package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.zy.asrs.domain.enums.NotifyMsgType; import com.zy.asrs.entity.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.NotifyUtils; import com.zy.asrs.utils.Utils; import com.zy.common.model.*; import com.zy.common.model.enums.NavigationMapType; 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.ShuttleAction; import com.zy.core.cache.SlaveConnection; import com.zy.core.dispatcher.ShuttleDispatchUtils; import com.zy.core.enums.*; import com.zy.core.model.*; import com.zy.core.model.command.*; import com.zy.core.model.protocol.*; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.*; import com.zy.system.entity.Config; import com.zy.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.*; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") public class MainServiceImpl { @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastService wrkMastService; @Autowired private BasShuttleErrLogService basShuttleErrLogService; @Autowired private BasLiftErrLogService basLiftErrLogService; @Autowired private BasShuttleErrService basShuttleErrService; @Autowired private BasLiftErrService basLiftErrService; @Autowired private CommonService commonService; @Autowired private BasMapService basMapService; @Autowired private ShuttleDispatchUtils shuttleDispatchUtils; @Autowired private RedisUtil redisUtil; @Autowired private ConfigService configService; @Autowired private NavigateMapUtils navigateMapUtils; @Autowired private NavigateMapData navigateMapData; @Autowired private NavigateUtils navigateUtils; @Autowired private ShuttleOperaUtils shuttleOperaUtils; @Autowired private ShuttleAction shuttleAction; @Autowired private ForkLiftAction forkLiftAction; @Autowired private NotifyUtils notifyUtils; @Autowired private BasShuttleChargeService basShuttleChargeService; /** * 初始化实时地图 */ public synchronized void initRealtimeBasMap() { try { List basMaps = basMapService.selectList(new EntityWrapper().orderBy("lev", true)); for (BasMap basMap : basMaps) { Integer lev = basMap.getLev(); Object data = redisUtil.get(RedisKeyType.MAP.key + lev); if (data == null) {//redis地图数据为空 //载入地图 List> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库) //存入数据库 basMap.setData(JSON.toJSONString(lists)); basMap.setCreateTime(new Date()); basMap.setUpdateTime(new Date()); if (!basMapService.updateById(basMap)) { log.info("地图数据存储失败"); } //将数据库地图数据存入redis redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap)); } } } catch (Exception e) { e.printStackTrace(); } } /** * 入库 ===>> 四向穿梭车入库作业下发 */ public synchronized void shuttleInExecute() { try { List wrkMasts = wrkMastService.selectList(new EntityWrapper() .in("wrk_sts" , WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts )); for (WrkMast wrkMast : wrkMasts) { boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中 Thread.sleep(100); if (!step1) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 入库-小车搬入库中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ public synchronized boolean shuttleInExecuteStep1(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) { //获取目标站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false; } if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo());//调度小车到货物所在输送站点进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); return false; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //判断小车是否存在移动任务 WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if (hasMoveWorking != null) { News.taskInfo(wrkMast.getWrkNo(), "{}号小车，存在移动任务，禁止派发任务", wrkMast.getShuttleNo()); return false;//存在移动任务，禁止执行入库任务 } //判断小车是否到达输送站点库位 if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) { //小车不在输送站点位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货 News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList() {{ add(shuttleProtocol.getShuttleNo()); }}); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); if (liftCommand == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); if (liftCommand2 == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } commands.add(0, liftCommand.get(0)); commands.add(liftCommand2.get(0)); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中 wrkMast.setModiTime(new Date()); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); //触发通知 notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT); return false; } return false; } return true; } /** * 出库 ===>> 四向穿梭车出库作业下发 */ public synchronized void shuttleOutExecute() { try { List wrkMasts = wrkMastService.selectList(new EntityWrapper() .in("wrk_sts" , WrkStsType.NEW_OUTBOUND.sts )); for (WrkMast wrkMast : wrkMasts) { boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中 Thread.sleep(100); if (!step1) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 出库-小车搬出库中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ public synchronized boolean shuttleOutExecuteStep1(WrkMast wrkMast) { //101.生成出库任务 => 102.小车搬运中 if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) { Integer liftNo = wrkMast.getLiftNo(); if (liftNo == null) { //通过输送线站号获取提升机号 liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo()); if (liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); return false; } } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } //判断提升机是否处于出库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo()); return false; } //获取源站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo())); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 //强制预留一台小车给入库任务 int lev = Utils.getLev(wrkMast.getSourceLocNo()); //获取当前楼层有几台可用小车 int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev); if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车 int shuttleWrkInObligateCount = 1;//预留小车数量 Config config = configService.selectOne(new EntityWrapper().eq("code", "shuttleWrkInObligateCount").eq("status", 1)); if (config != null) { shuttleWrkInObligateCount = Integer.parseInt(config.getValue()); } //可用出库小车数量(给入库任务预留一台车) int useShuttleCount = shuttleCount - shuttleWrkInObligateCount; //查询楼层已分配车辆的出库任务数量 List wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev); if (wrkMasts.size() >= useShuttleCount) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size()); return false; } } boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败"); return false; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getSourceLocNo(), new ArrayList() {{ add(shuttleProtocol.getShuttleNo()); }}); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } //判断小车是否到达货物库位 if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { //小车不在输送站点位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); if (liftCommand == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); if (liftCommand2 == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } commands.add(0, liftCommand.get(0)); commands.add(liftCommand2.get(0)); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中 wrkMast.setSourceStaNo(liftSta.getStaNo()); wrkMast.setModiTime(new Date()); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); //触发通知 notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT); return false; } return false; } return true; } /** * 四向穿梭车任务完成 */ public synchronized void shuttleFinished() { try { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } //四向穿梭车状态为等待确认、小车处于空闲状态 if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认 && shuttleProtocol.getTaskNo() != 0 ) { //将任务档标记为完成 WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo()); if (wrkMast != null) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) { //5.小车搬运中 ==> 9.入库完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) { //102.小车搬运中 ==> 103.小车搬运完成 wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) { //302.小车移动至站点 ==> 303.小车移动至站点完成 wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) { //308.小车迁出提升机中 ==> 309.小车迁出提升机完成 if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) { continue;//小车未到达目标层 } wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) { //310.小车移动中 ==> 311.小车移动完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) { //204.小车充电中 ==> 205.小车充电完成 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts) { //502.小车搬运中 ==> 509.移库完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_DELIVERY);//触发通知 } else { continue; } if (wrkMastService.updateById(wrkMast)) { //设置四向穿梭车为空闲状态 shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE); News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo()); } else { News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo()); } } else { Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo()); if(object != null){ ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class); if (!assignCommand.getAuto()) { //手动模式 //工作号清零 shuttleThread.setTaskNo(0); //设置四向穿梭车为空闲状态 shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE); News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo()); } } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 执行移库任务 */ public synchronized void shuttleLocMoveExecute() { try { //查询移库任务 List wrkMasts = wrkMastService.selectList(new EntityWrapper().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts)); for (WrkMast wrkMast : wrkMasts) { boolean stepToTarget = this.shuttleLocMoveExecuteToTarget(wrkMast);//移库任务-小车去目标点 if (!stepToTarget) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 移库任务-小车去目标点 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleLocMoveExecuteToTarget(WrkMast wrkMast) { //--------------------------------------小车移动至站点-----------------------------------------// Date now = new Date(); //小车移动至站点 501.生成移库任务 ==> 502.小车搬运中 if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) { if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物点进行取货 News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); return false; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return false; } //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(wrkMast.getLocNo(), new ArrayList() {{ add(shuttleProtocol.getShuttleNo()); }}); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); if (liftCommand == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); if (liftCommand2 == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } commands.add(0, liftCommand.get(0)); commands.add(liftCommand2.get(0)); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_RUN.sts);//小车搬运中 501.生成移库任务 ==> 502.小车搬运中 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); //触发通知 notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING); return false; } return false; } return true; } /** * 货叉提升机任务 */ public synchronized void forkLiftIoExecute() { try { //搜索是否有待处理的任务 List wrkMasts = wrkMastService.selectList(new EntityWrapper() .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts)); if (wrkMasts.isEmpty()) { return; } for (WrkMast wrkMast : wrkMasts) { boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库 if (!stepIn) { continue; } boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库 if (!stepOut) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 提升机入库 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean liftIoExecuteStepIn(WrkMast wrkMast) { //--------------------------------------提升机入库-----------------------------------------// Date now = new Date(); //1.生成入库任务 ==> 3.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) { //获取目标输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftSta == null) { return false;//找不到站点 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo()); return false; } Integer liftNo = wrkMast.getLiftNo(); if (liftNo == null) { //未分配提升机 Integer staNo = wrkMast.getSourceStaNo(); liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo); if(liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); return false; } } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false; } //判断提升机是否处于入库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.IN)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于入库模式，禁止入库", wrkMast.getWrkNo()); return false; } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo()); if (liftWrkMast != null) { if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同 News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } } //检测楼层是否有可用穿梭车 boolean checkLevHasShuttle = Utils.checkLevHasShuttle(liftSta.getLev()); if (!checkLevHasShuttle) { if (wrkMast.getShuttleNo() != null) { return false; } //获取小车待机位 String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo()); if (standbyLocNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo()); return false; } //调度小车去待机位 boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo); if (!dispatchShuttle) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车失败", wrkMast.getWrkNo()); return false; } return false; } //请求上级系统，是否允许入库 boolean inMission = ForkLiftUtils.queryInMission(wrkMast.getSourceStaNo(), liftSta.getLiftNo(), wrkMast.getWmsWrkNo()); if (!inMission) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许入库", wrkMast.getWrkNo()); return false; } //获取提升机命令 List liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), wrkMast.getSourceStaNo(), liftSta.getLev()); ArrayList commands = new ArrayList<>(); commands.addAll(liftCommands); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftNo.shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue()); wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts);//提升机搬运中 1.生成入库任务 ==> 3.提升机搬运中 wrkMast.setLiftNo(liftNo); wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } return false; } return true; } /** * 提升机出库 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean liftIoExecuteStepOut(WrkMast wrkMast) { //--------------------------------------提升机出库-----------------------------------------// //103.小车搬运完成 ==> 104.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) { //获取源站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，找不到站点，禁止派发", wrkMast.getWrkNo()); return false;//找不到站点 } if(wrkMast.getShuttleNo() != null) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if(shuttleProtocol == null) { return false; } if (shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) { //小车还在输送站点 //获取小车待机位 String standbyLocNo = Utils.getShuttleStandbyLocNo(liftSta.getLocNo()); if (standbyLocNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，获取小车待机位失败", wrkMast.getWrkNo()); return false; } //调度小车去待机位 boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), standbyLocNo, wrkMast.getShuttleNo()); if (!dispatchShuttle) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车在输送站点调度小车避让失败", wrkMast.getWrkNo()); return false; } } else { //小车已不在输送站点位置，释放小车 wrkMast.setShuttleNo(null);//释放小车 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } if (!liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点无托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); return false; } Integer liftNo = wrkMast.getLiftNo(); if (liftNo == null) { //未分配提升机 Integer staNo = wrkMast.getStaNo(); liftNo = ForkLiftUtils.getConveyorBindLiftNo(staNo); if(liftNo == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); return false; } } ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false; } //判断提升机是否处于出库模式 if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo()); return false; } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo()); if (liftWrkMast != null) { if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同 News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } } //请求上级系统，是否允许出库 boolean outMission = ForkLiftUtils.queryOutMission(wrkMast.getStaNo()); if (!outMission) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，上级系统不允许出库", wrkMast.getWrkNo()); return false; } //获取提升机命令 List liftCommands = forkLiftThread.getPickAndPutCommand(wrkMast.getWrkNo(), liftSta.getLev(), wrkMast.getStaNo()); ArrayList commands = new ArrayList<>(); commands.addAll(liftCommands); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftNo.shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.PICK_PUT.id.shortValue()); wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts);//提升机搬运中 103.生成入库任务 ==> 104.提升机搬运中 wrkMast.setLiftNo(liftNo); wrkMast.setShuttleNo(null);//释放小车 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } return false; } return true; } /** * 货叉提升机任务完成 */ public synchronized void forkLiftFinished() { try { for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { //获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId()); ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } //提升机为等待确认且空闲 if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id && forkLiftProtocol.getWrkNo() != 0 ) { //将任务档标记为完成 WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo()); if (wrkMast != null) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) { //3.提升机搬运中 ==> 4.提升机搬运完成 wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts); wrkMast.setLiftNo(null);//释放提升机 forkLiftThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) { //104.提升机搬运中 ==> 109.出库完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts); wrkMast.setLiftNo(null);//释放提升机 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.提升机搬运中 ==> 307.提升机搬运完成 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts); forkLiftThread.setSyncTaskNo(0); } wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { forkLiftThread.reset(); News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.getLiftNo()); } else { News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo()); } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 异常信息记录 */ public void recErr() { try { this.recShuttleErr(); this.recLiftErr(); } catch (Exception e) { News.error("recErr fail", e); } } /** * 四向穿梭车异常信息记录 */ private void recShuttleErr() { Date now = new Date(); for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { // 获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } if (shuttleProtocol.getTaskNo() != 0) { //有任务 BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo()); // 有异常 if (latest == null) { if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) { WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo()); if (wrkMast == null) { continue; } int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode()); BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode); String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName(); BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 shuttleSlave.getId(), // 四向穿梭车 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 errorCode, // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常", // 备注 JSON.toJSONString(shuttleProtocol) // 系统状态数据 ); if (!basShuttleErrLogService.insert(basShuttleErrLog)) { News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName); } } } else { // 异常修复 if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basShuttleErrLogService.updateById(latest)) { News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId()); } } } } } } /** * 提升机异常信息记录 */ private void recLiftErr() { Date now = new Date(); for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { // 获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId()); if (forkLiftThread == null) { continue; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } if (forkLiftProtocol.getTaskNo() != 0) { //有任务 BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(forkLiftSlave.getId(), forkLiftProtocol.getTaskNo()); // 有异常 if (latest == null) { if (forkLiftProtocol.getErrorCode() != null && forkLiftProtocol.getErrorCode() != 0) { WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo()); if (wrkMast == null) { continue; } BasLiftErr basLiftErr = basLiftErrService.queryByCode(forkLiftProtocol.getErrorCode()); String errName = basLiftErr==null? "未知异常":basLiftErr.getErrName(); BasLiftErrLog basLiftErrLog = new BasLiftErrLog( null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 forkLiftSlave.getId(), // 提升机 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 null, // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常", // 备注 JSON.toJSONString(forkLiftProtocol) // 系统状态数据 ); if (!basLiftErrLogService.insert(basLiftErrLog)) { News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", forkLiftSlave.getId(), errName); } } } else { // 异常修复 if (forkLiftProtocol.getErrorCode() == null || forkLiftProtocol.getErrorCode() == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basLiftErrLogService.updateById(latest)) { News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", forkLiftSlave.getId(), latest.getId()); } } } } } } /** * 四向穿梭车电量检测 ===>> 发起充电 */ public synchronized void loopShuttleCharge() { try { List charges = basShuttleChargeService.selectList(new EntityWrapper().orderBy("charge_id", true)); if (charges.isEmpty()) { return;//无充电桩 } for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } //判断当前小车是否满足需要充电要求 if (!shuttleThread.isRequireCharge()) { continue; } WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo()); if (wrkMast != null) {//已有充电任务 continue; } //小车所在楼层 int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo()); BasShuttleCharge shuttleCharge = null; //搜索小车所在楼层有没有充电桩 for (BasShuttleCharge charge : charges) { if (lev != Utils.getLev(charge.getLocNo())) { continue;//小车和充电桩不在同一层 } if (charge.getStatus() == 0) { continue;//充电桩被禁用 } //小车和充电桩在同一层 if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) { shuttleCharge = charge; break; } } if (shuttleCharge == null) { //同楼层没有找到充电桩，找可用充电桩 //小车同楼层没有充电桩，只要充电桩可用就生成充电任务 for (BasShuttleCharge charge : charges) { if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) { //判断当前充电桩是否有小车，如有小车，不分配该充电桩 ArrayList locs = new ArrayList<>(); locs.add(charge.getLocNo()); Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs); if(checkHasShuttle != null) { //当前充电桩有穿梭车，不分配该充电桩 continue; } if (charge.getStatus() == 0) { continue;//充电桩被禁用 } shuttleCharge = charge; break; } } } if (shuttleCharge == null) { continue; } String chargeLocNo = shuttleCharge.getLocNo(); wrkMast = new WrkMast(); wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId())); wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id)); wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts); wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电 wrkMast.setIoPri((double) 999); wrkMast.setLocNo(chargeLocNo); wrkMast.setShuttleNo(shuttle.getId()); wrkMast.setMemo("charge"); wrkMast.setAppeTime(new Date()); if (!wrkMastService.insert(wrkMast)) { News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId()); continue; } News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId()); } } catch (Exception e) { e.printStackTrace(); } } /** * 执行四向穿梭车充电任务 */ public synchronized void executeShuttleCharge() { try { //查询小车充电任务 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId()); if(wrkMast == null) { continue; } boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩 if (!result1) { continue; } boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩 if (!result2) { continue; } boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电 if (!result3) { continue; } boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电 if (!result4) { continue; } boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩 if (!result5) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 小车前往充电桩 */ private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts); wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } //调度小车去充电桩 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo()); if (!dispatched) { return false; } wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } /** * 小车到达充电桩 */ private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //判断是否存在未完成的移动任务 WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if(moveWrk != null) { return false; } if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { return false; } //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } //小车开始充电 private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车已经在充电桩位置，下发充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true); assignCommand.setCommands(commands);//运行命令 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts); wrkMast.setModiTime(new Date()); if (!wrkMastService.updateById(wrkMast)) { return false; } //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知 return false; } return true; } //小车停止充电 private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isChargingCompleted()) { return false; } //小车已经在充电桩位置，下发停止充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false); assignCommand.setCommands(commands);//运行命令 //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); return false; } return true; } //小车离开充电桩 private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper().eq("charge_id", wrkMast.getMk())); if(basShuttleCharge == null) { return false; } //检测障碍物车 boolean checkObstacle = shuttleOperaUtils.checkObstacle(basShuttleCharge.getWaitLocNo(), new ArrayList() {{ add(shuttleProtocol.getShuttleNo()); }}); if (checkObstacle) { News.info("{}任务，避障范围有小车，等待障碍小车调离中", wrkMast.getWrkNo()); return false; } //调度小车去待机位 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo()); if (!dispatched) { return false; } wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts); wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { return false; } return false; } return true; } /** * 执行小车移库任务 */ public synchronized void shuttleMoveExecute() { try { //查询小车移库任务 List wrkMasts = wrkMastService.selectShuttleMoveWrk(); for (WrkMast wrkMast : wrkMasts) { boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点 if (!stepMoveSta) { continue; } boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中 if (!stepLiftMove) { continue; } boolean updateShuttleLocation = this.shuttleMoveExecuteStepUpdateShuttleLocation(wrkMast);//提升机搬运完成更新小车坐标 if (!updateShuttleLocation) { continue; } boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中 if (!stepMoveLoc) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 小车迁移-小车移动到站点 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) { //--------------------------------------小车移动至站点-----------------------------------------// Date now = new Date(); //小车移动至站点 301.生成小车移库任务 ==> 302.小车移动至站点中 if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) { //目标库位和小车库位处于同一楼层，不需要通过提升机调度 wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中 } return false; } //获取源输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { return false;//找不到站点 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在托盘", wrkMast.getWrkNo()); return false; } if (liftSta.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，源站存在小车", wrkMast.getWrkNo()); return false; } //获取目标输送站 ForkLiftStaProtocol liftStaTarget = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftStaTarget == null) { return false;//找不到站点 } if (liftStaTarget.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘", wrkMast.getWrkNo()); return false; } if (liftStaTarget.getHasCar()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在小车", wrkMast.getWrkNo()); return false; } if (wrkMast.getLiftNo() == null) { //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机) WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo()); if (liftWrkMast != null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } wrkMast.setModiTime(now); wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机 wrkMast.setSystemMsg("");//清空消息 wrkMastService.updateById(wrkMast); return false; } //*************尝试锁定目标站路径*************** List targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo()); if (targetNodes == null) { return false;//未获取到节点 } boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo())); if (!checkPathIsAvailable) { News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//检测目标站点路径是否未被占用 } //尝试锁定目标站路径 boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用 if (!result2) { News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径锁定失败 } //*************尝试锁定目标站路径*************** ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); //所使用的路径进行锁定禁用 navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, false); return false;//路径解锁失败 } assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVING); //触发通知 return false; } return false; } return true; } /** * 小车迁移-提升机搬运中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) { //--------------------------------------提升机搬运中-----------------------------------------// Date now = new Date(); //提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo()); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false; } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo()); if (liftWrkMast != null) { if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同 News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } } //获取源站 ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); //获取目标站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (sourceLiftSta == null || liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false;//缺少站点信息 } if (liftSta.getHasTray()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，目标站存在托盘，禁止派发", wrkMast.getWrkNo()); return false;//有托盘跳过 } //获取提升机命令 List liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev()); ArrayList commands = new ArrayList<>(); commands.addAll(liftCommands); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue()); wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } } return true; } /** * 小车迁移-提升机搬运完成更新小车坐标 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepUpdateShuttleLocation(WrkMast wrkMast) { //--------------------------------------提升机搬运中-----------------------------------------// Date now = new Date(); //提升机搬运中 307.提升机搬运完成 ==> 308.小车迁出提升机中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.UPDATE_LOCATION.id);//更新坐标 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位 assignCommand.setLocNo(wrkMast.getLocNo());//目标库位 //更新小车坐标 ShuttleCommand command = shuttleThread.getUpdateLocationCommand(wrkMast.getWrkNo(), wrkMast.getLocNo()); ArrayList commands = new ArrayList<>(); commands.add(command); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT.sts);//小车迁出提升机中 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); } } return true; } /** * 小车迁移-小车移动到目标库位中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) { //--------------------------------------小车移动到目标库位中-----------------------------------------// Date now = new Date(); //小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //小车已经在目标库位，直接认定小车移动任务完成 if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setModiTime(now); wrkMastService.updateById(wrkMast); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位 assignCommand.setLocNo(wrkMast.getLocNo());//目标库位 List commands = null; //跨楼层移动任务 if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) { if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) { return false;//小车未到达目标层 } //需要将前两个节点作为白名单节点传入 List targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo()); if (targetNodes == null) { return false;//未获取到节点 } //设置计算节点的白名单 ArrayList whiteList = new ArrayList<>();//设置计算节点的白名单 for (NavigateNode node : targetNodes) { whiteList.add(new int[]{node.getX(), node.getY()}); } commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList, assignCommand, shuttleThread); }else { //获取小车到目标库位命令 commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); } if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径计算失败 } assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); } } return true; } //自动切换出入库模式 public void autoSwitchForkLiftIOMode() { for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { Integer liftNo = forkLiftSlave.getId(); ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); if (forkLiftThread == null) { continue; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } List liftAllStaNo = ForkLiftUtils.getLiftAllStaNo(liftNo); if (liftAllStaNo.isEmpty()) { continue; } List conveyorBindLiftAllStaNo = ForkLiftUtils.getConveyorBindLiftAllStaNo(liftNo); if (conveyorBindLiftAllStaNo.isEmpty()) { continue; } //获取入库任务 List inWrkMasts = wrkMastService.selectList(new EntityWrapper() .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 )); //获取出库任务 List outWrkMasts = wrkMastService.selectList(new EntityWrapper() .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)) { //未知模式 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)) { //入库模式 if (inWrkMasts.isEmpty() && !outWrkMasts.isEmpty()) { forkLiftThread.switchIOMode(ForkLiftIoModeType.OUT); } } else if (forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { //出库模式 if (outWrkMasts.isEmpty() && !inWrkMasts.isEmpty()) { forkLiftThread.switchIOMode(ForkLiftIoModeType.IN); } } } } }