package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.core.common.Cools; import com.core.common.SpringUtils; import com.core.exception.CoolException; import com.zy.asrs.entity.*; import com.zy.asrs.mapper.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.Utils; import com.zy.common.model.*; import com.zy.common.model.enums.NavigationMapType; import com.zy.common.model.enums.WrkChargeType; import com.zy.common.service.CommonService; import com.zy.common.service.erp.ErpService; import com.zy.common.utils.*; import com.zy.core.CrnThread; import com.zy.core.DevpThread; import com.zy.core.News; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; 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 lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.transaction.interceptor.TransactionAspectSupport; import java.util.*; import java.util.stream.Collectors; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") @Transactional public class MainServiceImpl { @Value("${wms.url}") private String wmsUrl; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastMapper wrkMastMapper; @Autowired private WrkMastService wrkMastService; @Autowired private WrkDetlService wrkDetlService; @Autowired private LocMastService locMastService; @Autowired private LocDetlService locDetlService; @Autowired private StaDescService staDescService; @Autowired private BasDevpService basDevpService; @Autowired private BasErrLogService basErrLogService; @Autowired private BasSteErrLogService basSteErrLogService; @Autowired private BasShuttleService basShuttleService; @Autowired private BasShuttleErrLogService basShuttleErrLogService; @Autowired private BasShuttleErrService basShuttleErrService; @Autowired private BasCrnErrorMapper basCrnErrorMapper; @Autowired private BasSteService basSteService; @Autowired private WrkChargeService wrkChargeService; @Autowired private BasSteErrService basSteErrService; @Autowired private CommonService commonService; @Autowired private WrkChargeMapper wrkChargeMapper; @Autowired private BasMapService basMapService; @Autowired private ErpService erpService; @Autowired private OrderMapper orderMapper; @Autowired private OrderDetlMapper orderDetlMapper; @Autowired private RedisUtil redisUtil; /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ public void generateStoreWrkFile() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // 尺寸检测异常 boolean back = false; String errMsg = "异常："; if (staProtocol.isFrontErr()) { errMsg = errMsg+"前超限；"; back = true; } if (staProtocol.isBackErr()) { errMsg = errMsg+"后超限"; back = true; } if (staProtocol.isHighErr()) { errMsg = errMsg+"高超限"; back = true; } if (staProtocol.isLeftErr()) { errMsg = errMsg+"左超限"; back = true; } if (staProtocol.isRightErr()) { errMsg = errMsg+"右超限"; back = true; } if (staProtocol.isWeightErr()) { errMsg = errMsg+"超重"; back = true; } if (staProtocol.isBarcodeErr()) { errMsg = errMsg+"扫码失败"; back = true; } // 退回 if (back) { // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg)); } continue; } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) ) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode()); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode)) { // News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) { // staProtocol.setWorkNo((short) 32002); // staProtocol.setStaNo(inSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } continue; } } else { // staProtocol.setWorkNo((short) 32002); // staProtocol.setStaNo(inSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { String errorMsg = "扫码失败，请重试"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } continue; } // 过滤盘点/拣料/并板任务 // if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) { // continue; // } // 判断重复工作档 // WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); // if (wrkMast != null) { // News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo()); // continue; // } try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(1); param.setSourceStaNo(inSta.getStaNo()); // param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); // plc 处理 barcodeThread.setBarcode(""); staProtocol.setWorkNo(dto.getWorkNo().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else if (code == 500){ if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } } News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } else if (code == 700) { staProtocol.setWorkNo((short) 32002); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 if (ledThread != null) { String errorMsg = barcode + "托盘识别异常，请先进行组托！"; MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg)); } } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * wms入库 * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2 */ @Deprecated public void generateStoreWrkFile0() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库口 for (DevpSlave.Sta inSta : devp.getInSta()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { // 尺寸检测异常 boolean back = false; String errMsg = ""; if (staProtocol.isFrontErr()) { errMsg = "前超限"; back = true; } if (!back && staProtocol.isBackErr()) { errMsg = "后超限"; back = true; } if (!back && staProtocol.isHighErr()) { errMsg = "高超限"; back = true; } if (!back && staProtocol.isLeftErr()) { errMsg = "左超限"; back = true; } if (!back && staProtocol.isRightErr()) { errMsg = "右超限"; back = true; } if (!back && staProtocol.isWeightErr()) { errMsg = "超重"; back = true; } if (!back && staProtocol.isBarcodeErr()) { errMsg = "扫码失败"; back = true; } // 退回 if (back) { News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg); staProtocol.setWorkNo((short) 32002); staProtocol.setStaNo(inSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); if (ledThread != null) { MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg)); } continue; } // 判断重复工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo()); if (wrkMast == null) { continue; } // 命令下发区 -------------------------------------------------------------------------- // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (result) { // 更新工作主档 wrkMast.setWrkSts(2L); // 工作状态：2.设备上走 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo()); } } else { News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } } } } /** * 拣料、并板、盘点再入库 */ public synchronized void stnToCrnStnPick(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickInSta()) { // 获取拣料入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() // 0 - 9990 或者 9996 && (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) && staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue()) && staProtocol.isPakMk()){ // 获取条码扫描仪信息 // BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); // if (barcodeThread == null) { // continue; // } WrkMast wrkMast = null; if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) { wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo()); if (null == wrkMast) { continue; } } else { continue; } // if (staProtocol.getWorkNo() == 9996) { // String barcode = barcodeThread.getBarcode(); // if(!Cools.isEmpty(barcode)) { // News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode); // if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) { // staProtocol.setWorkNo((short) 32002); // staProtocol.setStaNo(pickSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // // // led 异常显示 // LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); // if (ledThread != null) { // String errorMsg = "扫码失败，请重试"; // MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); // } // continue; // } // } else { // staProtocol.setWorkNo((short) 32002); // staProtocol.setStaNo(pickSta.getBackSta().shortValue()); // devpThread.setPakMk(staProtocol.getSiteId(), false); // MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // // // led 异常显示 // LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); // if (ledThread != null) { // String errorMsg = "扫码失败，请重试"; // MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); // } // continue; // } // wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode); // if (null == wrkMast) { // News.error("{}条码错误，暂无拣料任务！", barcode); // } // } if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) { continue; } try { // 访问 WMS 获取入库库位 LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setWrkNo(wrkMast.getWrkNo()); param.setIoType(wrkMast.getIoType()); param.setSourceStaNo(pickSta.getStaNo()); // param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed()); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); // // 获取目标站 // Wrapper wrapper = new EntityWrapper() // .eq("type_no", wrkMast.getIoType() - 50) // .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站 // .eq("crn_no", dto.getCrnNo()); // 堆垛机号 // StaDesc staDesc = staDescService.selectOne(wrapper); // if (Cools.isEmpty(staDesc)) { // News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo()); // continue; // } // // 堆垛机站点(目标站) // Integer staNo = staDesc.getCrnStn(); // 保存工作明细档历史档 // if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) { // throw new CoolException("保存工作明细档历史档失败"); // } // 保存工作主档历史档 if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败"); } String sourceLocNo = wrkMast.getSourceLocNo().trim(); // 更新工作档数据状态 wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57 wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站 wrkMast.setStaNo(dto.getStaNo()); // 目标站 wrkMast.setCrnNo(dto.getCrnNo()); wrkMast.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位 wrkMast.setSourceLocNo(""); // 源库位清空 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败"); } if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) { throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败"); } // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId()); } } else if (code == 500){ if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } } News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } else { staProtocol.setWorkNo((short) 32002); staProtocol.setStaNo(pickSta.getBackSta().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // led 异常显示 if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); // String errorMsg = barcode + "托盘识别异常，请先进行组托！"; MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg)); } } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 初始化实时地图 */ public synchronized void initRealtimeBasMap() { for (int i = 1; i <= 4; i++) {//总共四层楼 Object data = redisUtil.get("realtimeBasMap_" + i); if (data == null) {//redis地图数据为空，从数据库中获取 BasMap basMap = basMapService.selectLatestMap(i); if (basMap == null) { //数据库中也不存在地图数据，从地图文件中获取 //载入地图 NavigateMapData mapData = new NavigateMapData(i); List> lists = mapData.getJsonData(-1, null, null);//获取完整地图(包括入库出库) //存入数据库 basMap = new BasMap(); basMap.setData(JSON.toJSONString(lists)); basMap.setCreateTime(new Date()); basMap.setUpdateTime(new Date()); basMap.setLev(i); if (!basMapService.insert(basMap)) { log.info("地图数据存储失败"); } } //将数据库地图数据存入redis redisUtil.set("realtimeBasMap_" + i, JSON.toJSONString(basMap)); } } } /** * 从redis中重启任务 */ public synchronized void restartTaskFromRedis() { HashMap map = redisUtil.getRedis(); for (Object key : map.keySet()) { if (key.toString().contains("lift_wrk_no_")) {//提升机任务 LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class); if (redisCommand == null) { continue; } Short liftNo = redisCommand.getLiftNo(); LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue()); if (liftThread == null) { continue; } LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (liftProtocol == null) { continue; } if (!liftProtocol.isIdle()) { continue; } //提升机处于空闲状态，进行任务的恢复 liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号 liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态 }else if(key.toString().contains("shuttle_wrk_no_")){//四向穿梭车任务 ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class); if (redisCommand == null) { continue; } Short shuttleNo = redisCommand.getShuttleNo(); ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } if (!shuttleProtocol.isIdle()) { continue; } //四向穿梭车处于空闲状态，进行任务的恢复 shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态 } } } /** * 入库 ===>> 四向穿梭车入库作业下发 */ public synchronized void shuttleIoInExecute() { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历入库站 for (DevpSlave.StaRack staRack : devp.getRackInStn()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(staRack.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // 判断是否满足入库条件，自动、有物、四向穿梭车可取信号 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isShuttleTakeEnable()) { WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId()); if (wrkMast != null) { if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) { ShuttleThread shuttleThread = null; HashMap searchIdleShuttle = null; LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (wrkMast.getWrkSts() == 4) { //寻找最近且空闲的四向穿梭车 searchIdleShuttle = this.searchIdleShuttle(wrkMast); shuttleThread = (ShuttleThread) searchIdleShuttle.get("result"); }else if(wrkMast.getWrkSts() == 8){//状态8，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号 //状态8，等待命令进行入库搬运动作 //判断提升机是否空闲 if (!liftProtocol.isIdleNoTask()) { try { Thread.sleep(1000);//休眠1s } catch (InterruptedException e) { throw new RuntimeException(e); } continue;//提升机忙 } //判断提升机任务号和当前工作档任务号是否一致 if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) { continue; } //判断提升机楼层是否到位，判断站点是否给出提升机到位信号 String locNo = wrkMast.getLocNo(); int lev = Utils.getLev(locNo);//目标二维码所在楼层 int liftLev = liftProtocol.getLev().intValue();//提升机所在楼层 if (liftLev != lev) { continue;//提升机不在目标楼层跳过 } Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev); //获取目标站信息 StaProtocol staProtocol1 = devpThread.getStation().get(staNo); if (staProtocol1 == null) { continue;//站点信息不存在 } if (!staProtocol1.isLiftArrival()) { continue;//站点提升机到位信号false } Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号 shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo); } if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (!shuttleProtocol.isIdle()) { continue; } wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号 //分配任务号 shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue()); //分配源库位 shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo()); //创建分配命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式 String currentLocNo = shuttleProtocol.getCurrentLocNo(); assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置) String locNo = wrkMast.getLocNo();//当前工作档库位号 Integer currentLev = wrkMast.getWrkSts() == 4 ? Utils.getLev(currentLocNo) : liftProtocol.getLev();//小车当前层高 //提升机口站点库位号 String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev); if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) { //同一层直接取货无需经过提升机 //直接计算车到提升机取货再到库位路径指令 List commands = this.shuttleAssignCommand(wrkMast.getWrkSts() == 4 ? currentLocNo : liftSiteLocNo, liftSiteLocNo, locNo, assignCommand, shuttleThread); if (commands == null) { continue;//找不到路径等待下一次 } if (wrkMast.getWrkSts() == 8) { //此时车在提升机内部，下达一步指令让车移动到提升机口 Integer staNo = Utils.levToOutInStaNo(currentLev >= 2 ? currentLev + 1 : currentLev);//站点号 BasDevp basDevp = basDevpService.selectById(staNo); short startCode = liftProtocol.getBarcode();//提升机内部二维码 Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码 Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向 //获取命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500); commands.add(0, moveCommand);//将该指令添加到队头 } assignCommand.setCommands(commands); //分配目标库位 shuttleProtocol.setLocNo(wrkMast.getLocNo()); //目标库位 assignCommand.setLocNo(wrkMast.getLocNo()); wrkMast.setWrkSts(9L);//小车入库中 }else { //不同层，将目标库位分配成提升机库位号 //小车移动到提升机口，计算路径 List commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread); if (commands == null) { continue;//未找到路径 } //获取当前小车所在楼层的站点信息 BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo); Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码 //增加移动进提升机命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500); commands.add(moveCommand); //分配目标库位 shuttleProtocol.setLocNo(liftSiteLocNo); //目标库位 assignCommand.setLocNo(liftSiteLocNo); assignCommand.setCommands(commands); wrkMast.setWrkSts(5L);//小车迁移状态 } if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } } } } } } } //获取起点-终点指令 public synchronized List shuttleAssignCommand(String startLocNo, String locNo, Integer mapType, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) { //获取小车移动速度 BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo()); Integer runSpeed = 1000; if (basShuttle != null) { Integer runSpeed1 = basShuttle.getRunSpeed(); if (runSpeed1 != null) { runSpeed = runSpeed1; } } //计算小车起点到中点所需命令 List calc = NavigateUtils.calc(startLocNo, locNo, mapType, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(startLocNo))); List commands = new ArrayList<>(); if (calc == null) { return null; } if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离 return null; } List allNode = new ArrayList<>(); allNode.addAll(calc); //获取分段路径 ArrayList> data = NavigateUtils.getSectionPath(calc); //将每一段路径分成command指令 for (ArrayList nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //通过xy坐标小车二维码 Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); //通过xy坐标小车二维码 Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); //获取移动命令 ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed); commands.add(command); } assignCommand.setNodes(allNode);//当前任务所占用的节点list //所使用的路径进行锁定禁用 NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo)); navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用 return commands; } //获取起点-中点-终点指令 public synchronized List shuttleAssignCommand(String startLocNo, String middleLocNo, String locNo, ShuttleAssignCommand assignCommand, ShuttleThread shuttleThread) { //获取小车移动速度 BasShuttle basShuttle = basShuttleService.selectById(assignCommand.getShuttleNo()); Integer runSpeed = 1000; if (basShuttle != null) { Integer runSpeed1 = basShuttle.getRunSpeed(); if (runSpeed1 != null) { runSpeed = runSpeed1; } } List allNode = new ArrayList<>(); //计算小车起点到中点所需命令 List calc = NavigateUtils.calc(startLocNo, middleLocNo, NavigationMapType.NORMAL.id, null);//小车无货，走正常库位通道 List commands = new ArrayList<>(); if (calc != null) { if (!Utils.checkShuttlePath(calc, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离 return null; } allNode.addAll(calc); //获取分段路径 ArrayList> data = NavigateUtils.getSectionPath(calc); //将每一段路径分成command指令 for (ArrayList nodes : data) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //通过xy坐标小车二维码 Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); //通过xy坐标小车二维码 Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); //获取移动命令 ShuttleCommand command = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed); commands.add(command); } } //小车指令到达目标位置后，再发出一条顶升指令 commands.add(shuttleThread.getPalletCommand((short) 1)); //计算小车中点到终点所需命令 List calc2 = NavigateUtils.calc(middleLocNo, locNo, NavigationMapType.DFX.id, null);//小车有货，走禁用过DFX库位的地图通道 if (calc2 == null) { return null; } if (!Utils.checkShuttlePath(calc2, shuttleThread.getSlave().getId())) {//检测穿梭车行走路径，是否存在其他小车，如有其他小车则进行调离 return null; } allNode.addAll(calc2); //获取分段路径 ArrayList> data2 = NavigateUtils.getSectionPath(calc2); for (ArrayList nodes : data2) { //开始路径 NavigateNode startPath = nodes.get(0); //中间路径 NavigateNode middlePath = nodes.get(nodes.size() - 2); //目标路径 NavigateNode endPath = nodes.get(nodes.size() - 1); Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离 Integer middleToDistDistance = NavigateUtils.getMiddleToDistDistance(nodes);//计算中间点到目标点行走距离 //通过xy坐标小车二维码 Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ()); //通过xy坐标小车二维码 Short middleCodeNum = NavigatePositionConvert.xyToPosition(middlePath.getX(), middlePath.getY(), middlePath.getZ()); //通过xy坐标小车二维码 Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ()); ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCodeNum, distCodeNum, allDistance, ShuttleRunDirection.get(startPath.getDirection()).id, middleCodeNum, middleToDistDistance, runSpeed); commands.add(moveCommand); } //小车指令到达目标位置后，再发出一条托盘下降指令 commands.add(shuttleThread.getPalletCommand((short) 2)); assignCommand.setNodes(allNode);//当前任务所占用的节点list //所使用的路径进行锁定禁用 NavigateMapData navigateMapData = new NavigateMapData(Utils.getLev(startLocNo)); navigateMapData.writeNavigateNodeToRedisMap(allNode, true);////所使用的路径进行锁定禁用 return commands; } /** * 出库 ===>> 四向穿梭车出库作业下发 */ public synchronized void shuttleIoOutExecute() { for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) { //提取一条待出库任务 if (wrkMast != null) { String outStaLocNo = null;//出库站点库位号 //获取出库站点 for (DevpSlave devpSlave : slaveProperties.getDevp()) { for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) { if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) { //出库站点和工作档出库站点一致 outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev()); } } } if (wrkMast.getWrkSts() == 21 || wrkMast.getWrkSts() == 25 || wrkMast.getWrkSts() == 31) { ShuttleThread shuttleThread = null; HashMap searchIdleShuttle = null; LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (wrkMast.getWrkSts() == 21) { //寻找最近且空闲的四向穿梭车 searchIdleShuttle = this.searchIdleShuttle(wrkMast); shuttleThread = (ShuttleThread) searchIdleShuttle.get("result"); }else if(wrkMast.getWrkSts() == 25) {//状态25，需要向小车下发命令从提升机移动出去，需要判断提升机状是否空闲、提升机是否到达目标楼层、目标楼层站点是否存在、目标楼层站点是否给出提升机到位信号 //判断提升机是否空闲 if (!liftProtocol.isIdleNoTask()) { try { Thread.sleep(1000);//休眠1s } catch (InterruptedException e) { throw new RuntimeException(e); } continue;//提升机忙 } //判断提升机任务号和当前工作档任务号是否一致 if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) { continue; } //判断提升机楼层是否到位，判断站点是否给出提升机到位信号 String locNo = wrkMast.getSourceLocNo(); int lev = Utils.getLev(locNo);//目标二维码所在楼层 Short liftLev = liftProtocol.getLev();//提升机所在楼层 if (liftLev == null) {//提升机可能在输送线楼层 continue; } if (liftLev.intValue() != lev) { continue;//提升机不在目标楼层跳过 } Integer staNo = Utils.levToOutInStaNo(lev >= 2 ? lev + 1 : lev); DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); //获取目标站信息 StaProtocol staProtocol1 = devpThread.getStation().get(staNo); if (staProtocol1 == null) { continue;//站点信息不存在 } if (!staProtocol1.isLiftArrival()) { continue;//站点提升机到位信号false } //继续完成之前小车未完成的任务 shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); } else if (wrkMast.getWrkSts() == 31) { //继续完成之前小车未完成的任务 shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); } if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } if (!shuttleProtocol.isIdle()) { continue; } if (outStaLocNo == null) { continue; } if (wrkMast.getWrkSts() == 21) { wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号 //源库位(小车当前位置) String currentLocNo = shuttleProtocol.getCurrentLocNo(); //小车当前层高 Integer currentLev = Utils.getLev(currentLocNo); //当前楼层提升机输送站点库位号 String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev); ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); //四向穿梭车号 assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); //任务号 assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); //入出库模式 assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue()); assignCommand.setSourceLocNo(currentLocNo); //判断小车和库位是否在同一层 if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) { //同一层(将小车移动到货物位置) List commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread); if (commands == null) { //未找到路径，等待下一次 continue; } //分配目标库位 shuttleProtocol.setLocNo(wrkMast.getSourceLocNo()); //分配任务号 shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue()); //分配源库位 shuttleProtocol.setSourceLocNo(currentLocNo); //目标库位 assignCommand.setLocNo(wrkMast.getSourceLocNo()); assignCommand.setCommands(commands); wrkMast.setWrkSts(26L);//小车搬运中 if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 // MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } }else { //不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置) //小车到提升机口指令 List commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, ShuttleTaskModeType.PAK_IN.id, assignCommand, shuttleThread); if (commands == null) { if (!currentLocNo.equals(liftSiteLocNo)) {//当前位置也不在提升机口 continue;//未找到路径 } commands = new ArrayList<>(); } shuttleProtocol.setLocNo(liftSiteLocNo); //分配任务号 shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue()); //分配源库位 shuttleProtocol.setSourceLocNo(currentLocNo); //获取当前小车所在楼层的站点信息 BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo); Short endStartCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码 //增加移动进提升机命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(endStartCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, endStartCode, 1400, 500); commands.add(moveCommand); //目标库位 assignCommand.setLocNo(liftSiteLocNo); assignCommand.setCommands(commands); wrkMast.setWrkSts(22L);//小车迁移状态 if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } } } else if (wrkMast.getWrkSts() == 25) { wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号 //当前楼层提升机输送站点库位号 String liftSiteLocNo = Utils.levToOutInStaLocNo(liftProtocol.getLev().intValue()); ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); //四向穿梭车号 assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); //任务号 assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); //入出库模式 assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue()); assignCommand.setSourceLocNo(liftSiteLocNo); List commands = this.shuttleAssignCommand(liftSiteLocNo, wrkMast.getSourceLocNo(), liftSiteLocNo, assignCommand, shuttleThread); if (commands == null) { continue;//未找到路径 } //此时车在提升机内部，需要多下达一步指令让车移动到提升机口 short startCode = liftProtocol.getBarcode();//提升机内部二维码 Short distCode = commands.get(0).getStartCodeNum();//目标二维码 //获取移动命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, commands.get(0).getRunDirection(), startCode, 1400, 500); commands.add(0, moveCommand);//将该指令添加到队头 //分配目标库位 shuttleProtocol.setLocNo(wrkMast.getSourceLocNo()); //分配任务号 shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue()); //分配源库位 shuttleProtocol.setSourceLocNo(liftSiteLocNo); //目标库位 assignCommand.setLocNo(wrkMast.getSourceLocNo()); assignCommand.setCommands(commands); wrkMast.setWrkSts(26L);//小车搬运中 if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } } } } } } /** * 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车) */ public HashMap searchIdleShuttle(WrkMast wrkMast) { HashMap map = new HashMap<>(); String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号 LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录 int lev = Utils.getLev(locNo);//当前工作档库位层高 ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程 ArrayList sameLev = new ArrayList<>();//相同楼层的穿梭车 ArrayList diffLev = new ArrayList<>();//不同楼层的穿梭车 //判断其他空闲穿梭车是否离任务最近 String distLocNo = null;//目标地点，入库=》提升机口，出库=》货物库位号 if (wrkMast.getIoType() < 101) { //入库 distLocNo = Utils.levToOutInStaLocNo(lev); }else { //出库 distLocNo = locNo; } 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.getShuttleProtocol(); if (shuttleProtocol == null || shuttleProtocol.getShuttleNo() == null) { continue; } if (!shuttleProtocol.isIdle()) { continue; } String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号 if (shuttleLocNo == null) { continue; } if (shuttleLocNo.equals(distLocNo)) { //车辆当前位置已经是目标库位，无需计算 map.put("sameLay", true);//同层 map.put("result", shuttleThread); return map; } int shuttleLocNoLey = Utils.getLev(shuttleLocNo);//库位号对应层高 if (lev == shuttleLocNoLey) { //工作档楼层相同的穿梭车 sameLev.add(shuttleThread); }else { //工作档不同楼层的穿梭车 diffLev.add(shuttleThread); } } if (sameLev.size() > 0) { //同一楼层有空闲穿梭车，则只在工作档楼层寻找 //寻找离任务最近的穿梭车 for (ShuttleThread shuttleThread : sameLev) { if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车 recentShuttle = shuttleThread; } //当前穿梭车库位号 String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo(); //目前最近穿梭车库位号 String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo(); //当前最近四向穿梭车到目标地点距离 List recentShuttlePath = NavigateUtils.calc(recentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(recentShuttle.getSlave().getId(), Utils.getLev(recentLocNo)));//搜索空闲穿梭车，使用正常通道地图 //当前穿梭车线程到目标地点距离 List currentShuttlePath = NavigateUtils.calc(currentLocNo, distLocNo, NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), Utils.getLev(currentLocNo)));//搜索空闲穿梭车，使用正常通道地图 if (recentShuttlePath == null || currentShuttlePath == null) { continue; } Integer recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//计算当前路径行走总距离 Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离 if (currentAllDistance < recentAllDistance) { //如果当前楼层的车路径更小，则更新最近穿梭车 recentShuttle = shuttleThread; } } map.put("sameLay", true);//同层 map.put("result", recentShuttle); }else { //同一楼层，没有空闲穿梭车，只能从其他楼层调度 //寻找离任务最近的穿梭车 for (ShuttleThread shuttleThread : diffLev) { //当前穿梭车库位号 String currentLocNo = shuttleThread.getShuttleProtocol().getCurrentLocNo(); int currentLev = Utils.getLev(currentLocNo); List locMasts = wrkMastService.selectNoShuttleWrkByLev(currentLev);//判断当前穿梭车楼层是否有待分配车辆的任务，如果有则不分配这辆车 if (locMasts.size() > 0) { //存在其他任务，跳过这辆车 continue; } if (recentShuttle == null) {//最近穿梭车为空，则默认赋予为最近穿梭车 recentShuttle = shuttleThread; } //目前最近穿梭车库位号 String recentLocNo = recentShuttle.getShuttleProtocol().getCurrentLocNo(); int recentLev = Utils.getLev(recentLocNo); //当前最近四向穿梭车到当前车子所在楼层的提升机口距离 List recentShuttlePath = NavigateUtils.calc(recentLocNo, Utils.levToOutInStaLocNo(recentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), recentLev));//搜索空闲穿梭车，使用正常通道地图 //当前穿梭车线程到当前车子所在楼层的提升机口距离 List currentShuttlePath = NavigateUtils.calc(currentLocNo, Utils.levToOutInStaLocNo(currentLev), NavigationMapType.NORMAL.id, Utils.getShuttlePoints(shuttleThread.getSlave().getId(), currentLev));//搜索空闲穿梭车，使用正常通道地图 if (recentShuttlePath == null || currentShuttlePath == null) { continue; } Integer recentAllDistance = NavigateUtils.getOriginPathAllDistance(recentShuttlePath);//计算当前路径行走总距离 Integer currentAllDistance = NavigateUtils.getOriginPathAllDistance(currentShuttlePath);//计算当前路径行走总距离 if (currentAllDistance < recentAllDistance) { //如果当前楼层的车路径更小，则更新最近穿梭车 recentShuttle = shuttleThread; } } map.put("sameLay", false);//不同层 map.put("result", recentShuttle); } return map; } /** * 四向穿梭车任务完成 */ public synchronized void shuttleFinished() { 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.getShuttleProtocol(); 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 && shuttleProtocol.getBusyStatus() == 0 ) { //标记复位 shuttleProtocol.setPakMk(true); ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand(); //将任务档标记为完成 WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue()); ShuttleAssignCommand moveAssignCommand = null;//避让命令 if (wrkMast != null) { switch (wrkMast.getWrkSts().intValue()) { case 9://9.小车入库搬运中 ==> 14.入库完成 wrkMast.setWrkSts(14L); break; case 5://5.迁移小车至提升机口 ==> 6.迁移小车至提升机口完成 wrkMast.setWrkSts(6L); break; case 22://22.迁移小车至提升机口 ==> 23.迁移小车至提升机口完成 wrkMast.setWrkSts(23L); break; case 26://26.小车出库搬运中 ==> 27.小车出库搬运完成 //任务执行完后，小车进入移开提升机口站点位置，以免坠落 //搜索一条没有小车的空巷道，并调度小车 int distLev = Utils.getLev(wrkMast.getSourceLocNo());//避让楼层 String startLocNo = "180020" + distLev; moveAssignCommand = Utils.searchEmptyGroupToMoveShuttle(distLev, shuttleThread.getSlave().getId(), shuttleThread, startLocNo); if (moveAssignCommand == null) {//调度小车命令为空 continue; } wrkMast.setWrkSts(27L); break; default: } if (wrkMastMapper.updateById(wrkMast) > 0) { //设置四向穿梭车为空闲状态 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); //任务号清零 shuttleProtocol.setTaskNo((short) 0); //源库位清零 shuttleProtocol.setSourceLocNo(null); //目标库位清零 shuttleProtocol.setLocNo(null); //任务指令清零 shuttleProtocol.setAssignCommand(null); 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()); if (wrkMast.getWrkSts() == 27) { if (moveAssignCommand != null) { //下发任务 shuttleProtocol.setPakMk(true); MessageQueue.offer(SlaveType.Shuttle, shuttleThread.getSlave().getId(), new Task(3, moveAssignCommand)); } } } 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()); } } if (assignCommand != null) { if (assignCommand.getTaskMode().intValue() == ShuttleTaskModeType.AVOID.id) { //避让任务 //设置四向穿梭车为空闲状态 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); //任务号清零 shuttleProtocol.setTaskNo((short) 0); //源库位清零 shuttleProtocol.setSourceLocNo(null); //目标库位清零 shuttleProtocol.setLocNo(null); //任务指令清零 shuttleProtocol.setAssignCommand(null); News.info("四向穿梭车避让任务已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo()); } } } //四向穿梭车状态为充电状态 if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识 && shuttleProtocol.getTaskNo() != 0) { //查询是否有充电任务 WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue()); if (wrkCharge != null) { switch (wrkCharge.getWrkSts().intValue()) { case 52://四向穿梭车迁移到提升机口 wrkCharge.setWrkSts(53L);//迁移完成 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING); break; case 56://小车去充电桩中 wrkCharge.setWrkSts(57L);//到达充电桩 break; default: } if (wrkChargeMapper.updateById(wrkCharge) > 0) { if (wrkCharge.getWrkSts() == 60) { //设置四向穿梭车为空闲状态 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); } if (wrkCharge.getWrkSts() != 57) { //任务号清零 shuttleProtocol.setTaskNo((short) 0); //源库位清零 shuttleProtocol.setSourceLocNo(null); //目标库位清零 shuttleProtocol.setLocNo(null); //标记复位 shuttleProtocol.setPakMk(true); //任务指令清零 shuttleProtocol.setAssignCommand(null); } 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()); } } } } } /** * 提升机任务 */ public synchronized void liftIoExecute() { for (LiftSlave liftSlave : slaveProperties.getLift()) { LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId()); if (liftThread == null) { continue; } LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (liftProtocol == null) { continue; } // if (!liftProtocol.isIdle()) { // continue; // } //判断提升机是否处于空闲状态，没有判断任务号，可能提升机处于空闲，但是还有任务未完成 if (!liftProtocol.isIdleNoTask()) { continue; } //搜索是否有待处理的任务 WrkMast wrkMast = wrkMastMapper.selectLiftStep262327(); if (wrkMast == null) { continue; } //命令list ArrayList commands = new ArrayList<>(); DevpThread devpThread = null; Integer devpId = null; for (DevpSlave devp : slaveProperties.getDevp()){ // 获取入库站信息 devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); devpId = devp.getId(); } if (wrkMast.getWrkSts() == 2) {//2.设备上走 if (liftProtocol.getTaskNo().intValue() != 0) { //存在未完成任务号 continue; } if (liftProtocol.getPlatShuttleCheck()) { //提升机此时有四向车，可能有未完成的任务，禁止分配新任务 continue; } //获取目标站 StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo()); if (staProtocol.isLoading() || !staProtocol.isInEnable()) {//目标站有物，不可入，禁止分配任务 continue; } //工作档目标库位号 String wrkMastLocNo = wrkMast.getLocNo(); //工作档目标库位楼层 int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo); Integer levTmp = wrkMastLocNoLey; if (wrkMastLocNoLey >= 2) { levTmp += 1; } Integer distStaNo = Utils.levToOutInStaNo(levTmp); if (liftProtocol.getPositionArrivalFeedback().intValue() != LiftLevType.TWO.realLev.intValue()) { //提升机不在输送线楼层，获取到输送线层的提升机命令 LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev); commands.add(command1);//将命令添加进list } //输送线将货物运进来(无货正转) LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 3); command2.setOperaStaNo((short) 102);//操作102站 command2.setRotationDire(1);//给输送线下发链条转动信号，正转 command2.setDevpId(devpId); command2.setStaNo(distStaNo.shortValue());//设置目标站 commands.add(command2);//将命令添加进list //提升机前往目标楼层(工作档目标楼层) LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), levTmp); commands.add(command3);//将命令添加进list //提升机到达指定楼层，输送线将货物移出去(正转) //输送线将货物移出去 LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 1); command4.setOperaStaNo(distStaNo.shortValue());//操作目标楼层站点 command4.setRotationDire(1);//给输送线下发链条转动信号，正转 command4.setDevpId(devpId); command4.setStaNo(distStaNo.shortValue());//设置目标站 commands.add(command4);//将命令添加进list //给提升机分配任务 liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号 liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中 wrkMast.setWrkSts(3L);//3.提升机搬运中 } else if (wrkMast.getWrkSts() == 6) {//6.迁移小车至提升机口完成 => 7.提升机迁移小车中 if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) { //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致 continue; } liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号 //判断小车是否在提升机内，且处于空闲状态 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } if (!shuttleProtocol.isIdle()) { continue;//小车状态忙 } if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) { continue;//小车当前二维码和提升机内部二维码不一致，不允许执行 } if (!liftProtocol.getPlatShuttleCheck()) { //提升机未检测到小车，禁止执行 continue; } //工作档目标库位号 String wrkMastLocNo = wrkMast.getLocNo(); //工作档目标库位楼层 int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo); if (wrkMastLocNoLey >= 2) { wrkMastLocNoLey++; } //提升机前往目标楼层(工作档目标楼层) LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey); commands.add(command1);//将命令添加进list //给提升机分配任务 liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号 liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中 wrkMast.setWrkSts(7L);//6.迁移小车至提升机口完成 => 7.提升机迁移小车中 } else if(wrkMast.getWrkSts() == 23) {//23.迁移小车至提升机口完成 => 24.提升机迁移小车中 if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) { //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致 continue; } liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号 //判断小车是否在提升机内，且处于空闲状态 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } if (!shuttleProtocol.isIdle()) { continue;//小车状态忙 } if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) { continue;//小车当前二维码和提升机内部二维码不一致，不允许执行 } if (!liftProtocol.getPlatShuttleCheck()) { //提升机未检测到小车，禁止执行 continue; } //工作档目标库位号 String wrkMastLocNo = wrkMast.getSourceLocNo(); //工作档目标库位楼层 int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo); if (wrkMastLocNoLey >= 2) { wrkMastLocNoLey++; } //提升机前往目标楼层(工作档目标楼层) LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey); commands.add(command1);//将命令添加进list //给提升机分配任务 liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号 liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中 wrkMast.setWrkSts(24L);//23.迁移小车至提升机口完成 => 24.提升机迁移小车中 } else if (wrkMast.getWrkSts() == 27) {//27.小车出库搬运完成 if (liftProtocol.getTaskNo().intValue() != 0 && liftProtocol.getTaskNo().intValue() != wrkMast.getWrkNo()) { //提升机存在未完成任务，且提升机任务号和当前工作档任务号不一致 continue; } if (liftProtocol.getPlatShuttleCheck()) { //提升机此时有四向车，可能有未完成的任务，禁止分配新任务 continue; } //工作档源库位号 String wrkMastLocNo = wrkMast.getSourceLocNo(); //工作档源库位楼层 int wrkMastLocNoLey = Utils.getLev(wrkMastLocNo); //提升机当前楼层 int liftLev = liftProtocol.getLev().intValue(); //判断提升机是否到位 StaProtocol staProtocol = devpThread.getStation().get(Utils.levToOutInStaNo(wrkMastLocNoLey >= 2 ? wrkMastLocNoLey + 1 : wrkMastLocNoLey));//起始站点 if (liftLev != wrkMastLocNoLey && !staProtocol.isLiftArrival()) { //提升机不在工作档源库位楼层，调度提升机 LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), wrkMastLocNoLey); commands.add(command1);//将命令添加进list } //输送线将货物运进来(无货反转) LiftCommand command2 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 4); command2.setOperaStaNo(staProtocol.getSiteId().shortValue());//输送线操作站点号 command2.setRotationDire(2);//给输送线下发链条转动信号，反转 command2.setDevpId(devpId);//输送线iD command2.setStaNo((short) 104);//写入出库目标站104 commands.add(command2);//将命令添加进list //提升机前往出库口，输送线楼层 LiftCommand command3 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), LiftLevType.TWO.lev); commands.add(command3);//将命令添加进list //提升机到达指定楼层，输送线将货物移出去(反转) //输送线将货物移出去 LiftCommand command4 = liftThread.getLiftTurnCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), 2); command4.setOperaStaNo((short) 102);//操作102站 command4.setRotationDire(2);//给输送线下发链条转动信号，反转 command4.setDevpId(devpId); commands.add(command4);//将命令添加进list //提升机链条执行完毕后，给102站写入资料 LiftCommand command5 = liftThread.getResetCommand(); command5.setDevpId(devpId);//输送线iD command5.setOperaStaNo((short) 102);//操作102站 command5.setStaNo((short) 104);//写入出库目标站104 command5.setRotationDire(0);//链条转动停止 commands.add(command5); //给提升机分配任务 liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号 liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中 wrkMast.setWrkSts(28L);//28.提升机搬运中 } //所需命令组合完毕，更新数据库，提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftProtocol.getLiftNo()); assignCommand.setTaskNo(liftProtocol.getTaskNo()); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); } } } /** * 提升机任务完成 */ public synchronized void liftFinished() { for (LiftSlave liftSlave : slaveProperties.getLift()) { //获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId()); LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (liftProtocol == null) { continue; } //提升机为等待确认且空闲 if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0 && !liftProtocol.getRunning() ) { DevpThread devpThread = null; Integer devpId = null; for (DevpSlave devp : slaveProperties.getDevp()){ // 获取入库站信息 devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); devpId = devp.getId(); } //将任务档标记为完成 WrkMast wrkMast = wrkMastMapper.selectByWorkNo372428(liftProtocol.getTaskNo().intValue()); if (wrkMast != null) { //判断提升机是否到达任务楼层 String locNo = wrkMast.getIoType() < 101 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo(); int lev = Utils.getLev(locNo);//任务目标楼层 //标记复位 liftProtocol.setPakMk(true); switch (wrkMast.getWrkSts().intValue()) { case 3://3.提升机搬运中 ==> 4.提升机搬运完成 if (liftProtocol.getLev().intValue() != lev) { continue;//提升机没有到达目标 } //给目标站设置工作号 StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getStaNo());//目标站 staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); staProtocol.setStaNo(wrkMast.getStaNo().shortValue()); boolean result = MessageQueue.offer(SlaveType.Devp, devpId, new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } wrkMast.setWrkSts(4L); //任务号清零 liftProtocol.setTaskNo((short) 0); break; case 7://7.提升机迁移小车中 ==> 8.提升机迁移小车完成 if (liftProtocol.getLev().intValue() != lev) { continue;//提升机没有到达目标 } wrkMast.setWrkSts(8L); break; case 24://24.提升机迁移小车中 ==> 25.提升机迁移小车完成 if (liftProtocol.getLev().intValue() != lev) { continue;//提升机没有到达目标 } wrkMast.setWrkSts(25L); break; case 28://28.提升机搬运中 ==> 29.提升机搬运完成 if (liftProtocol.getPositionArrivalFeedback().intValue() != 2) { continue;//提升机是否达到输送线楼层 } wrkMast.setWrkSts(29L); wrkMast.setWrkSts(34L);//34.出库完成，暂时先直接完成出库工作档，后续需要根据输送线给出的状态来确定34.出库完成状态 //任务号清零 liftProtocol.setTaskNo((short) 0); break; default: } if (wrkMastMapper.updateById(wrkMast) > 0) { //设置提升机为空闲状态 liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE); //任务指令清零 liftProtocol.setAssignCommand(null); News.info("提升机已确认且任务完成状态。提升机号={}", liftProtocol.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={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo()); } } //查询是否有充电任务 WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue()); if (wrkCharge != null) { //标记复位 liftProtocol.setPakMk(true); switch (wrkCharge.getWrkSts().intValue()) { case 54://提升机搬运中 wrkCharge.setWrkSts(55L);//提升机搬运完成 break; default: } if (wrkChargeMapper.updateById(wrkCharge) > 0) { //设置提升机为空闲状态 liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE); //任务号清零 liftProtocol.setTaskNo((short) 0); //标记复位 liftProtocol.setPakMk(true); //任务指令清零 liftProtocol.setAssignCommand(null); News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.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={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo()); } } //不是入出库调度任务、工作档任务，进行提升机的复位 if (liftProtocol.getAssignCommand() != null) { //设置提升机为空闲状态 liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE); //判断是否为四向穿梭车调度提升机，如是则无需清理任务号 if (!liftProtocol.getSecurityMk()) { //任务号清零 liftProtocol.setTaskNo((short) 0); } //标记复位 liftProtocol.setPakMk(true); //任务指令清零 liftProtocol.setAssignCommand(null); News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo()); } } } } /** * 当前库位组是否存在空闲小车 */ public Integer hasCar(String locNo) { for (SteSlave ste : slaveProperties.getSte()) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); BasSte basSte = basSteService.selectById(ste.getId()); if (Cools.isEmpty(steProtocol, basSte)) { continue; } if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true)) && basSte.getBay() == Utils.getBay(locNo) && basSte.getLev() == Utils.getLev(locNo)) { return ste.getId(); } } return null; } /** * 当前库位组是否存在其他小车 */ public Integer existOtherSte(String locNo, Integer steNo) { Integer otherSteNo = null; for (SteSlave ste : slaveProperties.getSte()) { if (ste.getId().equals(steNo)) { continue; } // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isEnable()) { BasSte basSte = basSteService.selectById(ste.getId()); if (basSte != null) { if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true)) && basSte.getBay() == Utils.getBay(locNo) && basSte.getLev() == Utils.getLev(locNo)) || (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true)) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) ) { otherSteNo = ste.getId(); break; } } } } return otherSteNo; } /** * 当前库位组是否存在空闲小车 */ public Integer hasCarOfIdle(String locNo) { for (SteSlave ste : slaveProperties.getSte()) { // 获取堆垛机信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (steProtocol.isIdle()) { if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true)) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) { return steProtocol.getSteNo().intValue(); } } } return null; } /** * 查找当前库位最适合的穿梭车来作业 */ public SteThread queryIdleCar(WrkMast wrkMast) { List basStes = basSteService.selectList(new EntityWrapper<>()); int val = 0; SteThread result = null; for (BasSte basSte : basStes) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (!steProtocol.isIdle()) { continue; } // if (steProtocol.getRow() == 1) { continue; } String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo(); // 如果在同一个库位组 if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true)) && steProtocol.getBay().intValue() == Utils.getBay(locNo) && steProtocol.getLev().intValue() == Utils.getLev(locNo)) { return steThread; } LocMast locMast = locMastService.selectById(locNo); int lev = locMast.getLev1(); int bay = locMast.getBay1(); int levAbs = Math.abs(lev - steProtocol.getLev()); int bayAbs = Math.abs(bay - steProtocol.getBay()); if (val == 0) { val = levAbs + bayAbs; result = steThread; } else { if ((levAbs + bayAbs) < val) { val = levAbs + bayAbs; result = steThread; } } } return result; } public SteThread queryIdleCar(CrnProtocol crnProtocol) { List basStes = basSteService.selectList(new EntityWrapper<>()); int val = 0; SteThread result = null; for (BasSte basSte : basStes) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo()); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { continue; } if (!steProtocol.isIdle()) { continue; } if (steProtocol.getRow() == 1) { continue;} int lev = crnProtocol.getLevel(); int bay = crnProtocol.getBay(); int levAbs = Math.abs(lev - steProtocol.getLev()); int bayAbs = Math.abs(bay - steProtocol.getBay()); if (val == 0) { val = levAbs + bayAbs; result = steThread; } else { if ((levAbs + bayAbs) < val) { val = levAbs + bayAbs; result = steThread; } } } return result; } /** * 让小车行走至待机位 */ public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 如果处于待机位 if (steProtocol.locaType.equals(SteLocaType.A_WAITING) || steProtocol.locaType.equals(SteLocaType.B_WAITING)) { // 修改工作档状态 绑定穿梭车 wrkMast.setWrkSts(3L); wrkMast.setSteNo(steNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); } } else { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 行走至待机位 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkMast.setSteNo(steNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } } public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (!basSteService.updatePakMk(steNo, "Y")) { News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo); return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkCharge.setSteNo(steNo); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } /** * 让小车从 远点 ====>> 移动到近点 * 等待堆垛机搬运 */ public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkMast.setSteNo(steNo); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo()); } } } } /** * 让小车从 远点 ====>> 移动到近点 * 等待堆垛机搬运 */ public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) { // 获取穿梭车信息 SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo); SteProtocol steProtocol = steThread.getSteProtocol(); if (steProtocol == null) { return; } if (steProtocol.isIdle()) { // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取 steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 绑定穿梭车 wrkCharge.setSteNo(steNo); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo()); } } } } /** * 异常信息记录 */ public void recErr() { try { this.recShuttleErr(); } 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()) { // 获取堆垛机信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } if (shuttleProtocol.getTaskNo() != 0) { //有任务 BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue()); // 有异常 if (latest == null) { if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) { WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue()); 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 (int) shuttleProtocol.getStatusErrorCode(), // 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 ); 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.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 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()); } } } }else { //无任务 BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId()); // 有异常 if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) { // 记录新异常 if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) { BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue()); String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName(); BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog( null, // 编号 null, // 工作号 now, // 发生时间 null, // 结束时间 null, // 工作状态 null, // 入出库类型 shuttleSlave.getId(), // 四向穿梭车 null, // plc null, // 目标库位 null, // 目标站 null, // 源站 null, // 源库位 null, // 条码 (int)shuttleProtocol.getStatusErrorCode(), // 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 "无任务异常" // 备注 ); if (!basShuttleErrLogService.insert(basShuttleErrLog)) { News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName); } } // 无异常 } else { // 异常修复 if (latest != null && latest.getStatus() == 1) { 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()); } } } } } } // ------------------------------------------------------------------------------- /** * 空栈板初始化入库,叉车入库站放货 */ public void storeEmptyPlt(){ for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历空板入库口 for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) { // 获取空板入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } // 站点条件判断 if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999)) && staProtocol.isPakMk()) { // 获取条码扫描仪信息 String barcode = null; BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode()); if (barcodeThread != null) { String barcode0 = barcodeThread.getBarcode(); if(!Cools.isEmpty(barcode0)) { // News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0); if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) { barcode = barcode0; } } } LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed()); try { LocTypeDto locTypeDto = new LocTypeDto(staProtocol); SearchLocParam param = new SearchLocParam(); param.setIoType(10); if (!Cools.isEmpty(barcode)) { param.setBarcode(barcode); } param.setSourceStaNo(emptyInSta.getStaNo()); // param.setLocType1(locTypeDto.getLocType1()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) { StartupDto dto = jsonObject.getObject("data", StartupDto.class); // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(dto.getWorkNo().shortValue()); staProtocol.setStaNo(dto.getStaNo().shortValue()); devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); if (!result) { throw new CoolException("更新plc站点信息失败"); } } else { if (ledThread != null) { String errorMsg = jsonObject.getString("msg"); if (!Cools.isEmpty(errorMsg)) { MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg)); } } News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response); } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } } } /** * 出库 ===>> 工作档信息写入led显示器 */ public void ledExecute() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 List commands = new ArrayList<>(); // 工作档集合 List wrkMasts = new ArrayList<>(); for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) { continue; } else { staProtocol = staProtocol.clone(); } // 获取工作档数据 WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo()); if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; } wrkMasts.add(wrkMast); // 组装命令 LedCommand ledCommand = new LedCommand(); ledCommand.setWorkNo(wrkMast.getWrkNo()); ledCommand.setIoType(wrkMast.getIoType()); // 出库模式 switch (wrkMast.getIoType()) { case 101: ledCommand.setTitle("全板出库"); break; case 103: ledCommand.setTitle("拣料出库"); break; case 104: ledCommand.setTitle("并板出库"); break; case 107: ledCommand.setTitle("盘点出库"); break; case 110: ledCommand.setTitle("空板出库"); ledCommand.setEmptyMk(true); break; default: News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType()); break; } ledCommand.setSourceLocNo(wrkMast.getSourceLocNo()); ledCommand.setLocNo(wrkMast.getLocNo()); ledCommand.setStaNo(wrkMast.getStaNo()); if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) { List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs()))); } commands.add(ledCommand); } Set workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); // 获取LED线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // 相同工作号集合则过滤 if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) { continue; } // 命令下发 ------------------------------------------------------------------------------- if (!commands.isEmpty()) { if (led.getId()>3){ if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId()-3, led.getIp(), led.getPort()); continue; }else { ledThread.setLedMk(false); } }else { if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) { log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); continue; }else { ledThread.setLedMk(false); } } } try { // 修改主档led标记 for (WrkMast wrkMast : wrkMasts) { wrkMast.setOveMk("Y"); wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) == 0) { throw new CoolException("更新工作档失败"); } } // 更新线程当前工作号集合 ledThread.setWorkNos(workNos); } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } } } /** * 其他 ===>> LED显示器复位，显示默认信息 */ public void ledReset() { for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 boolean reset = true; for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) { reset = false; break; } } // 获取led线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // led显示默认内容 if (reset && !ledThread.isLedMk()) { ledThread.setLedMk(true); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) { News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } else { } } } for (LedSlave led : slaveProperties.getLed()) { // 获取输送线plc线程 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId()); // 命令集合 boolean reset = true; for (Integer staNo : led.getStaArr()) { // 获取叉车站点 StaProtocol staProtocol = devpThread.getStation().get(staNo); if (staProtocol == null) { continue; } if (staProtocol.getWorkNo() != 0) { reset = false; break; } } // 获取led线程 LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId()); // led显示默认内容 if (reset && !ledThread.isLedMk()) { ledThread.setLedMk(true); if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); } } } } /** * 四向穿梭车电量检测 ===>> 发起充电 */ public synchronized void loopShuttleCharge() { 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.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } //判断当前小车是否满足需要充电要求 if (!shuttleProtocol.isRequireCharge()) { continue; } WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttleProtocol.getShuttleNo().intValue()); if (wrkCharge != null) {//已有充电任务 continue; } ShuttleChargeType shuttleCharge = null; for (ShuttleChargeType chargeType : ShuttleChargeType.values()) { if (wrkChargeService.selectWorkingOfCharge(chargeType.id) == null) { shuttleCharge = chargeType; break; } } if (shuttleCharge == null) { continue; } String chargeLocNo = shuttleCharge.locNo; wrkCharge = new WrkCharge(); wrkCharge.setShuttleNo(shuttle.getId()); wrkCharge.setCharge(shuttleCharge.id); wrkCharge.setWrkNo(commonService.getChargeWorkNo(4)); wrkCharge.setWrkSts(51L); // 21.准备充电 wrkCharge.setIoPri((double) 10); wrkCharge.setLocNo(chargeLocNo); wrkCharge.setMemo("charge"); wrkCharge.setAppeTime(new Date()); if (!wrkChargeService.insert(wrkCharge)) { News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId()); continue; } shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中 News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId()); } } /** * 执行四向穿梭车充电任务 */ public synchronized void executeShuttleCharge() { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId()); if (wrkCharge == null) { continue; } ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } //获取提升机 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); if (liftThread == null) { continue; } LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (liftProtocol == null) { continue; } //充电库位号 String chargeLocNo = wrkCharge.getLocNo(); //充电库位层高 Integer chargeLocNoLev = Utils.getLev(chargeLocNo); if (wrkCharge.getWrkSts() == 51) { //当前穿梭车库位号 String currentLocNo = shuttleProtocol.getCurrentLocNo(); if (currentLocNo == null) { continue; } //小车当前层高 Integer currentLev = Utils.getLev(currentLocNo); if (currentLev == chargeLocNoLev) { //同一层无需经过提升机 //直接计算车到充电库位 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); //获取小车到充电库位路径指令 List commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread); if (commands == null) { continue;//未找到路径 } //进行充电中 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); assignCommand.setTaskMode((short) 9);//充电 assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); assignCommand.setCharge(true);//充电任务 //创建充电指令 ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电 commands.add(command); //指令集分配 assignCommand.setCommands(commands); wrkCharge.setWrkSts(56L);//充电中状态 if (wrkChargeMapper.updateById(wrkCharge) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } }else { //不同层，调度小车到充电桩目标层 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); //获取小车当前楼层的站点号 String liftSiteLocNo = Utils.levToOutInStaLocNo(currentLev); //小车移动到提升机口站点，计算路径 List commands = this.shuttleAssignCommand(currentLocNo, liftSiteLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread); if (commands == null) { continue;//未找到路径 } //获取当前小车所在楼层的站点信息 BasDevp basDevp = basDevpService.queryByLocNo(liftSiteLocNo); if (basDevp == null) { continue;//找不到站点信息 } Short basDevpQrCode = Short.parseShort(basDevp.getQrCodeValue());//站点二维码 //增加移动进提升机命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(basDevpQrCode, liftProtocol.getBarcode(), 1400, ShuttleRunDirection.TOP.id, basDevpQrCode, 1400, 500); commands.add(moveCommand); //分配目标库位 shuttleProtocol.setLocNo(chargeLocNo); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); assignCommand.setTaskMode((short) 9);//充电 assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); assignCommand.setCharge(true);//充电任务 //目标库位 assignCommand.setLocNo(chargeLocNo); //源库位 assignCommand.setSourceLocNo(currentLocNo); assignCommand.setCommands(commands); wrkCharge.setWrkSts(52L);//小车迁移状态 if (wrkChargeMapper.updateById(wrkCharge) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } } }else if(wrkCharge.getWrkSts() == 53){ //小车已经达到提升机内 //判断提升机是否处于空闲状态 if (!liftProtocol.isIdle()) { continue; } //判断小车是否在提升机内 if (shuttleProtocol.getCurrentCode().intValue() != liftProtocol.getBarcode().intValue()) { //小车不在提升机内 continue; } //给提升机分配任务 liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//设置任务号 liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//设置四向穿梭车号 liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中 //命令list ArrayList commands = new ArrayList<>(); //提升机前往目标楼层 //获取充电库位目标楼层命令 LiftCommand command1 = liftThread.getLiftUpDownCommand(liftProtocol.getLiftNo(), liftProtocol.getTaskNo(), chargeLocNoLev >= 2 ? chargeLocNoLev + 1 : chargeLocNoLev); commands.add(command1);//将命令添加进list wrkCharge.setWrkSts(54L);//提升机搬运中 //所需命令组合完毕，更新数据库，提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(liftProtocol.getLiftNo()); assignCommand.setTaskNo(liftProtocol.getTaskNo()); if (wrkChargeMapper.updateById(wrkCharge) > 0) { //下发任务 MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); } }else if(wrkCharge.getWrkSts() == 55){//55.提升机迁移小车完成 //直接计算车到充电库位 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); Short liftLev = liftProtocol.getLev(); if (liftLev == null) { continue; } //判断提升机楼层是否到达目标楼层 if (liftLev.intValue() != chargeLocNoLev) { continue;//没有到达目标楼层 } //此时车在提升机内部，下达一步指令让车移动到提升机口 Integer staNo = Utils.levToOutInStaNo(liftLev >= 2 ? liftLev + 1 : liftLev);//站点号 BasDevp basDevp = basDevpService.selectById(staNo); if (basDevp == null) { continue;//站点不存在 } //获取提升机口到充电库位路径指令 List commands = this.shuttleAssignCommand(basDevp.getLocNo(), chargeLocNo, NavigationMapType.NONE.id, assignCommand, shuttleThread); if (commands == null) { continue;//未找到路径 } short startCode = liftProtocol.getBarcode();//提升机内部二维码 Short distCode = Short.parseShort(basDevp.getQrCodeValue());//提升机口站点二维码 Short runDirection = ShuttleRunDirection.BOTTOM.id;//运行方向 //获取命令 ShuttleCommand moveCommand = shuttleThread.getMoveCommand(startCode, distCode, 1400, runDirection, startCode, 1400, 500); commands.add(0, moveCommand);//将该指令添加到队头 //进行充电中 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); assignCommand.setTaskMode((short) 9);//充电 assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); assignCommand.setCharge(true);//充电任务 //创建充电指令 ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 1);//开始充电 commands.add(command); //指令集分配 assignCommand.setCommands(commands); wrkCharge.setWrkSts(56L);//充电中状态 if (wrkChargeMapper.updateById(wrkCharge) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } }else if (wrkCharge.getWrkSts() == 57) {//57.小车到达充电桩 //充电中 //判断小车是否充满电量，满电1000或电压54V以上 if (shuttleProtocol.getBatteryPower() >= 1000 && shuttleProtocol.getCurrentVoltage() >= 54000) { //充满，断开充电 // List commands = new ArrayList<>(); // ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); // assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // assignCommand.setTaskMode((short) 0); // assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // assignCommand.setCharge(true); // // //创建充电指令 // ShuttleCommand command = shuttleThread.getChargeSwitchCommand((short) 2);//断开充电 // commands.add(command); // // //指令集分配 // assignCommand.setCommands(commands); // // shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING); //将小车移动到空闲的巷道 ShuttleAssignCommand assignCommand = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(shuttleProtocol.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), shuttleThread, null); if (assignCommand == null) { continue; } wrkCharge.setWrkSts(60L);//60.充电任务完成 if (wrkChargeMapper.updateById(wrkCharge) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } } if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) { shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING); } } } } public List crn2DemoLocs = new ArrayList(); public String crn2LastLoc = ""; public synchronized void demo() { if (Cools.isEmpty(crn2DemoLocs)) { crn2DemoLocs = locMastService.getDemoNextLoc(2); } for (CrnSlave crn : slaveProperties.getCrn()) { if (!crn.getDemo()) { continue; } // 必须为演示状态 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); if (crnProtocol == null) { continue; } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { // filter if (wrkChargeService.selectCount(new EntityWrapper() .eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) { continue; } SteThread steThread = queryIdleCar(crnProtocol); if (Cools.isEmpty(steThread)) { News.warn("没有空闲的小车进行演示功能"); continue; } int steNo = steThread.getSlave().getId(); SteProtocol steProtocol = steThread.getSteProtocol(); BasSte basSte = basSteService.selectById(steNo); if (Cools.isEmpty(steProtocol, basSte)) { continue; } // 只有当穿梭车空闲 并且 无任务时才继续执行 if (steProtocol.isIdle()) { String locNo = null; Iterator iterator = crn2DemoLocs.iterator(); while (iterator.hasNext()) { String next = iterator.next(); if (!Cools.isEmpty(this.hasCar(next))) { continue; } String lastLoc = crn2LastLoc; if (!Cools.isEmpty(lastLoc)) { if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) { locNo = next; iterator.remove(); break; } else { iterator.remove(); } } else { locNo = next; iterator.remove(); break; } } if (!Cools.isEmpty(locNo)) { crn2LastLoc = locNo; } News.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo); String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev()); WrkCharge wrkCharge = new WrkCharge(); wrkCharge.setCrnNo(crn.getId()); wrkCharge.setSteNo(steNo); wrkCharge.setWrkNo(commonService.getChargeWorkNo(5)); wrkCharge.setWrkSts(31L); // 31.生成演示ID wrkCharge.setIoPri((double) 10); wrkCharge.setSourceLocNo(sourceLocNo); wrkCharge.setLocNo(locNo); wrkCharge.setMemo("demo"); if (!wrkChargeService.insert(wrkCharge)) { News.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo); } } } } } /** * 演示取货 */ private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) { // 获取工作档信息 WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper().eq("crn_no", slave.getId()) .in("wrk_sts", 31, 33, 35)); if (null == wrkCharge) { return; } SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo()); SteProtocol steProtocol = steThread.getSteProtocol(); if (null == steProtocol) { return; } if (steProtocol.isIdle()) { // 31.生成演示ID if (wrkCharge.getWrkSts() == 31L) { this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue()); wrkCharge.setWrkSts(32L); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo()); } // 33.小车待搬 } else if (wrkCharge.getWrkSts() == 33L) { LocMast locMast = locMastService.selectById(wrkCharge.getLocNo()); // 堆垛机命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转 crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排 crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列 crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层 crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排 crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层 if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand)); } else { // 修改穿梭车运行中排列层 steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1()); // 修改工作档状态 33.小车待搬 => 34.吊车搬运 Date now = new Date(); wrkCharge.setWrkSts(34L); wrkCharge.setCrnStrTime(now); wrkCharge.setModiTime(now); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo()); } } // 35.小车就绪 } else if (wrkCharge.getWrkSts() == 35L) { int steNo = steProtocol.getSteNo().intValue(); if (!basSteService.updatePakMk(steNo, "Y")) { News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo); return; } // 命令下发区 -------------------------------------------------------------------------- SteCommand steCommand = new SteCommand(); steCommand.setSteNo(steNo); // 穿梭车编号 steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号 SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue()); if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) { originByLoc = SteTaskModeType.BACK_ORIGIN; } else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) { originByLoc = SteTaskModeType.GO_ORIGIN; } else { return; } steCommand.setTaskMode(originByLoc); steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue()); steCommand.setBay(steProtocol.getBay()); steCommand.setLev(steProtocol.getLev()); if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) { News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand)); } else { // 修改工作档状态 35.小车就绪 => 36.小车走行 wrkCharge.setWrkSts(36L); wrkCharge.setModiTime(new Date()); if (!wrkChargeService.updateById(wrkCharge)) { News.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo()); } } } } } /** * 出入库模式切换 */ public synchronized void outAndIn() { try { // 根据输送线plc遍历 for (DevpSlave devp : slaveProperties.getDevp()) { for (DevpSlave.Sta inSta : devp.getInSta()) { Thread.sleep(500); boolean a=true,b=true; List wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo()); if (Cools.isEmpty(wrkMasts)){ b=false; }else { for (WrkMast wrkMast:wrkMasts){ if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){ a=false; break; } } } switch (inSta.getStaNo()) { case 102://1F if (a && b){ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11)); }else if (b){ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12)); }else { MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10)); } break; case 202://2F if (a && b){ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21)); }else if (b){ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22)); }else { MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20)); } break; case 302://3F if (a && b){ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31)); }else if (b){ MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32)); }else { MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30)); } break; } } } } catch (Exception e) { e.printStackTrace(); } } }