From ce9c9af4a3710d17e17814bab629ab4ef474f3f1 Mon Sep 17 00:00:00 2001
From: Junjie <fallin.jie@qq.com>
Date: 星期三, 09 七月 2025 11:16:51 +0800
Subject: [PATCH] #
---
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java | 158 ++++++++++++++++++++++++++++++++++++----------------
1 files changed, 108 insertions(+), 50 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 e6ccc5e..80f3170 100644
--- a/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
+++ b/src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -76,6 +76,8 @@
private NotifyUtils notifyUtils;
@Autowired
private BasShuttleChargeService basShuttleChargeService;
+ @Autowired
+ private DeviceConfigService deviceConfigService;
/**
* 鍒濆鍖栧疄鏃跺湴鍥�
@@ -309,6 +311,23 @@
return false;
}
+ List<WrkMast> shuttleMoveList = wrkMastService.selectList(new EntityWrapper<WrkMast>()
+ .eq("io_type", 200)
+ );
+ for (WrkMast moveWrkMast : shuttleMoveList) {
+ if(Utils.getLev(moveWrkMast.getLocNo()) != Utils.getLev(wrkMast.getSourceLocNo())) {
+ continue;
+ }
+
+ if(Utils.getLev(moveWrkMast.getLocNo()) == Utils.getLev(moveWrkMast.getSourceLocNo())) {
+ continue;
+ }
+
+ //瀛樺湪鎹㈠眰浠诲姟锛屽嚭搴撲换鍔℃殏鏃朵笉鎵ц
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屽瓨鍦ㄦ崲灞備换鍔★紝鍑哄簱浠诲姟绛夊緟涓�", wrkMast.getWrkNo());
+ return false;
+ }
+
boolean checkLocPathIsAvailable = navigateUtils.checkLocPathIsAvailable(wrkMast.getSourceLocNo(), liftSta.getLocNo());
if(!checkLocPathIsAvailable) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛屾湭璁＄畻鍒板彲鎵ц璺緞锛岀瓑寰呬腑", wrkMast.getWrkNo());
@@ -421,9 +440,11 @@
*/
public synchronized void shuttleFinished() {
try {
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
//鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
@@ -676,6 +697,29 @@
return false;
}
+ //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
+ boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
+ if (!checkLevHasShuttle) {
+ if (wrkMast.getShuttleNo() != null) {
+ return false;
+ }
+
+ //鑾峰彇灏忚溅寰呮満浣�
+ String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
+ if (standbyLocNo == null) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃幏鍙栧皬杞﹀緟鏈轰綅澶辫触", wrkMast.getWrkNo());
+ return false;
+ }
+
+ //璋冨害灏忚溅鍘诲緟鏈轰綅
+ boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
+ if (!dispatchShuttle) {
+ News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
+ return false;
+ }
+ return false;
+ }
+
Integer liftNo = wrkMast.getLiftNo();
if (liftNo == null) {
//鏈垎閰嶆彁鍗囨満
@@ -711,29 +755,6 @@
//鍒ゆ柇鎻愬崌鏈烘槸鍚﹀浜庡叆搴撴ā寮�
if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.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;
- }
-
- //妫�娴嬫ゼ灞傛槸鍚︽湁鍙敤绌挎杞�
- boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev());
- if (!checkLevHasShuttle) {
- if (wrkMast.getShuttleNo() != null) {
- return false;
- }
-
- //鑾峰彇灏忚溅寰呮満浣�
- String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo());
- if (standbyLocNo == null) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃幏鍙栧皬杞﹀緟鏈轰綅澶辫触", wrkMast.getWrkNo());
- return false;
- }
-
- //璋冨害灏忚溅鍘诲緟鏈轰綅
- boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo);
- if (!dispatchShuttle) {
- News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岃皟搴﹀皬杞﹀け璐�", wrkMast.getWrkNo());
- return false;
- }
return false;
}
@@ -902,9 +923,11 @@
*/
public synchronized void forkLiftFinished() {
try {
- for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
//鑾峰彇鎻愬崌鏈轰俊鎭�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus();
if (forkLiftProtocol == null) {
continue;
@@ -974,9 +997,11 @@
*/
private void recShuttleErr() {
Date now = new Date();
- for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
// 鑾峰彇鍥涘悜绌挎杞︿俊鎭�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
if (shuttleThread == null) {
continue;
}
@@ -987,7 +1012,7 @@
if (shuttleProtocol.getTaskNo() != 0) {
//鏈変换鍔�
- BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo());
+ BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(device.getDeviceNo(), shuttleProtocol.getTaskNo());
// 鏈夊紓甯�
if (latest == null) {
if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) {
@@ -1005,7 +1030,7 @@
null, // 缁撴潫鏃堕棿
wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
- shuttleSlave.getId(), // 鍥涘悜绌挎杞�
+ device.getDeviceNo(), // 鍥涘悜绌挎杞�
null, // plc
wrkMast.getLocNo(), // 鐩爣搴撲綅
wrkMast.getStaNo(), // 鐩爣绔�
@@ -1023,7 +1048,7 @@
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);
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName);
}
}
} else {
@@ -1033,7 +1058,7 @@
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());
+ News.error("鍥涘悜绌挎杞lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId());
}
}
}
@@ -1046,9 +1071,11 @@
*/
private void recLiftErr() {
Date now = new Date();
- for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
+ List<DeviceConfig> forkliftList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.ForkLift)));
+ for (DeviceConfig device : forkliftList) {
// 鑾峰彇鎻愬崌鏈轰俊鎭�
- ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId());
+ ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, device.getDeviceNo());
if (forkLiftThread == null) {
continue;
}
@@ -1059,7 +1086,7 @@
if (forkLiftProtocol.getTaskNo() != 0) {
//鏈変换鍔�
- BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo());
+ BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(device.getDeviceNo(), forkLiftProtocol.getTaskNo());
// 鏈夊紓甯�
if (latest == null) {
if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) {
@@ -1078,7 +1105,7 @@
null, // 缁撴潫鏃堕棿
wrkMast.getWrkSts(), // 宸ヤ綔鐘舵��
wrkMast.getIoType(), // 鍏ュ嚭搴撶被鍨�
- forkLiftSlave.getId(), // 鎻愬崌鏈�
+ device.getDeviceNo(), // 鎻愬崌鏈�
null, // plc
wrkMast.getLocNo(), // 鐩爣搴撲綅
wrkMast.getStaNo(), // 鐩爣绔�
@@ -1096,7 +1123,7 @@
JSON.toJSONString(forkLiftProtocol) // 绯荤粺鐘舵�佹暟鎹�
);
if (!basLiftErrLogService.insert(basLiftErrLog)) {
- News.error("鎻愬崌鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName);
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍澶辫触 ===>> [id:{}] [error:{}]", device.getDeviceNo(), errName);
}
}
} else {
@@ -1106,7 +1133,7 @@
latest.setUpdateTime(now);
latest.setStatus(2);
if (!basLiftErrLogService.updateById(latest)) {
- News.error("鎻愬崌鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId());
+ News.error("鎻愬崌鏈簆lc寮傚父璁板綍淇澶辫触 ===>> [id:{}] [errLogId:{}]", device.getDeviceNo(), latest.getId());
}
}
}
@@ -1125,9 +1152,11 @@
return;//鏃犲厖鐢垫々
}
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
//鑾峰彇鍥涘悜绌挎杞︾嚎绋�
- ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
+ ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, device.getDeviceNo());
ShuttleProtocol shuttleProtocol = shuttleThread.getStatus();
if (shuttleProtocol == null) {
continue;
@@ -1200,15 +1229,15 @@
wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.鍏呯數
wrkMast.setIoPri((double) 999);
wrkMast.setLocNo(chargeLocNo);
- wrkMast.setShuttleNo(shuttle.getId());
+ wrkMast.setShuttleNo(device.getDeviceNo());
wrkMast.setMemo("charge");
wrkMast.setAppeTime(new Date());
if (!wrkMastService.insert(wrkMast)) {
- News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", shuttle.getId());
+ News.error("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟澶辫触!!!", device.getDeviceNo());
continue;
}
- News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", shuttle.getId());
+ News.info("淇濆瓨{}鍙峰洓鍚戠┛姊溅鍏呯數浠诲姟鎴愬姛!!!", device.getDeviceNo());
}
} catch (Exception e) {
e.printStackTrace();
@@ -1221,8 +1250,10 @@
public synchronized void executeShuttleCharge() {
try {
//鏌ヨ灏忚溅鍏呯數浠诲姟
- for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
- WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId());
+ List<DeviceConfig> shuttleList = deviceConfigService.selectList(new EntityWrapper<DeviceConfig>()
+ .eq("device_type", String.valueOf(SlaveType.Shuttle)));
+ for (DeviceConfig device : shuttleList) {
+ WrkMast wrkMast = wrkMastService.selectChargeWorking(device.getDeviceNo());
if(wrkMast == null) {
continue;
}
@@ -1343,7 +1374,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//鍑哄簱妯″紡
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_ON.id);//鍏呯數寮�
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true);
@@ -1384,7 +1415,7 @@
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//鍥涘悜绌挎杞﹀彿
assignCommand.setTaskNo(wrkMast.getWrkNo());//浠诲姟鍙�
- assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//鍑哄簱妯″紡
+ assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE_OFF.id);//鍏呯數鍏�
assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//婧愬簱浣�(灏忚溅褰撳墠浣嶇疆)
List<ShuttleCommand> commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false);
@@ -1561,6 +1592,15 @@
return false;
}
+ //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.setModiTime(now);
+ wrkMast.setSystemMsg("");//娓呯┖娑堟伅
+ wrkMastService.updateById(wrkMast);
+ return true;
+ }
+
//鑾峰彇灏忚溅鍒拌繎鐐硅璧板懡浠�
List<ShuttleCommand> commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), endLocation, NavigationMapType.NORMAL.id, assignCommand, shuttleThread);
if (commands == null) {
@@ -1642,6 +1682,22 @@
if (liftStaTarget.getHasCar()) {
News.taskInfo(wrkMast.getWrkNo(), "{}浠诲姟锛岀洰鏍囩珯瀛樺湪灏忚溅", wrkMast.getWrkNo());
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());
+ return false;
+ }
}
if (wrkMast.getLiftNo() == null) {
@@ -1867,8 +1923,10 @@
//鑷姩鍒囨崲鍑哄叆搴撴ā寮�
public void autoSwitchForkLiftIOMode() {
- for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) {
- Integer liftNo = forkLiftSlave.getId();
+ 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;
--
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