType.FORKLIFT_MOVE.id);//鑾峰彇浠诲姟鍙�
-
- //鑾峰彇鎻愬崌鏈哄懡浠�
- ForkLiftCommand liftCommand = forkLiftThread.getMoveCommand(workNo, forkLiftProtocol.getLev(), Utils.getLev(wrkMast.getSourceLocNo()));
- ArrayList<ForkLiftCommand> commands = new ArrayList<>();
- commands.add(liftCommand);
-
- //鎻愪氦鍒扮嚎绋嬪幓宸ヤ綔
- LiftAssignCommand assignCommand = new LiftAssignCommand();
- assignCommand.setCommands(commands);
- assignCommand.setLiftNo(forkLiftProtocol.getLiftNo().shortValue());
- assignCommand.setTaskNo((short) workNo);
- assignCommand.setTaskMode(ForkLiftTaskModeType.MOVE.id.shortValue());
-
- forkLiftAction.assignWork(forkLiftProtocol.getLiftNo(), assignCommand);
-
- redisUtil.set(RedisKeyType.OUT_TASK_PREVIEW_DISPATCH_FORKLIFT.key + forkLiftProtocol.getLiftNo(), "lock", 30);//30绉掍笉鍐嶈皟搴�
- }
}
}
--
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