package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; 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.service.CommonService; import com.zy.common.utils.*; import com.zy.core.News; import com.zy.core.action.ForkLiftAction; import com.zy.core.action.ShuttleAction; import com.zy.core.cache.SlaveConnection; import com.zy.core.dispatcher.ShuttleDispatchUtils; import com.zy.core.enums.*; import com.zy.core.model.*; import com.zy.core.model.command.*; import com.zy.core.model.protocol.*; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.*; import com.zy.system.service.ConfigService; 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 java.util.*; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") public class MainServiceImpl { @Value("${wms.url}") private String wmsUrl; @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastService wrkMastService; @Autowired private WrkMastLogMapper wrkMastLogMapper; @Autowired private LocMastService locMastService; @Autowired private BasDevpService basDevpService; @Autowired private BasShuttleErrLogService basShuttleErrLogService; @Autowired private BasLiftErrLogService basLiftErrLogService; @Autowired private BasShuttleErrService basShuttleErrService; @Autowired private CommonService commonService; @Autowired private BasMapService basMapService; @Autowired private BasLiftService basLiftService; @Autowired private ShuttleDispatchUtils shuttleDispatchUtils; @Autowired private RedisUtil redisUtil; @Autowired private BasLiftOptService basLiftOptService; @Autowired private ConfigService configService; @Autowired private NavigateMapUtils navigateMapUtils; @Autowired private NavigateMapData navigateMapData; @Autowired private NavigateUtils navigateUtils; @Autowired private ShuttleOperaUtils shuttleOperaUtils; @Autowired private ShuttleAction shuttleAction; @Autowired private ForkLiftAction forkLiftAction; // /** // * 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() { // try { // // 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 // WrkMast wrkMast1 = wrkMastMapper.selectPickStepByBarcode(barcode); // if (null != wrkMast1) { // continue; // } // // // 判断重复工作档 // WrkMast wrkMast2 = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode); // if (wrkMast2 != 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={}", wrkMast2.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/v2") // .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)); // ledThread.setLedMk(false); // } // } // News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response); // } else if (code == 700) { //// staProtocol.setWorkNo((short) 32002); //// staProtocol.setRollback102(1);//102站回退信号 //// devpThread.setPakMk(staProtocol.getSiteId(), false); //// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, 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)); // ledThread.setLedMk(false); // } // } // } catch (Exception e) { // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); // } // } // } // } // } catch (Exception e) { // e.printStackTrace(); // } // } // /** // * 拣料、并板再入库 // */ // @Transactional // public synchronized void stnToCrnStnPick(){ // try { // 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() //// && (staProtocol.getWorkNo() > 0) // && staProtocol.isPakMk()) { // // // 获取条码扫描仪信息 // BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); // if (barcodeThread == null) { // continue; // } // String barcode = barcodeThread.getBarcode(); // if (Cools.isEmpty(barcode)) { // continue; // } // if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) { // continue; // } // // WrkMast wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode); // if (wrkMast == null) {//找不到工作档 // continue; // } // // if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104) // || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { // continue; // } // //// //*********************同库位组校验********************* //// boolean flag = false; //// String th = ""; //// List innerLoc = Utils.getGroupInnerLoc(wrkMast.getSourceLocNo()); //// for (String loc : innerLoc) { //// LocMast locMast = locMastService.selectById(loc); //// if (locMast == null) { //// continue; //// } //// //// if (!locMast.getLocSts().equals("F")) { //// flag = true; //// th = loc + "库位存在未回库任务"; //// break; //// } //// } //// if (flag) { //// News.info(th); //// continue; //// } //// //*********************同库位组校验********************* // //// // 保存工作主档历史档 //// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { //// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败"); //// continue; //// } // // try { // LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位 // SearchLocParam param = new SearchLocParam(); // param.setWrkNo(wrkMast.getWrkNo()); // param.setBarcode(wrkMast.getBarcode()); // param.setIoType(wrkMast.getIoType()); // param.setSourceStaNo(pickSta.getStaNo()); // param.setLiftNo(pickSta.getLiftNo()); // param.setLocType1(locMast.getLocType1()); // String response = new HttpHandler.Builder() // .setUri(wmsUrl) // .setPath("/rpc/pakin/loc/v2") // .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); // //// //获取回库提升机目标站 //// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo())); //// if (liftStaProtocol == null) { //// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败"); //// continue; //// } //// //// // 更新工作档数据状态 //// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54 //// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 //// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站 //// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站 //// wrkMast.setLocNo(dto.getLocNo()); // 目标库位 //// wrkMast.setShuttleNo(null); // 穿梭车清空 //// wrkMast.setLiftNo(null);// 提升机清空 //// wrkMast.setModiTime(new Date()); //// if (wrkMastMapper.updateById(wrkMast) == 0) { //// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败"); //// continue; //// } // } else if (code == 500) { // News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response); // } // } catch (Exception e) { // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); // } // } // } // // } // } catch (Exception e) { // e.printStackTrace(); // } // } // /** // * 盘点再入库 // */ // @Transactional // public synchronized void stnToCrnStnPlate(){ // try { // 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() //// && (staProtocol.getWorkNo() > 0) // && staProtocol.isPakMk()) { // // // 获取条码扫描仪信息 // BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode()); // if (barcodeThread == null) { // continue; // } // String barcode = barcodeThread.getBarcode(); // if (Cools.isEmpty(barcode)) { // continue; // } // if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) { // continue; // } // WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode); // if (wrkMast == null) {//找不到工作档 // continue; // } // // if ((wrkMast.getIoType() != 107) // || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) { // continue; // } // //// // 保存工作主档历史档 //// if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) { //// News.info(wrkMast.getWrkNo() + "保存工作主档历史档失败"); //// continue; //// } // // //盘点找新库位 // try { // LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());//源库位 // SearchLocParam param = new SearchLocParam(); // param.setWrkNo(wrkMast.getWrkNo()); // param.setBarcode(wrkMast.getBarcode()); // param.setIoType(107);//盘点 // param.setSourceStaNo(pickSta.getStaNo()); // param.setLiftNo(pickSta.getLiftNo()); // param.setLocType1(locMast.getLocType1()); // String response = new HttpHandler.Builder() // .setUri(wmsUrl) // .setPath("/rpc/pakin/loc/v2") // .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); // //// //获取回库提升机目标站 //// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(dto.getLocNo())); //// if (liftStaProtocol == null) { //// News.info(wrkMast.getWrkNo() + "获取回库提升机目标站失败"); //// continue; //// } //// //// // 更新工作档数据状态 //// wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 107->57 //// wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走 //// wrkMast.setSourceStaNo(dto.getSourceStaNo()); // 源站 //// wrkMast.setStaNo(liftStaProtocol.getStaNo());//目标站 //// wrkMast.setLocNo(dto.getLocNo()); // 目标库位 //// wrkMast.setShuttleNo(null); // 穿梭车清空 //// wrkMast.setLiftNo(null);// 提升机清空 //// wrkMast.setModiTime(new Date()); //// if (wrkMastMapper.updateById(wrkMast) == 0) { //// News.info(wrkMast.getWrkNo() + "更新工作档数据状态失败"); //// continue; //// } // //// staProtocol.setStaNo(dto.getSourceStaNo().shortValue());//写入目标站 //// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // // } else if (code == 500) { // News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v2", JSON.toJSONString(param), response); // } // } catch (Exception e) { // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); // } // // } // } // } // } catch (Exception e) { // e.printStackTrace(); // } // } /** * 初始化实时地图 */ public synchronized void initRealtimeBasMap() { try { for (int i = 1; i <= 4; i++) {//总共四层楼 Object data = redisUtil.get(RedisKeyType.MAP.key + 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 List> lists = navigateMapData.getJsonData(i, -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(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap)); } } } catch (Exception e) { e.printStackTrace(); } } // /** // * 入库 ===>> 四向穿梭车入库作业下发 // */ // public synchronized void shuttleInExecute() { // try { // List wrkMasts = wrkMastMapper.selectInStep4(); // for (WrkMast wrkMast : wrkMasts) { // //获取源站 // BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo()); // if (sourceBasDevp == null) { // continue;//站点不存在 // } // // //获取目标站 // LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(sourceBasDevp.getLiftNo(), Utils.getLev(wrkMast.getLocNo())); // if (liftStaProtocol == null) { // continue;//站点不存在 // } // // // 判断是否满足入库条件，自动、空闲、有物 // if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) { // News.info("{}任务，输送站点状态不满足入库。输送站点:{}", wrkMast.getWrkNo(), JSON.toJSONString(liftStaProtocol)); // continue; // } // // boolean step1 = this.shuttleInExecuteStep1(wrkMast, liftStaProtocol);//小车搬入库中 // if (!step1) { // continue; // } // } // } catch (Exception e) { // e.printStackTrace(); // } // } // /** // * 入库-小车搬入库中 // * 如需主方法执行continue，请返回false // * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue // */ // public boolean shuttleInExecuteStep1(WrkMast wrkMast, LiftStaProtocol liftStaProtocol) { // if (wrkMast.getWrkSts() == 4) { // if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 // boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到货物所在输送站点进行取货 // News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); // return false; // } // // //获取四向穿梭车线程 // ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); // if (shuttleThread == null) { // return false; // } // ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); // if (shuttleProtocol == null) { // return false; // } // if (!shuttleThread.isIdle()) { // News.info("{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } //// //判断小车令牌是否未被占领 //// if (shuttleProtocol.getToken() != 0) { //// News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); //// return false;//小车已被独占，禁止再派发任务 //// } // // //判断小车是否存在移动任务 // WrkMast hasMoveWorking = wrkMastMapper.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); // if (hasMoveWorking != null) { // News.info("{}任务，{}小车，存在移动任务，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false;//存在移动任务，禁止执行入库任务 // } // // //判断小车是否到达输送站点库位 // if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) { // //小车不在输送站点位置 // shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货 // News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // //小车已抵达输送站点位置，进行搬运货物 // ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo()); // if (result == null) {//路径计算失败 // News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // //创建分配命令 // ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); // assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 // assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 // assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id);//入库模式 // assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) // assignCommand.setCommands(result.getCommands());//运行命令 // assignCommand.setNodes(result.getNodes());//路径节点 // // wrkMast.setWrkSts(5L);//4.提升机搬运完成 => 5.小车搬运中 // wrkMast.setModiTime(new Date()); //// shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌 // if (wrkMastMapper.updateById(wrkMast) > 0) { // //下发任务 // MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); // } // // return false; // } // return true; // } // /** // * 出库 ===>> 四向穿梭车出库作业下发 // */ // public synchronized void shuttleOutExecute() { // try { // for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) { // boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中 // if (!step1) { // continue; // } // } // } catch (Exception e) { // e.printStackTrace(); // } // } // // /** // * 出库-小车搬出库中 // * 如需主方法执行continue，请返回false // * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue // */ // public boolean shuttleOutExecuteStep1(WrkMast wrkMast) { // //21.生成出库任务 => 22.小车搬运中 // if (wrkMast.getWrkSts() == 21) { // EntityWrapper wrapper = new EntityWrapper<>(); // wrapper.eq("type_no", wrkMast.getIoType());//路径类型 // wrapper.eq("stn_no", wrkMast.getStaNo());//出库站点编号 // StaDesc staDesc = staDescService.selectOne(wrapper); // if (staDesc == null) { // News.info("{}任务，出库路径不存在", wrkMast.getWrkNo()); // return false;//出库路径不存在 // } // // //获取出库站点 // BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo()); // if (basDevp == null) { // return false;//出库站点不存在 // } // //// if (!basDevp.getAutoing().equals("Y")) { //// News.info("{}任务，{}站点，不是自动状态",wrkMast.getWrkNo(),basDevp.getDevNo()); //// return false;//不是自动状态 //// } //// //// if (!basDevp.getOutEnable().equals("Y")) { //// News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), basDevp.getDevNo()); //// return false;//出库站点不可出 //// } // // Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库 // List liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo); // if (!liftWrkMasts.isEmpty()) { // News.info("{}任务，{}号提升机，存在入库任务，系统禁止出库", wrkMast.getWrkNo(), liftNo); // return false;//存在入库任务，禁止出库 // } // // //同库位组校验 // List outerLoc = Utils.getGroupOuterLoc(wrkMast.getSourceLocNo()); // List outerLocMasts = locMastService.selectNotEmptyLocNos(outerLoc); // if (!outerLocMasts.isEmpty()) { // News.info("{}任务，浅库位存在货物，系统等待中", wrkMast.getWrkNo()); // return false;//浅库位存在未执行任务 // } // // //获取源站 // LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo())); // if (liftStaProtocol == null) { // return false;//找不到站点 // } // // if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && !liftStaProtocol.getHasTray())) { // News.info("{}任务，{}内部输送站，不满足自动、空闲、无托盘状态", wrkMast.getWrkNo(), liftStaProtocol.getStaNo()); // return false;//站点必须自动、空闲、没有托盘 // } // // if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 // //强制预留一台小车给入库任务 // int lev = Utils.getLev(wrkMast.getSourceLocNo()); // //获取当前楼层有几台可用小车 // int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev); // if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车 // int shuttleWrkInObligateCount = 1;//预留小车数量 // Config config = configService.selectOne(new EntityWrapper().eq("code", "shuttleWrkInObligateCount").eq("status", 1)); // if (config != null) { // shuttleWrkInObligateCount = Integer.parseInt(config.getValue()); // } // //可用出库小车数量(给入库任务预留一台车) // int useShuttleCount = shuttleCount - shuttleWrkInObligateCount; // //查询楼层已分配车辆的出库任务数量 // List wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev); // if (wrkMasts.size() >= useShuttleCount) { // News.info("{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size()); // return false; // } // } // boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到货物所在库位进行取货 // News.info("{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败"); // return false; // } // // //获取四向穿梭车线程 // NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); // if (shuttleThread == null) { // return false; // } // NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); // if (shuttleProtocol == null) { // return false; // } // if (!shuttleProtocol.isIdle()) { // News.info("{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // //判断小车令牌是否未被占领 // if (shuttleProtocol.getToken() != 0) { // News.info("{}任务，{}小车，令牌已被独占，禁止派发任务", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false;//小车已被独占，禁止再派发任务 // } // // //判断小车是否到达货物库位 // if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { // //小车不在输送站点位置 // shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货 // News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // //小车已抵达货物位置，进行搬运货物 // ShuttleOperaResult result = ShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftStaProtocol.getLocNo());//将货物搬运至提升机输送站点 // if (result == null) {//出库路径计算失败 // News.info("{}任务，{}小车，路径计算失败，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // //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_OUT.id.shortValue());//出库模式 // assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) // assignCommand.setCommands(result.getCommands());//运行命令 // assignCommand.setNodes(result.getNodes());//路径节点 // // wrkMast.setWrkSts(22L);//21.生成出库任务 => 22.小车搬运中 // wrkMast.setModiTime(new Date()); // shuttleProtocol.setToken(wrkMast.getWrkNo());//独占小车令牌 // if (wrkMastMapper.updateById(wrkMast) > 0) { // //下发任务 // MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); // } // return false; // } // return true; // } /** * 四向穿梭车任务完成 */ public synchronized void shuttleFinished() { try { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } //四向穿梭车状态为等待确认、小车处于空闲状态 if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认 && shuttleProtocol.getTaskNo() != 0 ) { //将任务档标记为完成 WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo()); if (wrkMast != null) { switch (wrkMast.getWrkSts().intValue()) { // case 5://5.小车搬运中 ==> 9.入库完成 // wrkMast.setWrkSts(9L); // shuttleProtocol.setTaskNo(0); // if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { // //释放小车令牌 // shuttleProtocol.setToken(0); // } // break; // case 22://22.小车搬运中 ==> 23.小车搬运完成 // wrkMast.setWrkSts(23L); // shuttleProtocol.setTaskNo(0); // if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { // //释放小车令牌 // shuttleProtocol.setToken(0); // } // break; case 302://302.小车移动至站点 ==> 303.小车移动至站点完成 wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts); break; case 110://310.小车移动中 ==> 311.小车移动完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts); shuttleThread.setTaskNo(0); break; default: } if (wrkMastService.updateById(wrkMast)) { if (wrkMast.getWrkSts() == 111) { // 保存工作主档历史档 if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) { log.info("保存工作历史档[workNo={0}]失败", wrkMast.getWrkNo()); } // 删除工作主档 if (!wrkMastService.deleteById(wrkMast)) { log.info("删除工作主档[workNo={0}]失败", wrkMast.getWrkNo()); } } //设置四向穿梭车为空闲状态 shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE); News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo()); } else { News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo()); } } else { Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo()); if(object != null){ ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class); if (!assignCommand.getAuto()) { //手动模式 //工作号清零 shuttleThread.setTaskNo(0); //设置四向穿梭车为空闲状态 shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE); News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo()); } } } } } } catch (Exception e) { e.printStackTrace(); } } // /** // * 提升机任务 // */ // public synchronized void liftIoExecute() { // try { // 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()) { // News.info("{}号提升机，忙碌中", liftSlave.getId()); // continue; // } // // //判断提升机令牌是否被占用 // if (liftProtocol.getToken() != 0) { // News.info("{}号提升机，令牌已被独占", liftSlave.getId()); // continue; // } // // //搜索是否有待处理的任务 // List wrkMasts = wrkMastMapper.selectLiftStep223103(); // if (wrkMasts.isEmpty()) { // continue; // } // // for (WrkMast wrkMast : wrkMasts) { // //搜索是否有其他任务占用了提升机，如果占用提升机的任务和当前任务相同，则运行执行 // WrkMast wrkMast1 = wrkMastMapper.selectLiftWrkMast(liftProtocol.getLiftNo().intValue()); // if (wrkMast1 != null && wrkMast1.getWrkNo().intValue() != wrkMast.getWrkNo().intValue()) { // News.info("{}号提升机，被其他任务{}占用且和当前任务{}不相同，禁止派发", liftSlave.getId(), wrkMast1.getWrkNo(), wrkMast.getWrkNo()); // continue; // } // // boolean stepIn = this.liftIoExecuteStepIn(wrkMast);//提升机入库 // if (!stepIn) { // continue; // } // // boolean stepOut = this.liftIoExecuteStepOut(wrkMast);//提升机出库 // if (!stepOut) { // continue; // } // } // // } // } catch (Exception e) { // e.printStackTrace(); // } // } // // /** // * 提升机入库 // * 如需主方法执行continue，请返回false // * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue // */ // private boolean liftIoExecuteStepIn(WrkMast wrkMast) { // //--------------------------------------提升机入库-----------------------------------------// // Date now = new Date(); // // //2.设备上走 ==> 3.提升机搬运中 // if (wrkMast.getWrkSts() == 2) { // //获取源站 // BasDevp sourceBasDevp = basDevpService.selectById(wrkMast.getSourceStaNo()); // if (sourceBasDevp == null) { // return false;//找不到站点 // } // // if (!sourceBasDevp.getInEnable().equals("Y")) { // News.info("{}任务，{}源站，没有可入信号", wrkMast.getWrkNo(), sourceBasDevp.getDevNo()); // return false;//站点不可入 // } // // Integer barcodeId = Utils.getBarcodeIdByStaNo(wrkMast.getSourceStaNo()); // if (barcodeId == null) { // News.info("{}任务，{}源站，找不到可用条码器ID", wrkMast.getWrkNo(), sourceBasDevp.getDevNo()); // return false;//站点不可入 // } // // BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, barcodeId); // if (barcodeThread == null) { // News.info("{}任务，{}源站，条码器{}线程为空", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId); // return false;//站点不可入 // } // String barcode = barcodeThread.getBarcode(); // if(!Cools.isEmpty(barcode)) { // if(!("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode))) { // //存在条码值，判断是否和当前工作档一致 // if (!barcode.equals(wrkMast.getBarcode())) { // News.info("{}任务,{}站点，条码器{}值{}与工作档条码值{}不一致，系统跳过执行", wrkMast.getWrkNo(), sourceBasDevp.getDevNo(), barcodeId, barcode,wrkMast.getBarcode()); // return false;//站点不可入 // } // } // }else { // return false; // } // // //判断提升机整个三楼是否都处于入库模式 // Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1); // Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5); // Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8); // if (outInModel1 == null || outInModel2 == null || outInModel3 == null) { // News.info("{}任务，没有出入库模式", wrkMast.getWrkNo()); // return false;//不存在出入库模式 // } // // if (outInModel1 == 2 || outInModel2 == 2 && outInModel3 == 2) { // News.info("{}任务，有站点处于出库模式，禁止入库", wrkMast.getWrkNo()); // return false;//只要有一个处于出库模式，禁止入库 // } // // LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo()); // if (liftThread == null) { // return false; // } // LiftProtocol liftProtocol = liftThread.getLiftProtocol(); // if (liftProtocol == null) { // return false; // } // if (!liftProtocol.isIdle()) { // News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false; // } // //判断提升机令牌是否未被占领 // if (liftProtocol.getToken() != 0) { // News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false;//提升机已被独占，禁止再派发任务 // } // // //判断提升机内是否有小车 // if (liftProtocol.getHasCar()) { // News.info("{}任务，{}号提升机，提升机内部有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false;//有小车，禁止派发 // } // // //判断提升机内是否有托盘 // if (liftProtocol.getHasTray()) { // News.info("{}任务，{}号提升机，提升机内部有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false;//有托盘，禁止派发 // } // // //判断提升机是否有其他任务 // WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId()); // if (liftWrkMast != null) { // News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false;//当前提升机存在未完成任务，等待下一次轮询 // } // // //获取源站对应的牛眼提升机站点编号(起点编号) // Integer startSta = Integer.parseInt(sourceBasDevp.getQrCodeValue()); // //获取提升机站点 // LiftStaProtocol targetStaProtocol = NyLiftUtils.getLiftStaByLev(liftThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo())); // if (targetStaProtocol == null) { // return false;//站点不存在 // } // // if (targetStaProtocol.getHasTray()) { // News.info("{}任务，{}号提升机，{}站点，提升机站点有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo(), targetStaProtocol.getStaNo()); // return false;//提升机站点有托盘，禁止派发 // } // // Integer targetSta = targetStaProtocol.getStaNo(); // // //获取提升机命令 // NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo()); // if (wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) { // //拣料再回库，重新分配设备工作号 // int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号 // BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(String.valueOf(deviceWrk), liftThread.getSlave().getId()); // if (basLiftOpt != null) { // News.info("{}任务，{}号提升机，设备工作号出现重复情况，请联系技术人员支持。", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false; // } // liftCommand.setTaskNo((short) deviceWrk); // } // ArrayList commands = new ArrayList<>(); // commands.add(liftCommand); // // //提交到线程去工作 // LiftAssignCommand assignCommand = new LiftAssignCommand(); // assignCommand.setCommands(commands); // assignCommand.setLiftNo(liftProtocol.getLiftNo()); // assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue()); // // wrkMast.setWrkSts(3L);//2.设备上走 ==> 3.提升机搬运中 // wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号 // wrkMast.setModiTime(now); // liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌 // if (wrkMastMapper.updateById(wrkMast) > 0) { // //下发任务 // MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); // } // // return false; // } // return true; // } // // /** // * 提升机出库 // * 如需主方法执行continue，请返回false // * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue // */ // private boolean liftIoExecuteStepOut(WrkMast wrkMast) { // //--------------------------------------提升机出库-----------------------------------------// // Date now = new Date(); // // //23.小车搬运完成 ==> 24.提升机搬运中 // if (wrkMast.getWrkSts() == 23) { // NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); // if (shuttleThread == null) { // return false; // } // // //获取出库站点(目标站) // BasDevp basDevp = basDevpService.selectById(wrkMast.getStaNo()); // if (basDevp == null) { // News.info("{}任务，出库站点不存在，禁止派发", wrkMast.getWrkNo()); // return false;//出库站点不存在 // } // // //获取源站对应的牛眼提升机站点编号(起点编号) // LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo())); // if (liftStaProtocol == null) { // News.info("{}任务，找不到站点，禁止派发", wrkMast.getWrkNo()); // return false;//找不到站点 // } // Integer startSta = liftStaProtocol.getStaNo(); // // NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); // if (shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) { // //小车还在输送站点 // //调度小车避让 // boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkMast.getSourceLocNo()), wrkMast.getShuttleNo(), shuttleThread); // if (!result) { // News.info("{}任务，{}小车，小车在输送站点调度小车避让失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // } // // if (!basDevp.getAutoing().equals("Y")) { // News.info("{}任务，{}站点，没有自动信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo()); // return false;//出库站点不可出 // } // // if (basDevp.getLoading().equals("Y")) { // News.info("{}任务，{}站点，存在有物信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo()); // return false;//出库站点不可出 // } // // if (!basDevp.getOutEnable().equals("Y")) { // News.info("{}任务，{}站点，没有可出信号，禁止派发", wrkMast.getWrkNo(), basDevp.getDevNo()); // return false;//出库站点不可出 // } // // LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, basDevp.getLiftNo()); // if (liftThread == null) { // return false; // } // LiftProtocol liftProtocol = liftThread.getLiftProtocol(); // if (liftProtocol == null) { // return false; // } // // if (!liftProtocol.isIdle()) { // News.info("{}任务，{}号提升机，忙碌中", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false; // } // //判断提升机令牌是否未被占领 // if (liftProtocol.getToken() != 0) { // News.info("{}任务，{}号提升机，令牌已被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false;//提升机已被独占，禁止再派发任务 // } // //判断提升机是否有其他任务 // WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId()); // if (liftWrkMast != null) { // News.info("{}任务，{}号提升机，当前提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); // return false;//当前提升机存在未完成任务，等待下一次轮询 // } // // //获目标站源站对应的输送站点 // BasDevp targetBasDevp = basDevpService.selectById(wrkMast.getStaNo()); // if (targetBasDevp == null) { // News.info("{}任务，{}站点，站点不存在，禁止派发", wrkMast.getWrkNo(), wrkMast.getStaNo()); // return false;//站点不存在 // } // //获取牛眼提升机站点编号(目标编号) // Integer targetSta = Integer.parseInt(targetBasDevp.getQrCodeValue()); // // //获取提升机命令 // NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftThread.getSlave().getId(), NyLiftTaskModelType.MOVE_TRAY.id, startSta, targetSta, wrkMast.getWrkNo()); // // ArrayList commands = new ArrayList<>(); // commands.add(liftCommand); // // //提交到线程去工作 // LiftAssignCommand assignCommand = new LiftAssignCommand(); // assignCommand.setCommands(commands); // assignCommand.setLiftNo(liftProtocol.getLiftNo()); // assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // assignCommand.setTaskMode(NyLiftTaskModelType.MOVE_TRAY.id.shortValue()); // // wrkMast.setWrkSts(24L);//23.小车搬运完成 ==> 24.提升机搬运中 // wrkMast.setLiftNo(liftThread.getSlave().getId());//任务档绑定提升机号 // wrkMast.setModiTime(now); // liftProtocol.setToken(wrkMast.getWrkNo());//独占提升机令牌 // if (wrkMastMapper.updateById(wrkMast) > 0) { // //下发任务 // MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); // } // // return false; // } // return true; // } // /** * 货叉提升机任务完成 */ public synchronized void forkLiftFinished() { try { for (ForkLiftSlave forkLiftSlave : slaveProperties.getForkLift()) { //获取提升机信息 ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, forkLiftSlave.getId()); ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { continue; } //提升机为等待确认且空闲 if (forkLiftProtocol.getProtocolStatus() == ForkLiftProtocolStatusType.WAITING.id && forkLiftProtocol.getWrkNo() != 0 ) { //将任务档标记为完成 WrkMast wrkMast = wrkMastService.selectByWorkNo(forkLiftProtocol.getWrkNo()); if (wrkMast != null) { switch (wrkMast.getWrkSts().intValue()) { // case 3://3.提升机搬运中 ==> 4.提升机搬运完成 // wrkMast.setWrkSts(4L); // wrkMast.setLiftNo(null);//释放提升机 // if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) { // //释放提升机令牌 // liftProtocol.setToken(0); // } // break; // case 24://24.提升机搬运中 ==> 25.提升机搬运完成 // wrkMast.setWrkSts(25L); // if (wrkMast.getIoType() == 11) {//库位移转 // wrkMast.setWrkSts(4L);//4.提升机搬运完成 // } else { // if (wrkMast.getMk() == null || !wrkMast.getMk().equals("Y")) { // //不需要用到机械臂，直接转29.出库完成 // wrkMast.setWrkSts(29L); // wrkMast.setShuttleNo(null);//释放小车 // wrkMast.setLiftNo(null);//释放提升机 // wrkMast.setModiTime(new Date()); // } // } // break; case 306://306.提升机搬运中 ==> 307.提升机搬运完成 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts); //货叉提升机需要跳过迁出提升机流程 wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts); break; default: } wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { forkLiftThread.reset(); News.info("提升机已确认且任务完成状态。提升机号={}", forkLiftProtocol.getLiftNo()); } else { News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", forkLiftProtocol.getLiftNo(), forkLiftProtocol.getWrkNo()); } } } } } catch (Exception e) { e.printStackTrace(); } } // /** // * 异常信息记录 // */ // public void recErr() { // try { // this.recShuttleErr(); // this.recLiftErr(); // } catch (Exception e) { // News.error("recErr fail", e); // } // } // /** // * 四向穿梭车异常信息记录 // */ // private void recShuttleErr() { // Date now = new Date(); // for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { // // 获取四向穿梭车信息 // NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); // if (shuttleThread == null) { // continue; // } // NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); // if (shuttleProtocol == null) { // continue; // } // // if (shuttleProtocol.getTaskNo() != 0) { // //有任务 // BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo()); // // 有异常 // if (latest == null) { // if (shuttleProtocol.getErrState() != null && shuttleProtocol.getErrState() == 1) { // WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo()); // if (wrkMast == null) { // continue; // } // BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getErrCode()); // 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 // shuttleProtocol.getErrCode(), // 异常码 // errName, // 异常 // 1, // 异常情况 // now, // 添加时间 // null, // 添加人员 // now, // 修改时间 // null, // 修改人员 // "任务中异常", // 备注 // JSON.toJSONString(shuttleProtocol) // 系统状态数据 // ); // if (!basShuttleErrLogService.insert(basShuttleErrLog)) { // News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName); // } // } // } else { // // 异常修复 // if (shuttleProtocol.getErrState() == null || shuttleProtocol.getErrState() == 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()); //// } //// } //// } // } // } // } // // /** // * 提升机异常信息记录 // */ // private void recLiftErr() { // Date now = new Date(); // for (LiftSlave liftSlave : slaveProperties.getLift()) { // // 获取提升机信息 // LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId()); // if (liftThread == null) { // continue; // } // LiftProtocol liftProtocol = liftThread.getLiftProtocol(); // if (liftProtocol == null) { // continue; // } // // if (liftProtocol.getTaskNo() != 0) { // //有任务 // BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(liftSlave.getId(), liftProtocol.getTaskNo().intValue()); // // 有异常 // if (latest == null) { // if (liftProtocol.getDeviceError() != null && liftProtocol.getDeviceError()) { // WrkMast wrkMast = wrkMastMapper.selectById(liftProtocol.getTaskNo()); // if (wrkMast == null) { // continue; // } // // String errName = ""; // if (liftProtocol.getFrontOverrun()) { // errName = "前超限"; // } else if (liftProtocol.getBackOverrun()) { // errName = "后超限"; // } else if (liftProtocol.getLeftOverrun()) { // errName = "左超限"; // } else if (liftProtocol.getRightOverrun()) { // errName = "右超限"; // } else if (liftProtocol.getOverHeight()) { // errName = "超高"; // } else if (liftProtocol.getOverWeight()) { // errName = "超重"; // } // // BasLiftErrLog basLiftErrLog = new BasLiftErrLog( // null, // 编号 // wrkMast.getWrkNo(), // 工作号 // now, // 发生时间 // null, // 结束时间 // wrkMast.getWrkSts(), // 工作状态 // wrkMast.getIoType(), // 入出库类型 // liftSlave.getId(), // 提升机 // null, // plc // wrkMast.getLocNo(), // 目标库位 // wrkMast.getStaNo(), // 目标站 // wrkMast.getSourceStaNo(), // 源站 // wrkMast.getSourceLocNo(), // 源库位 // wrkMast.getBarcode(), // 条码 // null, // 异常码 // errName, // 异常 // 1, // 异常情况 // now, // 添加时间 // null, // 添加人员 // now, // 修改时间 // null, // 修改人员 // "任务中异常", // 备注 // JSON.toJSONString(liftProtocol) // 系统状态数据 // ); // if (!basLiftErrLogService.insert(basLiftErrLog)) { // News.error("提升机plc异常记录失败 ===>> [id:{}] [error:{}]", liftSlave.getId(), errName); // } // } // } else { // // 异常修复 // if (liftProtocol.getDeviceError() == null || !liftProtocol.getDeviceError()) { // latest.setEndTime(now); // latest.setUpdateTime(now); // latest.setStatus(2); // if (!basLiftErrLogService.updateById(latest)) { // News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", liftSlave.getId(), latest.getId()); // } // } // } // } // } // } // ------------------------------------------------------------------------------- // /** // * 空栈板初始化入库,叉车入库站放货 // */ // public void storeEmptyPlt(){ // try { // 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; // } // } // } // // if (!Cools.isEmpty(barcode)) { // WrkMast wrkMast = wrkMastMapper.selectByBarcode(barcode);//条码存在工作档 // if (wrkMast != null) { // continue; // } // } // // 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/v2") // .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); // barcodeThread.setBarcode(""); //// // 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/v2", JSON.toJSONString(param), response); // } // } catch (Exception e) { // e.printStackTrace(); // TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); // } // // } // // // } // } // } catch (Exception e) { // e.printStackTrace(); // } // } /** * 出库 ===>> 工作档信息写入led显示器 */ public void ledExecute() { // try { // 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<>(); // List wrkMastLogs = 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()); // Integer wrkNo = staProtocol.getWorkNo().intValue(); // Integer ioType = null; // String sourceLocNo = null; // String locNo = null; // Integer wrkStaNo = null; // String barcode = null; // if (wrkMast == null) { // //查询历史档 // WrkMastLog wrkMastLog = wrkMastLogMapper.selectLatestByWorkNo(staProtocol.getWorkNo().intValue()); // if (wrkMastLog == null) { // continue; // } // ioType = wrkMastLog.getIoType(); // sourceLocNo = wrkMastLog.getSourceLocNo(); // locNo = wrkMastLog.getLocNo(); // wrkStaNo = wrkMastLog.getStaNo(); // barcode = wrkMastLog.getBarcode(); // wrkMastLogs.add(wrkMastLog); // }else { // if (wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { // continue; // } // ioType = wrkMast.getIoType(); // sourceLocNo = wrkMast.getSourceLocNo(); // locNo = wrkMast.getLocNo(); // wrkStaNo = wrkMast.getStaNo(); // barcode = wrkMast.getBarcode(); // wrkMasts.add(wrkMast); // } // // 组装命令 // LedCommand ledCommand = new LedCommand(); // ledCommand.setWorkNo(wrkNo); // ledCommand.setIoType(ioType); // // 出库模式 // switch (ioType) { // 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：{}]", wrkNo, ioType); // break; // } // ledCommand.setSourceLocNo(sourceLocNo); // ledCommand.setLocNo(locNo); // ledCommand.setStaNo(wrkStaNo); // ledCommand.setBarcode(barcode); // if (ioType != 110 && ioType != 10) { // List wrkDetls = wrkDetlService.selectList(new EntityWrapper().eq("wrk_no", wrkNo)); // if (!wrkDetls.isEmpty()) { // wrkDetls.forEach(wrkDetl -> { // double remainNum = wrkDetl.getStock() - wrkDetl.getAnfme();//剩余数量 // if (remainNum < 0) { // remainNum = 0; // } // String matnr = wrkDetl.getMatnr(); // Mat mat = matService.selectByMatnr(wrkDetl.getMatnr()); // if (mat != null) { // if (!mat.getMatnr().equals(mat.getMatnr2())) { // matnr += " - " + mat.getMatnr2(); // } // } // ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetl.getMaktx(), wrkDetl.getAnfme(), remainNum, wrkDetl.getSpecs(), wrkDetl.getSuppCode(), wrkDetl.getOrderNo())); // }); // }else { // List wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode); // for (WrkDetlLog wrkDetlLog : wrkDetlLogs) { // double remainNum = wrkDetlLog.getStock() - wrkDetlLog.getAnfme();//剩余数量 // if (remainNum < 0) { // remainNum = 0; // } // String matnr = wrkDetlLog.getMatnr(); // Mat mat = matService.selectByMatnr(wrkDetlLog.getMatnr()); // if (mat != null) { // if (!mat.getMatnr().equals(mat.getMatnr2())) { // matnr += " - " + mat.getMatnr2(); // } // } // ledCommand.getMatDtos().add(new MatDto(matnr, wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), remainNum, wrkDetlLog.getSpecs(), wrkDetlLog.getSuppCode())); // } // } // commands.add(ledCommand); // } // Set workNos = null; // if (!wrkMasts.isEmpty()) { // workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet()); // }else { // workNos = wrkMastLogs.stream().map(WrkMastLog::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 (!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(); // } // // } // } catch (Exception e) { // e.printStackTrace(); // } } /** * 其他 ===>> LED显示器复位，显示默认信息 */ public void ledReset() { // try { // 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.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.setLedMk(true); // if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) { // log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); // } // } // } // } catch (Exception e) { // e.printStackTrace(); // } } /** * 四向穿梭车电量检测 ===>> 发起充电 */ public synchronized void loopShuttleCharge() { try { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } //判断当前小车是否满足需要充电要求 if (!shuttleThread.isRequireCharge()) { continue; } WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo()); if (wrkMast != null) {//已有充电任务 continue; } //小车所在楼层 int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo()); ShuttleChargeType shuttleCharge = null; //搜索小车所在楼层有没有充电桩 for (ShuttleChargeType chargeType : ShuttleChargeType.values()) { if (lev != Utils.getLev(chargeType.locNo)) { continue;//小车和充电桩不在同一层 } //小车和充电桩在同一层 if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) { shuttleCharge = chargeType; break; } } if (shuttleCharge == null) { //同楼层没有找到充电桩，找可用充电桩 //小车同楼层没有充电桩，只要充电桩可用就生成充电任务 for (ShuttleChargeType chargeType : ShuttleChargeType.values()) { if (wrkMastService.selectChargeWorkingByChargeSta(chargeType.id) == null) { //判断当前充电桩楼层是否有小车，如有小车，不分配该充电桩 int chargeLev = Utils.getLev(chargeType.locNo);//充电桩楼层 boolean checkLevHasShuttle = Utils.checkLevHasShuttle(chargeLev);//检测楼层是否有穿梭车 if (checkLevHasShuttle) { //当前充电桩楼层有穿梭车，不分配该充电桩 continue; } shuttleCharge = chargeType; break; } } } if (shuttleCharge == null) { continue; } String chargeLocNo = shuttleCharge.locNo; wrkMast = new WrkMast(); wrkMast.setMk(String.valueOf(shuttleCharge.id)); wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id)); wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts); wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电 wrkMast.setIoPri((double) 999); wrkMast.setLocNo(chargeLocNo); wrkMast.setShuttleNo(shuttle.getId()); wrkMast.setMemo("charge"); wrkMast.setAppeTime(new Date()); if (!wrkMastService.insert(wrkMast)) { News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId()); continue; } News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId()); } } catch (Exception e) { e.printStackTrace(); } } /** * 执行四向穿梭车充电任务 */ public synchronized void executeShuttleCharge() { try { //查询小车移库任务 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId()); if(wrkMast == null) { continue; } boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩 if (!result1) { continue; } boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩 if (!result2) { continue; } boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电 if (!result3) { continue; } boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电 if (!result4) { continue; } boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩 if (!result5) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 小车前往充电桩 */ private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts); wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } //调度小车去充电桩 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo()); if (!dispatched) { return false; } wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } /** * 小车到达充电桩 */ private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //判断是否存在未完成的移动任务 WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if(moveWrk != null) { return false; } if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { return false; } //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } //小车开始充电 private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车已经在充电桩位置，下发充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List commands = shuttleOperaUtils.shuttleChargeCommand(assignCommand, shuttleThread, true); assignCommand.setCommands(commands);//运行命令 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts); wrkMast.setModiTime(new Date()); if (!wrkMastService.updateById(wrkMast)) { return false; } //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); return false; } return true; } //小车停止充电 private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isChargingCompleted()) { return false; } //小车已经在充电桩位置，下发停止充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List commands = shuttleOperaUtils.shuttleChargeCommand(assignCommand, shuttleThread, false); assignCommand.setCommands(commands);//运行命令 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts); wrkMast.setModiTime(new Date()); if (!wrkMastService.updateById(wrkMast)) { return false; } //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); return false; } return true; } //小车离开充电桩 private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } ShuttleChargeType chargeType = ShuttleChargeType.get(wrkMast.getMk()); if(chargeType == null) { return false; } wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts); wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { //调度小车去待机位 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), chargeType.waitLocNo, wrkMast.getShuttleNo()); if (!dispatched) { return false; } return false; } return false; } return true; } /** * 执行小车移库任务 */ public synchronized void shuttleMoveExecute() { try { //查询小车移库任务 List wrkMasts = wrkMastService.selectShuttleMoveWrk(); for (WrkMast wrkMast : wrkMasts) { boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点 if (!stepMoveSta) { continue; } boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中 if (!stepLiftMove) { continue; } boolean stepMoveLoc = this.shuttleMoveExecuteStepMoveLoc(wrkMast);//小车移动到目标库位中 if (!stepMoveLoc) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 小车迁移-小车移动到站点 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepMoveSta(WrkMast wrkMast) { //--------------------------------------小车移动至站点-----------------------------------------// Date now = new Date(); //小车移动至站点 301.生成小车移库任务 ==> 302.小车移动至站点中 if (wrkMast.getWrkSts() == WrkStsType.NEW_MOVE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.info("{}任务，{}小车，小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } if (Utils.getLev(wrkMast.getLocNo()) == Utils.getLev(shuttleProtocol.getCurrentLocNo())) { //目标库位和小车库位处于同一楼层，不需要通过提升机调度 wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts);// 309.小车迁出提升机完成 ==> 310.小车移动中 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 return true;//直接进入309.小车迁出提升机完成 ==> 310.小车移动中 } return false; } //获取源输送站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (liftSta == null) { return false;//找不到站点 } //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机) WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftSta.getLiftNo()); if (liftWrkMast != null) { News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftSta.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); if (commands == null) { News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径解锁失败 } assignCommand.setCommands(commands); //*************尝试锁定目标站路径*************** List targetNodes = ForkLiftUtils.getLiftStaNodes(wrkMast.getStaNo()); if (targetNodes == null) { return false;//未获取到节点 } boolean checkPathIsAvailable = navigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo(), Utils.getLev(wrkMast.getLocNo())); if (!checkPathIsAvailable) { News.info("{}任务，{}小车，目标站点路径被占用，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//检测目标站点路径是否未被占用 } //尝试锁定目标站路径 boolean result2 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo(), targetNodes, true);//所使用的路径进行锁定禁用 if (!result2) { News.info("{}任务，{}小车，路径锁定失败，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径锁定失败 } //*************尝试锁定目标站路径*************** wrkMast.setWrkSts(WrkStsType.MOVE_SITE.sts);//小车移动到提升机中 301.生成小车移库任务 ==> 302.小车移动至站点 wrkMast.setModiTime(now); wrkMast.setLiftNo(liftSta.getLiftNo());//提前锁定提升机 // shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); return false; } return false; } return true; } /** * 小车迁移-提升机搬运中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepLiftMove(WrkMast wrkMast) { //--------------------------------------提升机搬运中-----------------------------------------// Date now = new Date(); //提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_COMPLETE.sts) { ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, wrkMast.getLiftNo()); if (forkLiftThread == null) { return false; } ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); if (forkLiftProtocol == null) { return false; } if (!forkLiftThread.isIdle()) { News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false; } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(wrkMast.getLiftNo()); if (liftWrkMast != null) { if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同 News.info("{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), wrkMast.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } } //获取源站 ForkLiftStaProtocol sourceLiftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); //获取目标站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (sourceLiftSta == null || liftSta == null) { News.info("{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false;//缺少站点信息 } //获取提升机命令 List liftCommands = forkLiftThread.getShuttleSwitchCommand(wrkMast.getWrkNo(), sourceLiftSta.getLev(), liftSta.getLev()); ArrayList commands = new ArrayList<>(); commands.addAll(liftCommands); //提交到线程去工作 LiftAssignCommand assignCommand = new LiftAssignCommand(); assignCommand.setCommands(commands); assignCommand.setLiftNo(wrkMast.getLiftNo().shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(ForkLiftTaskModeType.SHUTTLE_SWITCH.id.shortValue()); wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN.sts);//提升机搬运中 303.小车移动至站点完成 ==> 306.提升机搬运中 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 forkLiftAction.assignWork(wrkMast.getLiftNo(), assignCommand); } } return true; } /** * 小车迁移-小车移动到目标库位中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ private boolean shuttleMoveExecuteStepMoveLoc(WrkMast wrkMast) { //--------------------------------------小车移动到目标库位中-----------------------------------------// Date now = new Date(); //小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车处于空闲状态 if (!shuttleThread.isIdle()) { News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //小车已经在目标库位，直接认定小车移动任务完成 if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts);//311.小车移动完成 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setModiTime(now); wrkMastService.updateById(wrkMast); if (wrkMast.getWrkSts() == WrkStsType.COMPLETE_MOVE.sts) { // 保存工作主档历史档 if (wrkMastLogMapper.save(wrkMast.getWrkNo()) <= 0) { log.info("保存工作历史档[workNo={}]失败", wrkMast.getWrkNo()); } // 删除工作主档 if (!wrkMastService.deleteById(wrkMast)) { log.info("删除工作主档[workNo={}]失败", wrkMast.getWrkNo()); } } return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.MOVE_LOC_NO.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位 assignCommand.setLocNo(wrkMast.getLocNo());//目标库位 List commands = null; //跨楼层移动任务 if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) { // //需要将前两个节点作为白名单节点传入 // //获取目标站 // LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); // if (liftSta == null) { // return false;//找不到站点 // } // // List targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo()); // if (targetNodes == null) { // return false;//未获取到节点 // } // // //设置计算节点的白名单 // ArrayList whiteList = new ArrayList<>();//设置计算节点的白名单 // for (NavigateNode node : targetNodes) { // whiteList.add(new int[]{node.getX(), node.getY()}); // } // commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread, whiteList); }else { //获取小车到目标库位命令 commands = shuttleOperaUtils.getStartToTargetCommands(shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, assignCommand, shuttleThread); } if (commands == null) { return false;//路径计算失败 } assignCommand.setCommands(commands); // if (wrkMast.getLiftNo() != null) { // LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, wrkMast.getLiftNo()); // if (liftThread == null) { // return false; // } // LiftProtocol liftProtocol = liftThread.getLiftProtocol(); // if (liftProtocol == null) { // return false; // } // if (liftProtocol.getToken().equals(shuttleProtocol.getShuttleNo())) { // liftProtocol.setToken(0);//释放提升机令牌 // } // } wrkMast.setWrkSts(WrkStsType.MOVE_SHUTTLE.sts);//小车移动到目标库位中 309.小车迁出提升机完成 ==> 310.小车移动中 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); } } return true; } // //扫描设备PakMk标记是否超时 // public synchronized void scanDevicePakMk() { // try { // //扫描小车 // for (ShuttleSlave slave : slaveProperties.getShuttle()) { // NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, slave.getId()); // NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); // if (shuttleProtocol == null) { // continue; // } // // if ((System.currentTimeMillis() - shuttleProtocol.getSendTime() > (1000 * 60 * 5)) && shuttleProtocol.getPakMk()) { // //设备超过5分钟还没复位标记 // shuttleProtocol.setPakMk(false);//复位标记 // } // } // // //扫描提升机 // for (LiftSlave slave : slaveProperties.getLift()) { // LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId()); // LiftProtocol liftProtocol = liftThread.getLiftProtocol(); // if (liftProtocol == null) { // continue; // } // // if ((System.currentTimeMillis() - liftProtocol.getSendTime() > (1000 * 60 * 5)) && liftProtocol.getPakMk()) { // //设备超过5分钟还没复位标记 // liftProtocol.setPakMk(false);//复位标记 // } // } // } catch (Exception e) { // e.printStackTrace(); // } // // } }