package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.baomidou.mybatisplus.mapper.Wrapper; 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.service.CommonService; import com.zy.common.service.erp.ErpService; import com.zy.common.utils.*; 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 com.zy.system.entity.Config; import com.zy.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.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 BasLiftErrLogService basLiftErrLogService; @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 BasLiftService basLiftService; @Autowired private ShuttleDispatchUtils shuttleDispatchUtils; @Autowired private RedisUtil redisUtil; @Autowired private WrkMastLogMapper wrkMastLogMapper; @Autowired private BasLiftOptService basLiftOptService; @Autowired private ConfigService configService; @Autowired private NavigateMapUtils navigateMapUtils; @Autowired private WrkDetlLogService wrkDetlLogService; /** * 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 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(); } } } } } /** * 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(); } } /** * 拣料、并板再入库(325、331、333、339) */ @Transactional public synchronized void stnToCrnStnPick2(){ try { for (DevpSlave devp : slaveProperties.getDevp()) { // 遍历拣料入库口 for (DevpSlave.Sta pickSta : devp.getPickInSta2()) { // 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()) { WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue()); if (wrkMast == null) { continue; } if (wrkMast.getSteNo() == null) { wrkMast.setSteNo(1); wrkMastMapper.updateById(wrkMast); staProtocol.setStaNo((short) 341);//写入目标站 staProtocol.setPakMk(false); MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); } } } } } 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(); } } // /** // * 拣料、并板、盘点再入库 // */ // @Transactional // 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.getWorkNo() > 0 && staProtocol.getWorkNo() < 9999) //// && 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; // } // String barcode = barcodeThread.getBarcode(); // // WrkMast wrkMast = null; // wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode); // if (wrkMast == null) { // 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; // } // // // 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(); // LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站 // if (liftStaProtocol == null) { // continue; // } // // // 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.setStaNo(liftStaProtocol.getStaNo());//目标站 // wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位 // 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) { // 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"); // } // // // 修改库位状态 Q.拣料/盘点/并板再入库 // LocMast locMast = locMastService.selectById(sourceLocNo); // locMast.setLocSts("Q"); // locMast.setModiTime(new Date()); // if (!locMastService.updateById(locMast)) { // throw new CoolException("修改库位状态失败"); // } // barcodeThread.setBarcode("");//清理条码 // //// 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(); //// LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(pickSta.getLiftNo(), Utils.getLev(sourceLocNo));//获取回库提升机目标站 //// if (liftStaProtocol == null) { //// continue; //// } //// //// // 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.setStaNo(liftStaProtocol.getStaNo());//目标站 //// wrkMast.setLocNo(sourceLocNo); // 目标库位 = 出库时的源库位 //// 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) { //// 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"); //// } //// //// // 修改库位状态 Q.拣料/盘点/并板再入库 //// LocMast locMast = locMastService.selectById(sourceLocNo); //// locMast.setLocSts("Q"); //// locMast.setModiTime(new Date()); //// if (!locMastService.updateById(locMast)) { //// throw new CoolException("修改库位状态失败"); //// } //// ////// // 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()); ////// } //// //// barcodeThread.setBarcode("");//清理条码 //// //// } 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() { try { for (int i = 1; i <= 10; 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 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(RedisKeyType.MAP.key + i, JSON.toJSONString(basMap)); } } } catch (Exception e) { e.printStackTrace(); } } /** * 从redis中重启任务 */ public synchronized void restartTaskFromRedis() { HashMap map = redisUtil.getRedis(); for (Object key : map.keySet()) { if (key.toString().contains(RedisKeyType.LIFT.key)) {//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(RedisKeyType.SHUTTLE.key)){//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(); NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue()); if (shuttleThread == null) { continue; } NyShuttleProtocol 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().intValue());//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 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 ===>> 四向穿梭车入库作业下发 // */ // public synchronized void shuttleInExecute() { // // 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(); // BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId()); // if (basDevp == null) { // continue;//站点信息不存在 // } // // // 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())) { // continue; // } // // WrkMast wrkMast = wrkMastMapper.selectRackInStep4(workNo, staProtocol.getSiteId()); // if (wrkMast == null) { // continue; // } // // boolean step1 = this.shuttleInExecuteStep1(wrkMast, basDevp);//小车搬入库中 // if (!step1) { // continue; // } // // } // } // // } /** * 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 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 NyShuttleOperaResult result = NyShuttleOperaUtils.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().shortValue());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//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.getStaNo() == 300) { //出300站，检测300站任务数量 List wrkMasts = wrkMastMapper.select300Wrk(); if (wrkMasts.size() >= 20) { News.info("{}任务，输送线任务过载{}", wrkMast.getWrkNo(), wrkMasts.size()); return false; } } if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 //强制预留一台小车给入库任务 int lev = Utils.getLev(wrkMast.getSourceLocNo()); //获取当前楼层有几台可用小车 int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev); if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车 int shuttleWrkInObligateCount = 1;//预留小车数量 Config config = configService.selectOne(new EntityWrapper().eq("code", "shuttleWrkInObligateCount").eq("status", 1)); if (config != null) { shuttleWrkInObligateCount = Integer.parseInt(config.getValue()); } //可用出库小车数量(给入库任务预留一台车) int useShuttleCount = shuttleCount - shuttleWrkInObligateCount; //查询楼层已分配车辆的出库任务数量 List wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev); if (wrkMasts.size() >= useShuttleCount) { News.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 NyShuttleOperaResult result = NyShuttleOperaUtils.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 NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); NyShuttleProtocol 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.getFree() == ShuttleStatusType.IDLE.id ) { //将任务档标记为完成 WrkMast wrkMast = wrkMastMapper.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 102://102.小车移动至站点 ==> 103.小车移动至站点完成 wrkMast.setWrkSts(103L); break; case 104://104.小车迁入提升机中 ==> 105.小车迁入提升机完成 wrkMast.setWrkSts(105L); shuttleProtocol.setTaskNo(0);//清理工作号 break; case 108://108.小车迁出提升机中 ==> 109.小车迁出提升机完成 wrkMast.setWrkSts(109L); break; case 110://110.小车移动中 ==> 111.小车移动完成 wrkMast.setWrkSts(111L); shuttleProtocol.setTaskNo(0); if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { //释放小车令牌 shuttleProtocol.setToken(0); } break; default: } if (wrkMastMapper.updateById(wrkMast) > 0) { 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 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); //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()); } 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 { ShuttleAssignCommand assignCommand = shuttleProtocol.getAssignCommand(); if (!assignCommand.getAuto()) { //手动模式 //工作号清零 shuttleProtocol.setTaskNo(0); //设置四向穿梭车为空闲状态 shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE); //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); //清零令牌 shuttleProtocol.setToken(0); 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; } /** * 提升机任务完成 */ public synchronized void liftFinished() { try { 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.getBusy() ) { int taskNo = liftProtocol.getTaskNo().intValue(); if (taskNo >= 20000 && taskNo <= 30000) { //提升机设备工作号，需要查询对应任务号 BasLiftOpt basLiftOpt = basLiftOptService.selectByDeviceWrk(liftProtocol.getTaskNo().toString(), liftSlave.getId()); if (basLiftOpt != null) { taskNo = basLiftOpt.getWrkNo(); } } //将任务档标记为完成 WrkMast wrkMast = wrkMastMapper.selectByWorkNo324104(taskNo); 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()); } } if (liftProtocol.getToken().equals(wrkMast.getWrkNo())) { //释放提升机令牌 liftProtocol.setToken(0); } break; case 106://106.提升机搬运中 ==> 107.提升机搬运完成 wrkMast.setWrkSts(107L); 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()); } } else { LiftAssignCommand assignCommand = liftProtocol.getAssignCommand(); if (assignCommand != null) { if (!assignCommand.getAuto()) { //手动操作 //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("提升机已确认手动操作。提升机号={}", liftProtocol.getLiftNo()); } } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 库位移转 */ public synchronized void locToLocExecute() { try { //获取出入库工作档 // List wrkMasts = wrkMastMapper.selectInOutWrkMast(); // if (wrkMasts.size() > 0) { // //有出入库任务，必须等待任务执行完毕再执行库位移转 // return; // } //查询库位移转工作档 List wrkMasts1 = wrkMastMapper.selectLocToLocWrkMast(); for (WrkMast wrkMast : wrkMasts1) { if (Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(wrkMast.getLocNo())) { boolean step1 = this.locToLocExecuteStep1(wrkMast);//同楼层库位移转 if (!step1) { continue; } } else { //跨楼层库位移转 boolean step2 = this.locToLocExecuteStep2(wrkMast);//调度车辆取货并运送到出库口 if (!step2) { continue; } boolean step3 = this.locToLocExecuteStep3(wrkMast);//提升机搬运货物 if (!step3) { continue; } boolean step4 = this.locToLocExecuteStep4(wrkMast);//调度车辆取货并运送到目标库位 if (!step4) { continue; } } } } catch (Exception e) { e.printStackTrace(); } } /** * 同楼层库位移转 * 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 locToLocExecuteStep1(WrkMast wrkMast) { if (wrkMast.getWrkSts() == 21) {//21.生成出库任务 if (wrkMast.getShuttleNo() == null) { shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货 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()) { return false; } //判断小车是否到达源库位 if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { //小车不在源库位位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货 return false; } //小车已抵达源库位，进行搬运货物 NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getLocNo()); if (result == null) {//路径计算失败 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_IN.id.shortValue());//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);//21.生成出库任务 => 5.小车搬运中 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } return false; } return true; } /** * 跨楼层库位移转-调度车辆取货并运送到出库口 * 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 locToLocExecuteStep2(WrkMast wrkMast) { if (wrkMast.getWrkSts() == 21) {//21.生成出库任务 if (wrkMast.getShuttleNo() == null) { shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo());//调度小车到源库位进行取货 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()) { return false; } //判断小车是否到达源库位 if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { //小车不在源库位位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到源库位进行取货 return false; } //获取穿梭车最近且空闲的提升机输送站点 LiftStaProtocol liftSta = shuttleDispatchUtils.getRecentLiftSta(shuttleThread.getSlave().getId(), Utils.getLev(wrkMast.getLocNo())); if (liftSta == null) { return false;//没有可用且空闲的输送站点 } //源站 Integer sourceStaNo = liftSta.getStaNo(); //提升机号*100+目标楼层=目标站点 Integer staNo = liftSta.getLiftNo() * 100 + Utils.getLev(wrkMast.getLocNo());//目标站 //小车已抵达源库位，将货物搬运到输送站点 NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), liftSta.getLocNo()); if (result == null) {//路径计算失败 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.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式 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.setSourceStaNo(sourceStaNo);//源站 wrkMast.setStaNo(staNo);//目标站 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } return false; } return true; } /** * 跨楼层库位移转-提升机搬运货物 * 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 locToLocExecuteStep3(WrkMast wrkMast) { Date now = new Date(); if (wrkMast.getWrkSts() == 23) {//23.小车搬运完成 //源站 Integer sourceStaNo = wrkMast.getSourceStaNo(); //目标站 Integer staNo = wrkMast.getStaNo(); if (sourceStaNo == null || staNo == null) { return false;//源站或目标站为空 } int liftNo = staNo / 100;//获取提升机号 //获取提升机线程 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (liftProtocol == null) { return false; } //获取源站对应的输送站点 LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo())); if (liftStaProtocol == null) { return false;//找不到站点 } if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) { return false;//站点必须自动、空闲、有托盘 } NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } 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) { return false; } } if (!liftProtocol.isIdle()) { return false; } //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()) { return false; } //获取提升机命令 NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_TRAY.id, sourceStaNo, staNo, 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.setShuttleNo(null);//清空小车号，等货物搬运完成后，到目标楼层重新搜索小车 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); } return false; } return true; } /** * 跨楼层库位移转-调度车辆取货并运送到目标库位 * 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 locToLocExecuteStep4(WrkMast wrkMast) { if (wrkMast.getWrkSts() == 4) {//4.提升机搬运完成 //获取目标站对应的输送站点 LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(wrkMast.getLiftNo(), Utils.getLev(wrkMast.getLocNo())); if (liftStaProtocol == null) { return false;//找不到站点 } if (!(liftStaProtocol.getModel() && !liftStaProtocol.getBusy() && liftStaProtocol.getHasTray())) { return false;//站点必须自动、空闲、有托盘 } if (wrkMast.getShuttleNo() == null) { shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo());//调度小车到目标输送站点进行取货 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()) { return false; } //判断小车是否到达目标输送站点 if (!shuttleProtocol.getCurrentLocNo().equals(liftStaProtocol.getLocNo())) { //小车不在目标输送站点 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getShuttleNo());//调度小车到目标输送站点进行取货 return false; } //小车已抵达目标输送站点，将货物搬运到目标库位 NyShuttleOperaResult result = NyShuttleOperaUtils.getShuttleTransportCommands(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), liftStaProtocol.getLocNo(), wrkMast.getLocNo()); if (result == null) {//路径计算失败 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.SHUTTLE_LOC_TO_LOC.id.shortValue());//库位移转模式 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.setLiftNo(null);//释放提升机 wrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } return false; } return true; } /** * 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(); } } /** * AGV补货 => 生成入库通知档 */ public void robotGenerateAgvTask() { try { //检测300站是否自动、有物、工作号 for (DevpSlave devp : slaveProperties.getDevp()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(300); if (staProtocol == null) { continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) { //查询是否有工作档 WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue()); if (wrkMast == null) { continue; } if (wrkMast.getWrkSts() != 25) {//25.提升机搬运完成 continue; } if (wrkMast.getMk() != null && wrkMast.getMk().equals("Y")) {//标记为Y表示需要用到机械臂拣料 Short targetSta = null;//目标站 //判断机械臂拣料站是否空闲 StaProtocol staProtocol303 = devpThread.getStation().get(303); StaProtocol staProtocol317 = devpThread.getStation().get(317); if (staProtocol303.isAutoing() && !staProtocol303.isLoading()) { //自动、无物 targetSta = (short) 303; } else if (staProtocol317.isAutoing() && !staProtocol317.isLoading()) { //自动、无物 targetSta = (short) 317; } else { continue;//没有空闲站点 } if (wrkMast.getStaNo() != 303 && wrkMast.getStaNo() != 317) { //向AGV发起组托请求 try { HashMap param = new HashMap<>(); param.put("wrkNo", wrkMast.getWrkNo()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/replenishment") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) {//AGV组托成功 //覆盖工作档目标站 wrkMast.setStaNo(targetSta.intValue()); wrkMast.setShuttleNo(null);//释放小车 wrkMast.setLiftNo(null);//释放提升机 if (wrkMastMapper.updateById(wrkMast) > 0) { //向300站写入目标站 staProtocol = staProtocol.clone(); staProtocol.setStaNo(targetSta);//移动到目标站 boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); try { Thread.sleep(500); } catch (Exception e) { e.printStackTrace(); } continue; } } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } // //覆盖工作档目标站 // wrkMast.setStaNo(targetSta.intValue()); // wrkMast.setShuttleNo(null);//释放小车 // wrkMast.setLiftNo(null);//释放提升机 // if (wrkMastMapper.updateById(wrkMast) > 0) { // //向300站写入目标站 // staProtocol = staProtocol.clone(); // staProtocol.setStaNo(targetSta);//移动到目标站 // boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); // try { // Thread.sleep(500); // } catch (Exception e) { // e.printStackTrace(); // } // continue; // } } } } } } catch (Exception e) { e.printStackTrace(); } } /** * AGV补货 => 机械臂拣料 */ public void agvRestockByRobot() { try { //检测300站是否自动、有物、工作号 for (DevpSlave devp : slaveProperties.getDevp()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol303 = devpThread.getStation().get(303); StaProtocol staProtocol317 = devpThread.getStation().get(317); if (staProtocol303 == null || staProtocol317 == null) { continue; } if (staProtocol303.isAutoing() && staProtocol303.isLoading() && staProtocol303.getWorkNo() != 0) { //调度机械臂 //查询是否有工作档 WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol303.getWorkNo().intValue()); if (wrkMast == null) { continue; } List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); if (wrkDetls.isEmpty()) { continue; } if (wrkMast.getInvWh() == null) { boolean result = RobotUtils.sendTask(staProtocol303.getWorkNo().toString(), wrkDetls.size(), "303"); if (result) { wrkMast.setInvWh("Y");//标记已经下发机械臂任务 wrkMastMapper.updateById(wrkMast); } } } if (staProtocol317.isAutoing() && staProtocol317.isLoading() && staProtocol317.getWorkNo() != 0) { //调度机械臂 //查询是否有工作档 WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol317.getWorkNo().intValue()); if (wrkMast == null) { continue; } List wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo()); if (wrkDetls.isEmpty()) { continue; } if (wrkMast.getInvWh() == null) { boolean result = RobotUtils.sendTask(staProtocol317.getWorkNo().toString(), wrkDetls.size(), "317"); if (result) { wrkMast.setInvWh("Y");//标记已经下发机械臂任务 wrkMastMapper.updateById(wrkMast); } } } } } catch (Exception e) { e.printStackTrace(); } } /** * AGV补货(通知AGV取货) */ public void agvRestockInto() { try { //检测309和312站是否自动、有物 for (DevpSlave devp : slaveProperties.getDevp()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol309 = devpThread.getStation().get(309); StaProtocol staProtocol312 = devpThread.getStation().get(312); if (staProtocol309 == null || staProtocol312 == null) { continue; } if (staProtocol309.isAutoing() && staProtocol309.isLoading() && staProtocol309.isInEnable()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 9);//308站条码器 if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode)) { //通知AGV取货 agvRestockCall("301-1", barcode); log.info("通知AGV取货，条码号：" + barcode); } } if (staProtocol312.isAutoing() && staProtocol312.isLoading() && staProtocol312.isInEnable()) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, 10);//311站条码器 if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode)) { //通知AGV取货 agvRestockCall("302-1", barcode); log.info("通知AGV取货，条码号：" + barcode); } } } } catch (Exception e) { e.printStackTrace(); } } //通知AGV取货 private boolean agvRestockCall(String staNo, String barcode) { try { HashMap param = new HashMap<>(); param.put("devNo", staNo); param.put("containerCode", barcode); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/start") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); News.info("悬挂线，WMS返回结果：" + jsonObject); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) {//呼叫AGV return true; } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } return false; } //通知WMS当前拣料站点信息 private boolean agvCureentCall(String staNo, String barcode) { try { HashMap param = new HashMap<>(); param.put("devNo", staNo); param.put("containerCode", barcode); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/current/containerCode") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); News.info("悬挂线，WMS返回结果：" + jsonObject); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) {//呼叫AGV return true; } } catch (Exception e) { e.printStackTrace(); TransactionAspectSupport.currentTransactionStatus().setRollbackOnly(); } return false; } /** * AGV补货(悬挂线通知AGV取货) */ public void agvRestockIntoByHangingWire() { try { //检测350和351扫码器 int[] barcodeStaNo = {11, 12,14,16,18,20};//11 => 350站扫码器,12 => 351站扫码器 for (int staNo : barcodeStaNo) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode)) { if (barcode.contains("NoRead")) { continue; } String agvStaNo = null; if (staNo == 11) { agvStaNo = "303-1"; } else if(staNo == 12){ agvStaNo = "304-1"; } else if(staNo == 14){ agvStaNo = "311-1"; } else if(staNo == 16){ agvStaNo = "313-1"; } else if(staNo == 18){ agvStaNo = "315-1"; } else if(staNo == 20){ agvStaNo = "317-1"; } //通知AGV取货 boolean result = agvRestockCall(agvStaNo, barcode); if (result) { barcodeThread.setBarcode(""); } log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode); } } } catch (Exception e) { e.printStackTrace(); } } /** * AGV拣料站点信息 */ public void agvCurrentContainerCodeInfoWire() { try { //检测350和351扫码器 int[] barcodeStaNo = {13, 15,17,19};//11 => 350站扫码器,12 => 351站扫码器 for (int staNo : barcodeStaNo) { // 获取条码扫描仪信息 BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, staNo); if (barcodeThread == null) { continue; } String barcode = barcodeThread.getBarcode(); if (!Cools.isEmpty(barcode)) { if (barcode.contains("NoRead")) { continue; } String agvStaNo = null; if (staNo == 13) { agvStaNo = "CS-310"; } else if(staNo == 15){ agvStaNo = "CS-311"; } else if(staNo == 17){ agvStaNo = "CS-312"; } else if(staNo == 19){ agvStaNo = "CS-313"; } //通知WMS当前容器码 boolean result = agvCureentCall(agvStaNo, barcode); if (result) { barcodeThread.setBarcode(""); } log.info(barcodeThread.getSlave().getId() + "号扫码器，通知AGV取货，条码号：" + barcode); } } } catch (Exception e) { e.printStackTrace(); } } // 300站拣料 public void pick300() { try { //检测300站是否自动、有物、工作号 for (DevpSlave devp : slaveProperties.getDevp()) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId()); StaProtocol staProtocol = devpThread.getStation().get(300); if (staProtocol == null) { continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() != 0) { //查询是否有工作档 WrkMast wrkMast = wrkMastMapper.selectByWorkNo(staProtocol.getWorkNo().intValue()); if (wrkMast == null) { continue; } if (wrkMast.getWrkSts() != 29) {//29.出库完成 continue; } if (wrkMast.getMk() == null) { Integer sourceStaNo = wrkMast.getSourceStaNo();//源站 Integer staNo = wrkMast.getStaNo();//目标站 //覆盖工作档目标站 wrkMast.setStaNo(sourceStaNo); wrkMast.setSourceStaNo(staNo); wrkMast.setMk("N"); if (wrkMastMapper.updateById(wrkMast) > 0) { //向300站写入目标站 staProtocol = staProtocol.clone(); staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//移动到目标站 boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); try { Thread.sleep(500); } catch (Exception e) { e.printStackTrace(); } } } } } } 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)); wrkDetls.forEach(wrkDetl -> { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getStock(), wrkDetl.getSpecs(), wrkDetl.getSuppCode())); }); // List locDetls = locDetlService.selectList(new EntityWrapper().eq("loc_no", sourceLocNo)); // if (ioType == 101) { // List wrkDetls = wrkDetlService.selectList(new EntityWrapper().eq("wrk_no", wrkNo)); // wrkDetls.forEach(wrkDetl -> { // ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), 0D, wrkDetl.getSpecs(), wrkDetl.getSuppCode())); // }); //// locDetls.forEach(locDetl -> { //// Wrapper wrapper = new EntityWrapper().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo); //// Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch()); //// Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode()); //// Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime()); //// Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码 //// List detl = wrkDetlService.selectList(wrapper); //// if (Cools.isEmpty(detl)) { //// String suppCode = ""; //// if (locDetl.getSuppCode() != null) { //// suppCode = locDetl.getSuppCode(); //// } //// ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode)); //// } else { //// //出库数量累计 //// Double conut = 0.0; //// for (WrkDetl wrkDetl : detl) { //// conut = conut + wrkDetl.getAnfme(); //// } //// //// for (WrkDetl wrkDetl : detl) { //// String suppCode = ""; //// if (wrkDetl.getSuppCode() != null) { //// suppCode = wrkDetl.getSuppCode(); //// } //// ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (locDetl.getAnfme() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo())); //// } //// } //// //// }); // } else { // locDetls.forEach(locDetl -> { // Wrapper wrapper = new EntityWrapper().eq("matnr", locDetl.getMatnr()).eq("wrk_no", wrkNo); // Utils.wapperSetCondition(wrapper, "batch", locDetl.getBatch()); // Utils.wapperSetCondition(wrapper, "three_code", locDetl.getThreeCode()); // Utils.wapperSetCondition(wrapper, "dead_time", locDetl.getDeadTime()); // Utils.wapperSetCondition(wrapper, "supp_code", locDetl.getSuppCode());//料箱码 // List detl = wrkDetlService.selectList(wrapper); // if (Cools.isEmpty(detl)) { // String suppCode = ""; // if (locDetl.getSuppCode() != null) { // suppCode = locDetl.getSuppCode(); // } // ledCommand.getMatDtos().add(new MatDto(locDetl.getMatnr(), locDetl.getMaktx(), 0D, locDetl.getAnfme(), locDetl.getSpecs(), suppCode)); // } else { // //出库数量累计 // Double conut = 0.0; // for (WrkDetl wrkDetl : detl) { // conut = conut + wrkDetl.getAnfme(); // } // // for (WrkDetl wrkDetl : detl) { // String suppCode = ""; // if (wrkDetl.getSuppCode() != null) { // suppCode = wrkDetl.getSuppCode(); // } // ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), (wrkDetl.getStock() - conut), wrkDetl.getSpecs(), suppCode, wrkDetl.getOrderNo())); // } // } // // }); // } // // // if (ioType == 107) { // locDetls = new ArrayList<>(); // ledCommand.setMatDtos(new ArrayList<>()); // } // // if (locDetls.isEmpty() && ioType != 101) { // List wrkDetls = wrkDetlService.selectList(new EntityWrapper().eq("wrk_no", wrkNo)); // wrkDetls.forEach(wrkDetl -> { // if (wrkDetl.getAnfme() > 0D) { // ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(), wrkDetl.getAnfme(), wrkDetl.getSpecs(), wrkDetl.getSuppCode())); // } // }); // // if (wrkDetls.isEmpty()) {//从历史档查询 // List wrkDetlLogs = wrkDetlLogService.selectLatestByWorkNo(wrkNo, barcode); // for (WrkDetlLog wrkDetlLog : wrkDetlLogs) { // if (wrkDetlLog.getAnfme() > 0D) { // ledCommand.getMatDtos().add(new MatDto(wrkDetlLog.getMatnr(), wrkDetlLog.getMaktx(), wrkDetlLog.getAnfme(), wrkDetlLog.getAnfme(), 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.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 { // News.error("{}号LED命令下发成功！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort()); // ledThread.setLedMk(false); // } // } // } 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 NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); NyShuttleProtocol 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; } //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 (wrkChargeService.selectWorkingOfCharge(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 (wrkChargeService.selectWorkingOfCharge(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; wrkCharge = new WrkCharge(); wrkCharge.setShuttleNo(shuttle.getId()); wrkCharge.setCharge(shuttleCharge.id); wrkCharge.setWrkNo(commonService.getChargeWorkNo(4)); wrkCharge.setWrkSts(51L); // 51.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; } 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 { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { WrkCharge wrkCharge = wrkChargeService.selectWorking(shuttle.getId()); if (wrkCharge == null) { continue; } NyShuttleThread shuttleThread = (NyShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo()); if (shuttleThread == null) { continue; } NyShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol(); if (shuttleProtocol == null) { continue; } if (wrkCharge.getWrkSts() == 51) { if (!shuttleProtocol.isIdleNoCharge()) { continue; } if (shuttleProtocol.getSuspendState() == 1) { continue;//管制中 } if (!shuttleProtocol.getCurrentLocNo().equals(wrkCharge.getLocNo())) { //小车不在充电桩位置 shuttleDispatchUtils.dispatchShuttle(wrkCharge.getWrkNo(), wrkCharge.getLocNo(), shuttle.getId());//调度小车去充电桩 continue; } //小车已经在充电桩位置，下发充电命令 NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), true); ArrayList commands = new ArrayList<>(); commands.add(chargeCommand); //创建分配命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) assignCommand.setCommands(commands);//运行命令 wrkCharge.setWrkSts(52L);//51.生成充电任务 => 52.小车去充电中 wrkCharge.setModiTime(new Date()); if (wrkChargeMapper.updateById(wrkCharge) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } } else if (wrkCharge.getWrkSts() == 52) { //检测小车是否满电 //获取满电阈值 int maxPower = 95; EntityWrapper wrapper = new EntityWrapper<>(); wrapper.eq("code", "chargeMaxValue"); Config config = configService.selectOne(wrapper); if (config != null) { maxPower = Integer.parseInt(config.getValue()); } if (shuttleProtocol.getPowerPercent() < maxPower) { continue; } //***************判断是否满充校准*************** EntityWrapper wrapper1 = new EntityWrapper<>(); wrapper.eq("code", "shuttleMaxPowerVerify"); Config config1 = configService.selectOne(wrapper1); if (config1 != null) { if (config1.getValue().equals("true")) { if (shuttleProtocol.getVoltage() < 5630) { continue;//电压不够继续充电 } } } //***************判断是否满充校准*************** //小车满电，结束充电任务 NyShuttleHttpCommand chargeCommand = NyHttpUtils.getChargeCommand(shuttle.getId(), wrkCharge.getWrkNo(), false); ArrayList commands = new ArrayList<>(); commands.add(chargeCommand); //创建分配命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id.shortValue());//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) assignCommand.setCommands(commands);//运行命令 //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); try { Thread.sleep(3000); } catch (Exception e) { e.printStackTrace(); } wrkCharge.setWrkSts(53L);//52.小车去充电中 => 53.小车充电完成 wrkCharge.setModiTime(new Date()); if (wrkChargeMapper.updateById(wrkCharge) > 0) { shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE.id); shuttleProtocol.setTaskNo(0); shuttleProtocol.setPakMk(false); } } else if (wrkCharge.getWrkSts() == 53) { if (shuttleProtocol.getChargState() == 0) {//小车处于未充电状态 boolean result = Utils.searchEmptyGroupToMoveShuttle(Utils.getLev(wrkCharge.getLocNo()), shuttleThread.getSlave().getId(), shuttleThread); if (!result) { continue; } wrkCharge.setWrkSts(60L);//53.小车充电完成 => 60.充电任务完成 wrkCharge.setModiTime(new Date()); if (wrkChargeMapper.updateById(wrkCharge) > 0) { } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 执行小车移库任务 */ public synchronized void shuttleMoveExecute() { try { //查询小车移库任务 List wrkMasts = wrkMastMapper.selectShuttleMoveWrk(); for (WrkMast wrkMast : wrkMasts) { boolean stepMoveSta = this.shuttleMoveExecuteStepMoveSta(wrkMast);//小车移动到站点 if (!stepMoveSta) { continue; } boolean stepIntoLift = this.shuttleMoveExecuteStepIntoLift(wrkMast);//小车迁入提升机 if (!stepIntoLift) { continue; } boolean stepLiftMove = this.shuttleMoveExecuteStepLiftMove(wrkMast);//提升机搬运中 if (!stepLiftMove) { continue; } boolean stepOutLift = this.shuttleMoveExecuteStepOutLift(wrkMast);//小车迁出提升机 if (!stepOutLift) { 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 101.生成小车移库任务 ==> 102.小车移动至站点中 if (wrkMast.getWrkSts() == 101) { //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; } //小车处于空闲状态 if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，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", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//小车已被独占，禁止再派发任务 } if (Utils.getLev(wrkMast.getLocNo()) == shuttleProtocol.getPoint().getZ()) { //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(109L);// 109.小车迁出提升机完成 ==> 110.小车移动中 wrkMast.setModiTime(now); shuttleProtocol.setToken(wrkMast.getWrkNo());//独占该小车令牌 if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 return true;//直接进入109.小车迁出提升机完成 ==> 110.小车移动中 } return false; } //获取源输送站 LiftStaProtocol liftSta = NyLiftUtils.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 = wrkMastMapper.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 } //*************尝试锁定目标站路径*************** List targetNodes = NyLiftUtils.getLiftStaNodes(wrkMast.getStaNo()); if (targetNodes == null) { return false;//未获取到节点 } boolean checkPathIsAvailable = NavigateUtils.checkPathIsAvailable(targetNodes, shuttleProtocol.getShuttleNo().intValue(), Utils.getLev(wrkMast.getLocNo()), null); 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().intValue(), 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*************** //获取小车到输送站点行走命令 NyShuttleOperaResult result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), liftSta.getLocNo(), NavigationMapType.NORMAL.id); if (result == null) { //路径获取失败，需要解锁上面锁定的路径 //尝试解锁目标站路径 boolean result3 = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), shuttleProtocol.getShuttleNo().intValue(), targetNodes, false);//所使用的路径进行解锁 if (!result3) { News.info("{}任务，{}小车，路径解锁失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径解锁失败 } News.info("{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false;//路径解锁失败 } List commands = result.getCommands(); ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setCommands(commands); assignCommand.setNodes(result.getNodes()); wrkMast.setWrkSts(102L);//小车移动到提升机中 101.生成小车移库任务 ==> 102.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 (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); return false; } return false; } return true; } /** * 小车迁移-小车迁入提升机 * 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 shuttleMoveExecuteStepIntoLift(WrkMast wrkMast) { //--------------------------------------小车迁入提升机-----------------------------------------// Date now = new Date(); //小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中 if (wrkMast.getWrkSts() == 103) { //获取源站 LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); if (sourceLiftSta == null) { return false;//找不到站点 } //获取目标输送站 LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftSta == null) { return false;//找不到站点 } //获取提升机数据 BasLift basLift = basLiftService.selectById(liftSta.getLiftNo()); if (basLift == null) { return false;//没有提升机数据 } if (basLift.getPoint() == null) { News.info("{}任务，{}号提升机，没有提升机点位坐标，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo()); return false;//没有设置提升机点位坐标 } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(basLift.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(), basLift.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } } LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSta.getLiftNo()); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getLiftProtocol(); if (liftProtocol == null) { return false; } if (!liftProtocol.isIdle(wrkMast.getWrkNo().shortValue())) { News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), basLift.getLiftNo()); 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; } //小车处于空闲状态 if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //小车令牌是否被任务独占 if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //判断提升机楼层 if (liftProtocol.getLev().intValue() != shuttleProtocol.getPoint().getZ()) { //提升机不在小车楼层 //调度提升机 if (liftProtocol.getToken() != 0) { News.info("{}任务，{}号提升机，提升机令牌被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//提升机令牌被占用 } //获取提升机命令，调度提升机到源站位置 NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), sourceLiftSta.getStaNo(), wrkMast.getWrkNo()); 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);//更换随机任务号 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_CAR.id.shortValue()); assignCommand.setAuto(false); wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用 wrkMast.setModiTime(now); liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车 if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); } return false;//等待提升机到小车楼层 } if (liftProtocol.getToken() == 0) {//提升机令牌未被占用 //独占提升机 liftProtocol.setToken(wrkMast.getShuttleNo()); return false;//等待下一次执行 } //判断提升机令牌是否为当前小车 if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) { News.info("{}任务，{}号提升机，提升机令牌被独占，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//提升机已被独占，禁止再派发任务 } //判断小车是否为当前任务独占 if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //站点节点 NavigateNode staNode = NavigatePositionConvert.locNoToNode(sourceLiftSta.getLocNo()); //提升机节点 NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY()); liftNode.setZ(staNode.getZ()); //获取小车进提升机行走命令 NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(wrkMast.getShuttleNo(), wrkMast.getWrkNo(), staNode, liftNode, true); List commands = new ArrayList<>(); commands.add(moveCommand); List nodes = new ArrayList<>();//行走节点路径 nodes.add(staNode); nodes.add(liftNode); ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setCommands(commands); assignCommand.setNodes(nodes); wrkMast.setWrkSts(104L);//小车移动到提升机中 103.小车移动至站点完成 ==> 104.小车迁入提升机中 wrkMast.setModiTime(now); wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用 liftProtocol.setToken(wrkMast.getShuttleNo());//提升机令牌绑定当前小车 if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, 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 105.小车迁入提升机完成 ==> 106.提升机搬运中 if (wrkMast.getWrkSts() == 105) { 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.isIdle(wrkMast.getWrkNo().shortValue())) { News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId()); 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(), liftProtocol.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } } //判断提升机令牌是否为当前小车 if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) { News.info("{}任务，{}号提升机，提升机令牌和当前小车不一致，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//提升机令牌和当前小车不一致，禁止派发 } //判断提升机内是否有小车 if (!liftProtocol.getHasCar()) { News.info("{}任务，{}号提升机，提升机内无小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//提升机内无小车 } //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; } //小车处于空闲状态 if (!shuttleProtocol.isIdleNoCharge()) { News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } //判断小车是否为当前任务独占 if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，小车当前任务未被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //获取源站 LiftStaProtocol sourceLiftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getSourceStaNo()); //获取目标站 LiftStaProtocol liftSta = NyLiftUtils.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 NyLiftCommand liftCommand = NyLiftUtils.getLiftCommand(liftProtocol.getLiftNo().intValue(), NyLiftTaskModelType.MOVE_CAR.id, sourceLiftSta.getStaNo(), liftSta.getStaNo(), 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_CAR.id.shortValue()); wrkMast.setWrkSts(106L);//提升机搬运中 105.小车迁入提升机完成 ==> 106.提升机搬运中 wrkMast.setLiftNo(liftThread.getSlave().getId());//锁定提升机防止被占用 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand)); } } return true; } /** * 小车迁移-小车迁出提升机 * 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 shuttleMoveExecuteStepOutLift(WrkMast wrkMast) { //--------------------------------------小车迁出提升机-----------------------------------------// Date now = new Date(); //小车移动到提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中 if (wrkMast.getWrkSts() == 107) { 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.isIdle(wrkMast.getWrkNo().shortValue())) { News.info("{}任务，{}号提升机，提升机忙碌中，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastMapper.selectLiftWrkMast(liftThread.getSlave().getId()); 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(), liftProtocol.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } } //判断提升机令牌是否为当前小车 if (!liftProtocol.getToken().equals(wrkMast.getShuttleNo())) { News.info("{}任务，{}号提升机，提升机令牌和当前小车不一致，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//提升机令牌和当前小车不一致，禁止派发 } //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; } //小车处于空闲状态 if (!shuttleProtocol.isIdleNoCharge()) { News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //判断小车是否为当前任务独占 if (!shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //获取目标站 LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftSta == null) { return false;//找不到站点 } //获取提升机数据 BasLift basLift = basLiftService.selectById(liftProtocol.getLiftNo().intValue()); if (basLift == null) { return false;//没有提升机数据 } if (basLift.getPoint() == null) { News.info("{}任务，{}号提升机，缺少提升机点位坐标，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//没有设置提升机点位坐标 } NavigateNode liftNode = new NavigateNode(basLift.getPoint$().getX(), basLift.getPoint$().getY()); liftNode.setZ(liftSta.getLev()); List commands = new ArrayList<>(); //获取小车更新楼层命令 NyShuttleHttpCommand updateZCommand = NyHttpUtils.getUpdateZCommand(shuttleThread.getSlave().getId(), liftProtocol.getLev().intValue(), wrkMast.getWrkNo()); commands.add(updateZCommand); //获取小车出提升机行走命令 NyShuttleHttpCommand moveCommand = NyHttpUtils.getInOutLiftCommand(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), liftNode, NavigatePositionConvert.locNoToNode(liftSta.getLocNo()), false); commands.add(moveCommand);//添加小车迁出提升机命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setCommands(commands); assignCommand.setNodes(null); wrkMast.setWrkSts(108L);//小车迁出提升机中 107.提升机搬运完成 ==> 108.小车迁出提升机中 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); return false; } return false; } 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 109.小车迁出提升机完成 ==> 110.小车移动中 if (wrkMast.getWrkSts() == 109) { //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; } //小车处于空闲状态 if (!shuttleProtocol.isIdleNoCharge(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，小车忙碌中，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //判断小车令牌是否为当前任务 if (shuttleProtocol.getToken() != 0 && !shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { News.info("{}任务，{}小车，小车令牌被独占，禁止派发", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } // //跨楼层移动任务 // if (Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(wrkMast.getLocNo())) { // //获取目标站 // LiftStaProtocol liftSta = NyLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); // if (liftSta == null) { // return false;//找不到站点 // } // // //*************尝试解锁目标站路径*************** // List targetNodes = NyLiftUtils.getLiftStaNodes(liftSta.getStaNo()); // if (targetNodes == null) { // return false;//未获取到节点 // } // //尝试解锁目标站路径 // boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(wrkMast.getLocNo()), targetNodes, false);//所使用的路径进行解锁 // if (!result) { // return false;//路径解锁失败 // } // //*************尝试解锁目标站路径*************** // } //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())) { if (shuttleProtocol.getToken().equals(wrkMast.getWrkNo())) { //释放小车令牌 shuttleProtocol.setToken(0); } wrkMast.setWrkSts(111L);//111.小车移动完成 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setModiTime(now); wrkMastMapper.updateById(wrkMast); shuttleProtocol.setShuttleNo((short) 0);//释放小车 shuttleProtocol.setToken(0);//释放小车 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()); } } return false; } NyShuttleOperaResult result = 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()}); } result = NyShuttleOperaUtils.getStartToTargetCommandsByWhites(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id, whiteList); }else { //获取小车到目标库位命令 result = NyShuttleOperaUtils.getStartToTargetCommands(shuttleThread.getSlave().getId(), wrkMast.getWrkNo(), shuttleProtocol.getCurrentLocNo(), wrkMast.getLocNo(), NavigationMapType.NORMAL.id); } if (result == null) { return false;//路径计算失败 } List commands = result.getCommands(); ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.SHUTTLE_MOVE_LOC_NO.id.shortValue());//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号 assignCommand.setAuto(true);//自动模式 assignCommand.setCommands(commands); assignCommand.setNodes(result.getNodes()); assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位 assignCommand.setLocNo(wrkMast.getLocNo());//目标库位 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().intValue())) { liftProtocol.setToken(0);//释放提升机令牌 } } wrkMast.setWrkSts(110L);//小车移动到目标库位中 109.小车迁出提升机完成 ==> 110.小车移动中 wrkMast.setLiftNo(null);//释放提升机 wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) > 0) { //下发任务 MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand)); } } return true; } //扫描设备PakMk标记是否超时 public synchronized void scanDevicePakMk() { //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 } } } }