From fb8419ef141e16b8ec8b1d9802fa0d5a46768794 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 20 九月 2023 08:24:21 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 251 ++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 200 insertions(+), 51 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 70fc05b..bd38850 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -2,6 +2,7 @@
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
@@ -98,6 +99,9 @@
private ShuttleDispatchUtils shuttleDispatchUtils;
@Autowired
private RedisUtil redisUtil;
+ @Autowired
+ private WrkMastLocMapper wrkMastLocMapper;
+
/**
* 缁勬墭
@@ -783,6 +787,45 @@
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�
+ }
+
+ //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�
+ }
+
+ if (!basDevp.getOutEnable().equals("Y")) {
+ return false;//鍑哄簱绔欑偣涓嶅彲鍑�
+ }
+
+ //鍒ゆ柇鍚勬ゼ灞傚唴閮ㄨ緭閫佺珯鐐规槸鍚︾┖闂叉棤鐗�
+ LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo());
+ if (liftThread == null) {
+ return false;
+ }
+ //鑾峰彇鎻愬崌鏈虹珯鐐筶ist
+ List<LiftStaProtocol> liftStaProtocols = liftThread.getLiftStaProtocols();
+ if (liftStaProtocols.isEmpty()) {
+ return false;
+ }
+
+ for (LiftStaProtocol liftStaProtocol : liftStaProtocols) {
+ //鍒ゆ柇褰撳墠鍑哄簱浠诲姟瀵瑰簲妤煎眰鐨勬彁鍗囨満绔欑偣鐘舵��
+ if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getSourceLocNo())) {
+ 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�
+ }
+ }
+ }
+
+
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;
@@ -805,12 +848,6 @@
return false;//灏忚溅宸茶鐙崰锛岀姝㈠啀娲惧彂浠诲姟
}
- //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
- BasDevp targetBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getLiftNo());
- if (targetBasDevp == null) {
- return false;//缂哄皯绔欑偣淇℃伅
- }
-
//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�
@@ -819,7 +856,7 @@
}
//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(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), targetBasDevp.getLocNo());
+ NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getSourceLocNo(), null);
if (result == null) {//鍑哄簱璺緞璁＄畻澶辫触
return false;
}
@@ -896,6 +933,16 @@
shuttleProtocol.setToken(0);
}
break;
+ case 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());
+ }
+ break;
default:
}
@@ -934,6 +981,11 @@
}
if (!liftProtocol.isIdle()) {
+ continue;
+ }
+
+ //鍒ゆ柇鎻愬崌鏈轰护鐗屾槸鍚﹁鍗犵敤
+ if (liftProtocol.getToken() != 0) {
continue;
}
@@ -998,15 +1050,25 @@
//鑾峰彇婧愮珯瀵瑰簲鐨勮緭閫佺珯鐐�
BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
- //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
- BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo());
- if (sourceBasDevp == null || targetBasDevp == null) {
- return false;//缂哄皯绔欑偣淇℃伅
+ if (sourceBasDevp == null) {
+ return false;//绔欑偣涓嶅瓨鍦�
+ }
+ //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());
+ Integer targetSta = null;
+ //鑾峰彇鐗涚溂鎻愬崌鏈虹珯鐐圭紪鍙�(鐩爣缂栧彿)
+ for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
+ if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
+ targetSta = liftStaProtocol.getStaNo();
+ }
+ }
+
+ if (targetSta == null) {
+ return false;//绔欑偣缂栧彿涓嶅瓨鍦�
}
//鑾峰彇鎻愬崌鏈哄懡浠�
- NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
-
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
ArrayList<NyLiftCommand> commands = new ArrayList<>();
commands.add(liftCommand);
@@ -1063,16 +1125,28 @@
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勮緭閫佺珯鐐�
- BasDevp sourceBasDevp = basDevpService.selectByLevAndLiftNo(Utils.getLev(wrkMast.getSourceLocNo()), liftProtocol.getLiftNo().intValue());
- //鑾峰彇鐩爣绔欏搴旂殑杈撻�佺珯鐐�
- BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo());
- if (sourceBasDevp == null || targetBasDevp == null) {
- return false;//缂哄皯绔欑偣淇℃伅
+ //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 = null;
+ for (LiftStaProtocol liftStaProtocol : liftThread.getLiftStaProtocols()) {
+ if (liftStaProtocol.getLev() == Utils.getLev(wrkMast.getLocNo())) {
+ startSta = liftStaProtocol.getStaNo();
+ }
}
+ if (startSta == null) {
+ return false;//绔欑偣缂栧彿涓嶅瓨鍦�
+ }
+
+ //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(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceBasDevp.getDevNo(), targetBasDevp.getDevNo(), wrkMast.getWrkNo());
+ NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo());
ArrayList<NyLiftCommand> commands = new ArrayList<>();
commands.add(liftCommand);
@@ -1996,6 +2070,10 @@
}
if (wrkCharge.getWrkSts() == 51) {
+ if (!shuttleProtocol.isIdleNoCharge()) {
+ continue;
+ }
+
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
@@ -2091,6 +2169,8 @@
continue;
}
+// this.shuttleMoveExecuteStepClearWrkMast(wrkMast);//娓呯悊111.灏忚溅绉诲姩瀹屾垚
+
}
}
@@ -2116,7 +2196,7 @@
}
//灏忚溅澶勪簬绌洪棽鐘舵��
- if (!shuttleProtocol.isIdleNoCharge()) {
+ if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) {
return false;
}
@@ -2293,6 +2373,8 @@
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));
@@ -2487,15 +2569,6 @@
//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) {
- LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo());
- if (liftThread == null) {
- return false;
- }
- LiftProtocol liftProtocol = liftThread.getLiftProtocol();
- if (liftProtocol == null) {
- 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) {
@@ -2507,34 +2580,34 @@
}
//灏忚溅澶勪簬绌洪棽鐘舵��
- if (!shuttleProtocol.isIdleNoCharge()) {
+ 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() != wrkMast.getWrkNo()) {
+ if (shuttleProtocol.getToken() != 0 && shuttleProtocol.getToken() != 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$().getZ());
- //鑾峰彇鎻愬崌鏈烘暟鎹�
- BasLift basLift = basLiftService.selectById(targetBasDevp.getLiftNo());
- if (basLift == null) {
- return false;//娌℃湁鎻愬崌鏈烘暟鎹�
- }
- if (basLift.getPoint() == null) {
- return false;//娌℃湁璁剧疆鎻愬崌鏈虹偣浣嶅潗鏍�
- }
- NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY());
- liftNode.setZ(basLift.getPoint$().getZ());
-
- //鑾峰彇灏忚溅浠庤緭閫佺珯鍒扮洰鏍囧簱浣嶅懡浠�
- NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), targetBasDevp.getLocNo(), wrkMast.getLocNo());
+ //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());
if (result == null) {
return false;//璺緞璁＄畻澶辫触
}
@@ -2551,7 +2624,20 @@
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);
- liftProtocol.setToken(0);//閲婃斁鎻愬崌鏈轰护鐗�
+
+ 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() == shuttleProtocol.getShuttleNo().intValue()) {
+ liftProtocol.setToken(0);//閲婃斁鎻愬崌鏈轰护鐗�
+ }
+ }
if (wrkMastMapper.updateById(wrkMast) > 0) {
//涓嬪彂浠诲姟
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
@@ -2561,6 +2647,69 @@
}
/**
+ * 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�
*/
public synchronized void outAndIn() {
--
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