package com.zy.core.plugin; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import com.core.common.Cools; import com.zy.asrs.utils.Utils; import com.zy.asrs.entity.BasDevp; import com.zy.asrs.service.BasDevpService; import com.zy.common.service.CommonService; import com.zy.common.utils.RedisUtil; import com.zy.core.News; import com.zy.core.cache.SlaveConnection; import com.zy.core.dispatch.StationCommandDispatcher; import com.zy.core.enums.RedisKeyType; import com.zy.core.enums.SlaveType; import com.zy.core.enums.StationCommandType; import com.zy.core.enums.WrkIoType; import com.zy.core.model.StationObjModel; import com.zy.core.model.command.StationCommand; import com.zy.core.model.protocol.StationProtocol; import com.zy.core.plugin.api.MainProcessPluginApi; import com.zy.core.plugin.store.InTaskApplyRequest; import com.zy.core.plugin.store.StoreInTaskContext; import com.zy.core.plugin.store.StoreInTaskGenerationService; import com.zy.core.plugin.store.StoreInTaskPolicy; import com.zy.core.thread.StationThread; import com.zy.core.utils.CrnOperateProcessUtils; import com.zy.core.utils.StationOperateProcessUtils; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; import java.util.List; import java.util.Map; @Slf4j @Component public class GslProcess implements MainProcessPluginApi, StoreInTaskPolicy { private static final long DISPATCH_INTERVAL_MS = 200L; private static final long MAINTENANCE_INTERVAL_MS = 500L; @Autowired private CrnOperateProcessUtils crnOperateUtils; @Autowired private StationOperateProcessUtils stationOperateProcessUtils; @Autowired private CommonService commonService; @Autowired private BasDevpService basDevpService; @Autowired private RedisUtil redisUtil; @Autowired private StoreInTaskGenerationService storeInTaskGenerationService; @Autowired private StationCommandDispatcher stationCommandDispatcher; @Override public void run() { //检测入库站是否有任务生成，并启动入库 checkInStationHasTask(); //请求生成入库任务，保留按站点 lane 串行提交 generateStoreWrkFile(); // 执行堆垛机任务 crnOperateUtils.submitCrnIoTasks(DISPATCH_INTERVAL_MS); // 堆垛机任务执行完成 crnOperateUtils.submitCrnIoExecuteFinishTasks(DISPATCH_INTERVAL_MS); // 执行输送站点入库任务 stationOperateProcessUtils.submitStationInTasks(DISPATCH_INTERVAL_MS); // 检测入库任务是否已经到达目标站台 stationOperateProcessUtils.submitInboundStationArrivalTasks(DISPATCH_INTERVAL_MS); // 输送线执行堆垛机出库后的站台流转 stationOperateProcessUtils.submitCrnStationOutTasks(DISPATCH_INTERVAL_MS); // 检测出库任务是否已经到达目标站台 stationOperateProcessUtils.submitStationOutExecuteFinishTasks(DISPATCH_INTERVAL_MS); // 检测站台运行完成后的任务转完成 stationOperateProcessUtils.submitCheckTaskToCompleteTasks(DISPATCH_INTERVAL_MS); // 检测并处理出库排序 stationOperateProcessUtils.submitCheckStationOutOrderTasks(MAINTENANCE_INTERVAL_MS); // 监控输送线绕圈站点 stationOperateProcessUtils.submitWatchCircleStationTasks(MAINTENANCE_INTERVAL_MS); // 检测输送线运行堵塞 stationOperateProcessUtils.submitCheckStationRunBlockTasks(MAINTENANCE_INTERVAL_MS); // 检测站台空闲超时后的恢复处理 stationOperateProcessUtils.submitCheckStationIdleRecoverTasks(MAINTENANCE_INTERVAL_MS); } @Override public boolean matchCandidate(StoreInTaskContext context) { return canRequestStoreIn(context.getStationProtocol()); } @Override public boolean beforeApply(StoreInTaskContext context) { StationProtocol stationProtocol = context.getStationProtocol(); if (stationProtocol.getError() <= 0) { return true; } Object lock = redisUtil.get(RedisKeyType.GENERATE_STATION_BACK_LIMIT.key + stationProtocol.getStationId()); if (lock != null) { return false; } StationObjModel backStation = context.getStationObjModel().getBackStation(); StationCommand command = context.getStationThread().getCommand(StationCommandType.MOVE, commonService.getWorkNo(WrkIoType.STATION_BACK.id), context.getStationObjModel().getStationId(), backStation.getStationId(), 0); if (command == null) { News.taskInfo(stationProtocol.getTaskNo(), "{}工作,获取输送线命令失败", stationProtocol.getTaskNo()); return false; } stationCommandDispatcher.dispatch(context.getBasDevp().getDevpNo(), command, "gsl-process", "station-back"); News.taskInfo(stationProtocol.getTaskNo(), "{}扫码异常，已退回至{}", backStation.getStationId()); redisUtil.set(RedisKeyType.GENERATE_STATION_BACK_LIMIT.key + stationProtocol.getStationId(), "lock", 10); return true; } @Override public InTaskApplyRequest buildApplyRequest(StoreInTaskContext context) { InTaskApplyRequest request = StoreInTaskPolicy.super.buildApplyRequest(context); request.getExtraParams().put("weight", context.getStationProtocol().getWeight()); return request; } //检测入库站是否有任务生成，并启动入库 private synchronized void checkInStationHasTask() { List basDevps = basDevpService.list(new QueryWrapper<>()); for (BasDevp basDevp : basDevps) { StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo()); if(stationThread == null){ continue; } Map stationMap = stationThread.getStatusMap(); List list = basDevp.getInStationList$(); for (StationObjModel entity : list) { Integer stationId = entity.getStationId(); if(!stationMap.containsKey(stationId)){ continue; } StationProtocol stationProtocol = stationMap.get(stationId); if (stationProtocol == null) { continue; } Object lock = redisUtil.get(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId); if(lock != null){ continue; } //满足自动、无物、工作号0，生成入库数据 if (stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.getTaskNo() == 0 && stationProtocol.isEnableIn() ) { StationCommand command = stationThread.getCommand(StationCommandType.MOVE, commonService.getWorkNo(WrkIoType.ENABLE_IN.id), stationId, entity.getBarcodeStation().getStationId(), 0); stationCommandDispatcher.dispatch(basDevp.getDevpNo(), command, "gsl-process", "enable-in"); if (entity.getBarcodeStation() != null && entity.getBarcodeStation().getStationId() != null) { Utils.precomputeInTaskEnableRow(entity.getBarcodeStation().getStationId()); } redisUtil.set(RedisKeyType.GENERATE_ENABLE_IN_STATION_DATA_LIMIT.key + stationId, "lock", 15); News.info("{}站点启动入库成功，数据包:{}", stationId, JSON.toJSONString(command)); } } } } private void generateStoreWrkFile() { List basDevps = basDevpService.list(new QueryWrapper<>()); for (BasDevp basDevp : basDevps) { StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo()); if (stationThread == null) { continue; } Map stationMap = stationThread.getStatusMap(); if (stationMap == null || stationMap.isEmpty()) { continue; } List barcodeStations = getBarcodeStations(basDevp); for (StationObjModel stationObjModel : barcodeStations) { Integer stationId = stationObjModel == null ? null : stationObjModel.getStationId(); if (stationId == null) { continue; } if (!stationMap.containsKey(stationId)) { continue; } if (!canRequestStoreIn(stationMap.get(stationId))) { continue; } storeInTaskGenerationService.submitGenerateStoreTask(this, basDevp, stationObjModel, DISPATCH_INTERVAL_MS, () -> storeInTaskGenerationService.generate(this, basDevp, stationObjModel)); } } } private boolean canRequestStoreIn(StationProtocol stationProtocol) { return stationProtocol != null && stationProtocol.isAutoing() && stationProtocol.isLoading() && stationProtocol.isInEnable() && stationProtocol.getTaskNo() > 0 && !Cools.isEmpty(stationProtocol.getBarcode()); } }