package com.zy.asrs.service.impl; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.mapper.EntityWrapper; import com.zy.asrs.domain.enums.NotifyMsgType; import com.zy.asrs.entity.*; import com.zy.asrs.service.*; import com.zy.asrs.utils.NotifyUtils; import com.zy.asrs.utils.Utils; import com.zy.common.model.MapNode; import com.zy.common.model.SearchLocParam; import com.zy.common.model.enums.NavigationMapType; import com.zy.common.service.CommonService; import com.zy.common.utils.*; import com.zy.core.News; import com.zy.core.action.LiftAction; import com.zy.core.action.ShuttleAction; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.dispatcher.ShuttleDispatchUtils; import com.zy.core.enums.*; import com.zy.core.model.DevpSlave; import com.zy.core.model.LiftSlave; import com.zy.core.model.ShuttleSlave; import com.zy.core.model.Task; import com.zy.core.model.command.LiftAssignCommand; import com.zy.core.model.command.LiftCommand; import com.zy.core.model.command.ShuttleAssignCommand; import com.zy.core.model.command.ShuttleCommand; import com.zy.core.model.protocol.ForkLiftStaProtocol; import com.zy.core.model.protocol.LiftProtocol; import com.zy.core.model.protocol.ShuttleProtocol; import com.zy.core.model.protocol.StaProtocol; import com.zy.core.properties.SlaveProperties; import com.zy.core.thread.DevpThread; import com.zy.core.thread.LiftThread; import com.zy.core.thread.ShuttleThread; import com.zy.core.thread.impl.FyDevpThread; import com.zy.system.service.ConfigService; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import java.util.*; /** * 立体仓库WCS系统主流程业务 * Created by vincent on 2020/8/6 */ @Slf4j @Service("mainService") public class MainServiceImpl { @Autowired private SlaveProperties slaveProperties; @Autowired private WrkMastService wrkMastService; @Autowired private BasShuttleErrLogService basShuttleErrLogService; @Autowired private BasLiftErrLogService basLiftErrLogService; @Autowired private BasShuttleErrService basShuttleErrService; @Autowired private BasLiftErrService basLiftErrService; @Autowired private CommonService commonService; @Autowired private BasMapService basMapService; @Autowired private ShuttleDispatchUtils shuttleDispatchUtils; @Autowired private RedisUtil redisUtil; @Autowired private ConfigService configService; @Autowired private NavigateMapData navigateMapData; @Autowired private ShuttleOperaUtils shuttleOperaUtils; @Autowired private ShuttleAction shuttleAction; @Autowired private NotifyUtils notifyUtils; @Autowired private BasShuttleChargeService basShuttleChargeService; @Autowired private TransportLiftInServiceImpl transportLiftInService; @Autowired private TransportLiftOutServiceImpl transportLiftOutService; @Autowired private ShuttleMoveServiceImpl shuttleMoveService; @Autowired private NoLiftInServiceImpl noLiftInService; @Autowired private NoLiftOutServiceImpl noLiftOutService; @Autowired private LiftAction liftAction; @Autowired private BasWrkStatusService wrkStatusService; public boolean isInEnable(DevpThread devpThread, Integer staNo) { if (staNo == null) { return false; } // 获取入库站信息 switch (staNo) { case 1011: case 1012: return devpThread.getStation().get(1012).isInEnable(); case 1021: case 1022: case 1023: return devpThread.getStation().get(1022).isInEnable(); case 1031: case 1032: return devpThread.getStation().get(1032).isInEnable(); case 1024: case 1025: case 1026: return devpThread.getStation().get(1025).isInEnable(); case 1013: case 1014: case 1015: return devpThread.getStation().get(1014).isInEnable(); } return false; } public boolean isOutEnable(DevpThread devpThread, Integer staNo) { if (staNo == null) { return false; } // 获取入库站信息 switch (staNo) { case 1011: case 1012: return devpThread.getStation().get(1012).isOutEnable(); case 1021: case 1022: case 1023: return devpThread.getStation().get(1022).isOutEnable(); case 1024: case 1025: case 1026: return devpThread.getStation().get(1025).isOutEnable(); case 1013: case 1014: case 1015: return devpThread.getStation().get(1014).isOutEnable(); case 1031: case 1032: return devpThread.getStation().get(1032).isOutEnable(); } return false; } /** * 组托 * 入库站，根据条码扫描生成入库工作档，工作状态 2 */ public synchronized void generateInboundWrk() { try { // 遍历入库口 for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) { if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); // // led 异常显示 // LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed()); // if (ledThread != null) { // ledThread.error(errMsg); // } // 判断是否满足入库条件 if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { String barcode = staProtocol.getBarcode(); // 判断重复工作档 WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode)); if (wrkMast != null) { News.error("工作档已存在,工作号={}", wrkMast.getWrkNo()); //判断时提升机侧，还是无提升机测 staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo()))); staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1))); MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast)); wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts); wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); } try { String wmsUrl = "192.168.10.201:8080/fyxcwms"; SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(1); param.setSourceStaNo(inSta.getStaNo()); param.setLocType1(staProtocol.getLocType1().shortValue()); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) { //StartupDto dto = jsonObject.getObject("data", StartupDto.class); // String wmsLocNo = dto.getLocNo(); // int row = Integer.parseInt(wmsLocNo.substring(0, 2)); // int bay = Integer.parseInt(wmsLocNo.substring(2, 5)); // int lev = Integer.parseInt(wmsLocNo.substring(5, 7)); // String wcsLocNo = Utils.getLocNo(row, bay, lev); // // CreateInTaskParam createInTaskParam = new CreateInTaskParam(); // createInTaskParam.setTaskNo(String.valueOf(dto.getWorkNo())); // createInTaskParam.setDestLoc(wcsLocNo); // createInTaskParam.setOriginSite(dto.getSourceStaNo().toString()); // createInTaskParam.setDestSite(dto.getStaNo().toString()); // createInTaskParam.setPriority(11); // createInTaskParam.setBarcode(barcode); // // R result = openUtils.createInTask(createInTaskParam); // News.info("创建入库任务，任务数据={}，WMS响应={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject), JSON.toJSON(result)); // try{ // String msg = ""; // HashMap hashMap = new HashMap<>(); // hashMap.put("msg", msg); // hashMap.put("sta", inSta.getStaNo().toString()); // new HttpHandler.Builder() // .setUri(wmsUrl) // .setPath("/rpc/led/getError") // .setJson(JSON.toJSONString(hashMap)) // .build() // .doPost(); // }catch (Exception e){ // // } } else { String msg = jsonObject.getString("msg"); HashMap hashMap = new HashMap<>(); hashMap.put("msg", msg); hashMap.put("sta", inSta.getStaNo().toString()); new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/led/getError") .setJson(JSON.toJSONString(hashMap)) .build() .doPost(); News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject)); } } catch (Exception e) { log.error("调用wms报错1，{}", e.getMessage()); } } } else if (inSta.getStaNo() == 1012 || inSta.getStaNo() == 1022) { // 获取入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo()); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } Short workNo = staProtocol.getWorkNo(); if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) { String barcode = staProtocol.getBarcode(); // 判断重复工作档 WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode)); if (wrkMast == null) { try { String wmsUrl = "192.168.10.201:8080/fyxcwms"; SearchLocParam param = new SearchLocParam(); param.setBarcode(barcode); param.setIoType(1); param.setSourceStaNo(inSta.getStaNo()); param.setLocType1((short) 1); String response = new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) .build() .doPost(); JSONObject jsonObject = JSON.parseObject(response); Integer code = jsonObject.getInteger("code"); if (code.equals(200)) { } else { String msg = jsonObject.getString("msg"); HashMap hashMap = new HashMap<>(); hashMap.put("msg", msg); hashMap.put("sta", inSta.getStaNo().toString()); new HttpHandler.Builder() .setUri(wmsUrl) .setPath("/rpc/led/getError") .setJson(JSON.toJSONString(hashMap)) .build() .doPost(); News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject)); } } catch (Exception e) { log.error("调用wms报错2，{}", e.getMessage()); } } } } } } catch (Exception e) { e.printStackTrace(); } } public synchronized void noLiftIn() { List wrkMasts = wrkMastService.selectList(new EntityWrapper().eq("wrk_sts", WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025)); for (WrkMast wrkMast : wrkMasts) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) { DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if ((Utils.getLev(wrkMast.getLocNo()) != 1 && wrkMast.getSourceStaNo() == 1014) || (Utils.getLev(wrkMast.getLocNo()) != 5 && wrkMast.getSourceStaNo() == 1025)) { //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo()); if (liftWrkMast != null) { if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同 News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1); continue; } } wrkMast.setLiftNo(1); } Short finishWorkNo = staProtocol.getFinishWorkNo(); if (finishWorkNo == null) { continue; } String locNo = "1200301"; if (wrkMast.getStaNo() == 1026) { locNo = "1200305"; } boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP"); if (!dispatchShuttle) { News.info("{}任务，调度小车失败", wrkMast.getWrkNo()); continue; } else { News.info("{}任务，调度小车失成功", wrkMast.getWrkNo()); } wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts); wrkMast.setLiftNo(null); wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(new Date()); if (!wrkMastService.updateById(wrkMast)) { News.info("{}任务，更新工作档失败", wrkMast.getWrkNo()); } } } } public void outFirst() { DevpSlave devpSlave = slaveProperties.getDevp().get(0); // 遍历堆垛机出库站 Date now = new Date(); DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId()); List wrkSts = wrkMastService.selectList(new EntityWrapper().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1013, 1024)); for (WrkMast wrkMast : wrkSts) { if (devpThread == null) { continue; } Map station = devpThread.getStation(); StaProtocol staProtocol = station.get(wrkMast.getStaNo()); if (staProtocol == null) { continue; } if (!staProtocol.isAutoing()) { News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId()); continue; } if (!isOutEnable(devpThread, wrkMast.getStaNo())) { News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId()); continue; } String locNo = "1200301"; if (wrkMast.getStaNo() == 1024) { locNo = "1200305"; } boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP"); if (!dispatchShuttle) { News.info("{}任务，调度小车失败", wrkMast.getWrkNo()); continue; } else { WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo()); if (wrkMast1 == null) { News.info("{}任务，调度小车失败,终于发现了", wrkMast.getWrkNo()); continue; } else { News.info("{}任务，无提升机处调度小车成功", wrkMast.getWrkNo()); } } wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts); wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (!wrkMastService.updateById(wrkMast)) { News.info("{}任务，更新工作档失败", wrkMast.getWrkNo()); } else { WrkMast wrkMast1 = wrkMastService.selectByMainWrkNo(wrkMast.getWrkNo()); News.info("{}任务，移动任务生成成功——1", wrkMast1.getWrkNo()); } } } /** * 出库到出库口 */ public synchronized void stnToOutStn() { ShuttleThread shuttleThread1 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 1); ShuttleThread shuttleThread2 = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, 2); ShuttleProtocol status1 = shuttleThread1.getStatus(); ShuttleProtocol status2 = shuttleThread2.getStatus(); List loc = new ArrayList<>(); loc.add(status1.getCurrentLocNo()); loc.add(status2.getCurrentLocNo()); DevpSlave devpSlave = slaveProperties.getDevp().get(0); // 遍历堆垛机出库站 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId()); for (DevpSlave.Sta outSta : devpSlave.getOutSta()) { if (outSta.getStaNo() == 1013 || outSta.getStaNo() == 1024) { List wrkSts = wrkMastService.selectList(new EntityWrapper().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo())); for (WrkMast wrkMast : wrkSts) { StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2); if (staProtocol == null) { continue; } else { staProtocol = staProtocol.clone(); } if (staProtocol.isAutoing() && staProtocol.isLoading()) { // 查询工作档 if (wrkMast == null) { continue; } String sourceLocNo = "1200305"; String locNo = "1300105"; if (wrkMast.getStaNo() == 1013) { sourceLocNo = "1200301"; locNo = "1300101"; if (loc.contains(locNo)) { locNo = "1100101"; } } else { if (loc.contains(locNo)) { locNo = "1100105"; } } boolean dispatchShuttle = shuttleDispatchUtils.shuttleMoveGenerate(wrkMast.getWrkNo(), sourceLocNo, locNo, wrkMast.getShuttleNo(), null, false); if (!dispatchShuttle) { News.taskInfo(wrkMast.getWrkNo(), "{}小车，挪车调度至取货点失败", wrkMast.getShuttleNo()); continue; } staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo()))); staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo()))); MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol)); News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast)); wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts); wrkMast.setModiTime(new Date()); wrkMast.setShuttleNo(null); wrkMastService.updateById(wrkMast); } } } } } /** * 初始化实时地图 */ public synchronized void initRealtimeBasMap() { //初始化配置 // WrkStsType[] values = WrkStsType.values(); // for (int i = 0; i < values.length; i++) { // BasWrkStatus basWrkStatus = wrkStatusService.selectById(values[i].sts); // if (basWrkStatus == null) { // basWrkStatus = new BasWrkStatus(); // basWrkStatus.setWrkDesc(values[i].sts+"."+values[i].desc); // basWrkStatus.setWrkSts(values[i].sts); // basWrkStatus.setModiTime(new Date()); // basWrkStatus.setAppeTime(new Date()); // basWrkStatus.setAppeUser(9527L); // basWrkStatus.setModiUser(9527L); // wrkStatusService.insert(basWrkStatus); // } // } try { List basMaps = basMapService.selectList(new EntityWrapper().orderBy("lev", true)); for (BasMap basMap : basMaps) { Integer lev = basMap.getLev(); Object data = redisUtil.get(RedisKeyType.MAP.key + lev); if (data == null) {//redis地图数据为空 //载入地图 List> lists = navigateMapData.getJsonData(lev, -1, null, null);//获取完整地图(包括入库出库) //存入数据库 basMap.setData(JSON.toJSONString(lists)); basMap.setCreateTime(new Date()); basMap.setUpdateTime(new Date()); if (!basMapService.updateById(basMap)) { log.info("地图数据存储失败"); } //将数据库地图数据存入redis redisUtil.set(RedisKeyType.MAP.key + lev, JSON.toJSONString(basMap)); } } } catch (Exception e) { e.printStackTrace(); } } /** * 入库 ===>> 四向穿梭车入库作业下发 */ public synchronized void shuttleInExecute() { try { List wrkMasts = wrkMastService.selectList(new EntityWrapper().in("wrk_sts", WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts)); for (WrkMast wrkMast : wrkMasts) { boolean step1 = this.shuttleInExecuteStep1(wrkMast);//小车搬入库中 if (!step1) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 入库-小车搬入库中 * 如需主方法执行continue，请返回false * ps:返回值true并不代表该方法执行成功，返回值仅做标记用于主方法是否执行continue */ public boolean shuttleInExecuteStep1(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) { //获取目标站 ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByStaNo(wrkMast.getStaNo()); if (liftSta == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); return false; } if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, liftSta.getLocNo(), null);//调度小车到货物所在输送站点进行取货 News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); return false; } //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isIdle()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } //判断小车是否存在移动任务 WrkMast hasMoveWorking = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if (hasMoveWorking != null) { News.taskInfo(wrkMast.getWrkNo(), "{}号小车，存在移动任务，禁止派发任务", wrkMast.getShuttleNo()); return false;//存在移动任务，禁止执行入库任务 } //判断小车是否到达输送站点库位 if (!shuttleProtocol.getCurrentLocNo().equals(liftSta.getLocNo())) { //小车不在输送站点位置 shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), liftSta.getLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在输送站点进行取货 News.info("{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setAuto(true);//自动模式 //获取小车到输送站点行走命令 List commands = shuttleOperaUtils.getStartToTargetCommands(liftSta.getLocNo(), wrkMast.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread); if (commands == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); if (liftCommand == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } List liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); if (liftCommand2 == null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); return false; } commands.add(0, liftCommand.get(0)); commands.add(liftCommand2.get(0)); assignCommand.setCommands(commands); wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);//小车搬运中 4.提升机搬运完成 ==> 5.小车搬运中 wrkMast.setModiTime(new Date()); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); //触发通知 notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT); return false; } return false; } return true; } /** * 出库 ===>> 四向穿梭车出库作业下发 */ // public synchronized void shuttleOutExecute() { // try { // List wrkMasts = wrkMastService.selectList(new EntityWrapper().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts)); // for (WrkMast wrkMast : wrkMasts) { // boolean step1 = this.shuttleOutExecuteStep1(wrkMast);//小车搬出库中 // 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) { // //101.生成出库任务 => 102.小车搬运中 // if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) { // Integer liftNo = wrkMast.getLiftNo(); // if (liftNo == null) { // //通过输送线站号获取提升机号 // liftNo = ForkLiftUtils.getConveyorBindLiftNo(wrkMast.getStaNo()); // if (liftNo == null) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，未找到匹配的提升机", wrkMast.getWrkNo()); // return false; // } // // //判断提升机是否有其他任务 // WrkMast liftWrkMast = wrkMastService.selectLiftWrkMast(liftNo); // if (liftWrkMast != null) { // if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同 // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftNo); // return false; // } // } // // wrkMast.setLiftNo(liftNo); // wrkMast.setModiTime(new Date()); // wrkMastService.updateById(wrkMast); // return false; // } // // ForkLiftThread forkLiftThread = (ForkLiftThread) SlaveConnection.get(SlaveType.ForkLift, liftNo); // if (forkLiftThread == null) { // return false; // } // ForkLiftProtocol forkLiftProtocol = forkLiftThread.getStatus(); // if (forkLiftProtocol == null) { // return false; // } // // //判断提升机是否处于出库模式 // if (!forkLiftProtocol.getIOModeType().equals(ForkLiftIoModeType.OUT)) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，提升机不处于出库模式，禁止出库", wrkMast.getWrkNo()); // return false; // } // // //获取源站 // ForkLiftStaProtocol liftSta = ForkLiftUtils.getLiftStaByLev(liftNo, Utils.getLev(wrkMast.getSourceLocNo())); // if (liftSta == null) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，缺少站点信息，禁止派发", wrkMast.getWrkNo()); // return false; // } // // if (liftSta.getHasCar()) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点存在小车，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); // return false; // } // // if (liftSta.getHasTray()) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}站点有托盘，禁止派发", wrkMast.getWrkNo(), liftSta.getStaNo()); // return false; // } // // if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 // //强制预留一台小车给入库任务 // int lev = Utils.getLev(wrkMast.getSourceLocNo()); // //获取当前楼层有几台可用小车 // int shuttleCount = shuttleDispatchUtils.getShuttleCountByLev(lev); // if (shuttleCount >= 2) {//只有可用小车数量大于2，才进行入库任务预留小车 // int shuttleWrkInObligateCount = 1;//预留小车数量 // Config config = configService.selectOne(new EntityWrapper().eq("code", "shuttleWrkInObligateCount").eq("status", 1)); // if (config != null) { // shuttleWrkInObligateCount = Integer.parseInt(config.getValue()); // } // //可用出库小车数量(给入库任务预留一台车) // int useShuttleCount = shuttleCount - shuttleWrkInObligateCount; // //查询楼层已分配车辆的出库任务数量 // List wrkMasts = wrkMastService.selectShuttleOutWrkByLev(lev); // if (wrkMasts.size() >= useShuttleCount) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，当前楼层可用小车{}台，出库任务已分配{}台，系统等待中。", wrkMast.getWrkNo(), useShuttleCount, wrkMasts.size()); // return false; // } // } // boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物所在库位进行取货 // News.taskInfo(wrkMast.getWrkNo(), "{}任务，调度小车{}系统等待中。", wrkMast.getWrkNo(), result ? "成功" : "失败"); // return false; // } // // //获取四向穿梭车线程 // ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); // if (shuttleThread == null) { // return false; // } // ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); // if (shuttleProtocol == null) { // return false; // } // if (!shuttleThread.isIdle()) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，忙碌中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // //判断小车是否到达货物库位 // if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { // //小车不在输送站点位置 // shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getShuttleNo());//调度小车到货物所在库位进行取货 // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，未到达输送站点，系统等待中", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); // assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo()); // 四向穿梭车编号 // assignCommand.setTaskMode(ShuttleTaskModeType.TRANSPORT.id);//小车移库任务 // assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 // assignCommand.setAuto(true);//自动模式 // // //获取小车到输送站点行走命令 // List commands = shuttleOperaUtils.getStartToTargetCommands(wrkMast.getSourceLocNo(), liftSta.getLocNo(), NavigationMapType.DFX.id, assignCommand, shuttleThread); // if (commands == null) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，路径计算失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // List liftCommand = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, true); // if (liftCommand == null) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取顶升命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // List liftCommand2 = shuttleOperaUtils.getShuttleLiftCommand(assignCommand, shuttleThread, false); // if (liftCommand2 == null) { // News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车获取下降命令失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo()); // return false; // } // // commands.add(0, liftCommand.get(0)); // commands.add(liftCommand2.get(0)); // assignCommand.setCommands(commands); // // wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);//小车搬运中 101.生成出库任务 ==> 102.小车搬运中 // wrkMast.setSourceStaNo(liftSta.getStaNo()); // wrkMast.setModiTime(new Date()); // wrkMast.setSystemMsg("");//清空消息 // if (wrkMastService.updateById(wrkMast)) { // //下发任务 // shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); // //触发通知 // notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_TRANSPORT); // return false; // } // return false; // } // return true; // } public synchronized void liftInExecute() { try { List wrkMasts = wrkMastService.selectList(new EntityWrapper().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022)); for (WrkMast wrkMast : wrkMasts) { boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走 if (!step0) { return; } boolean step1 = this.liftInExecuteStep1(wrkMast);//提升机搬运 if (!step1) { return; } boolean step2 = this.liftInExecuteStep2(wrkMast);//触发搬运任务 if (!step2) { return; } } } catch (Exception e) { e.printStackTrace(); } } private boolean liftInExecuteStep0(WrkMast wrkMast) { Date now = new Date(); if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) { FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1); if (devpThread == null) { return false; } Map station = devpThread.getStation(); StaProtocol staProtocol = station.get(wrkMast.getSourceStaNo()); if (staProtocol == null) { return false; } if (!staProtocol.isAutoing()) { News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } if (!staProtocol.isLoading()) { News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) { News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode()); return false; } //判断提升机是否有其他任务 WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(1, wrkMast.getWrkNo(), wrkMast.getMainWrkNo()); if (liftWrkMast != null) { if (!liftWrkMast.getWrkNo().equals(wrkMast.getWrkNo())) {//提升机任务和当前任务不相同 News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), 1); return false; } } short staNo = 1012; if (wrkMast.getSourceStaNo() == 1022) { staNo = 1023; } else if (wrkMast.getSourceStaNo() == 1031 || wrkMast.getSourceStaNo() == 1032) { staNo = 1032; } staProtocol = staProtocol.clone(); staProtocol.setStaNo(staNo); staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue()); boolean result = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol)); wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts); wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { return false; } return false; } return true; } private boolean liftInExecuteStep1(WrkMast wrkMast) { Date now = new Date(); if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) { //获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!liftThread.isIdle()) { return false; } //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机) WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo()); if (liftWrkMast != null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } //判断提升机内是否有小车 if (liftProtocol.getHasCar()) { News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } //判断提升机内是否有托盘 if (liftProtocol.getHasTray()) { News.info("{}任务，{}号提升机，提升机内有托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1); if (devpThread == null) { return false; } Map station = devpThread.getStation(); Integer sourceStaNo = wrkMast.getSourceStaNo(); if (wrkMast.getSourceStaNo() == 1022) { sourceStaNo = 1023; } StaProtocol staProtocol = station.get(sourceStaNo); if (staProtocol == null) { return false; } if (!staProtocol.isAutoing()) { News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } if (!staProtocol.isLoading()) { News.info("{}任务，{}站点，无托盘", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } if (sourceStaNo == 1023) { if (staProtocol.getFinishWorkNo().intValue() != wrkMast.getWrkNo()) { News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } if (!station.get(1022).getBarcode().equals(wrkMast.getBarcode())) { News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode()); return false; } } else { if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) { News.info("{}任务，{}站点，任务号不一致", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } if (!staProtocol.getBarcode().equals(wrkMast.getBarcode())) { News.info("{}任务，{}站点，托盘码不匹配，站点托盘码：{}，任务托盘码：{}", wrkMast.getWrkNo(), staProtocol.getSiteId(), staProtocol.getBarcode(), wrkMast.getBarcode()); return false; } } String locNo = "0200305"; if (wrkMast.getSourceStaNo() == 1012) { locNo = "0200301"; } else if (wrkMast.getSourceStaNo() == 1032 || wrkMast.getSourceStaNo() == 1031) { locNo = "0200308"; } boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT"); if (!dispatchShuttle) { News.info("{}任务，调度小车失败", wrkMast.getWrkNo()); return false; } int lev = 101; if (wrkMast.getSourceStaNo() == 1021) { //TODO // lev = 105; lev = 1021; } else if (wrkMast.getSourceStaNo() == 1032 || wrkMast.getSourceStaNo() == 1031) { lev = 1031; } //获取提升机命令 List liftCommands = liftThread.getPalletInCommand(wrkMast.getWrkNo(), sourceStaNo, lev); LiftCommand liftCommand = liftCommands.get(0); int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号 liftCommand.setTaskNo(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().shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(LiftCommandModeType.PALLET_IN.id.shortValue()); wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN.sts); wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 liftAction.assignWork(wrkMast.getLiftNo(), assignCommand); return false; } return false; } return true; } private boolean liftInExecuteStep2(WrkMast wrkMast) { Date now = new Date(); if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts) { //获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!liftThread.isIdle()) { return false; } //判断提升机内是否有小车 if (liftProtocol.getHasCar()) { News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } //判断提升机内是否有托盘 if (!liftProtocol.getHasTray()) { News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } // String locNo = "0200305"; // if (wrkMast.getStaNo() == 1011) { // locNo = "0200301"; // } // boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_LIFT"); // if (!dispatchShuttle) { // News.info("{}任务，调度小车失败", wrkMast.getWrkNo()); // return false; // } wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts); // TODO 测试中发现不能解禁，因为提升机里存在托盘，就不能解禁，不然另一辆小车可能会近提升机 //wrkMast.setLiftNo(null); wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { return false; } return false; } return true; } public synchronized void liftOutExecute() { try { List wrkMasts = wrkMastService.selectList(new EntityWrapper().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021)); for (WrkMast wrkMast : wrkMasts) { boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务 if (!step1) { return; } boolean step2 = this.liftOutExecuteStep2(wrkMast);//提升机搬运 if (!step2) { return; } } } catch (Exception e) { e.printStackTrace(); } } private boolean liftOutExecuteStep1(WrkMast wrkMast) { Date now = new Date(); if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) { FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1); if (devpThread == null) { return false; } Map station = devpThread.getStation(); StaProtocol staProtocol = station.get(wrkMast.getStaNo()); if (staProtocol == null) { return false; } if (!staProtocol.isAutoing()) { News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } if (!isOutEnable(devpThread, wrkMast.getStaNo())) { News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } String locNo = "0200305"; if (wrkMast.getStaNo() == 1011) { locNo = "0200301"; } else if (wrkMast.getStaNo() == 1032) { locNo = "0200308"; } boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttleS(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_LIFT"); if (!dispatchShuttle) { News.info("{}任务，调度小车失败", wrkMast.getWrkNo()); return false; } else { News.info("{}任务，无提升机处调度小车成功", wrkMast.getWrkNo()); } wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts); wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { return false; } return false; } return true; } private boolean liftOutExecuteStep2(WrkMast wrkMast) { Date now = new Date(); if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts) { //获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, 1); if (liftThread == null) { return false; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { return false; } if (!liftThread.isIdle()) { return false; } //判断提升机是否有其他任务(该任务需要换层必须提前独占提升机) WrkMast liftWrkMast = wrkMastService.selectLiftWrkMastAndWrkNo(liftProtocol.getLiftNo(), wrkMast.getWrkNo(), wrkMast.getMainWrkNo()); if (liftWrkMast != null) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}号提升机，提升机存在未完成任务，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false;//当前提升机存在未完成任务，等待下一次轮询 } //判断提升机内是否有小车 if (liftProtocol.getHasCar()) { News.info("{}任务，{}号提升机，提升机内有小车，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } //判断提升机内是否有托盘 if (!liftProtocol.getHasTray()) { News.info("{}任务，{}号提升机，提升机内无托盘，禁止派发", wrkMast.getWrkNo(), liftProtocol.getLiftNo()); return false; } FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1); if (devpThread == null) { return false; } Map station = devpThread.getStation(); StaProtocol staProtocol = station.get(wrkMast.getStaNo()); if (staProtocol == null) { return false; } if (!staProtocol.isAutoing()) { News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId()); return false; } Integer sourceLev = liftThread.getLevToStaNo(Utils.getLev(wrkMast.getSourceLocNo())); //获取提升机命令 List liftCommands = liftThread.getPalletOutCommand(wrkMast.getWrkNo(), sourceLev, wrkMast.getStaNo()); LiftCommand liftCommand = liftCommands.get(0); int deviceWrk = commonService.getWorkNo(8);//生成提升机设备工作号 liftCommand.setTaskNo(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().shortValue()); assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); assignCommand.setTaskMode(LiftCommandModeType.PALLET_OUT.id.shortValue()); wrkMast.setWrkSts(WrkStsType.OUTBOUND_LIFT_RUN.sts); wrkMast.setLiftNo(liftProtocol.getLiftNo());//提前锁定提升机 wrkMast.setSystemMsg("");//清空消息 wrkMast.setModiTime(now); if (wrkMastService.updateById(wrkMast)) { //下发任务 liftAction.assignWork(wrkMast.getLiftNo(), assignCommand); return false; } return false; } return true; } /** * 四向穿梭车任务完成 */ public synchronized void shuttleFinished() { try { for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } //四向穿梭车状态为等待确认、小车处于空闲状态 if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认 && shuttleProtocol.getTaskNo() != 0) { //将任务档标记为完成 WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo()); if (wrkMast != null) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_SHUTTLE_RUN.sts) { //5.小车搬运中 ==> 9.入库完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_INBOUND.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_SHUTTLE_RUN.sts) { //102.小车搬运中 ==> 103.小车搬运完成 wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE.sts) { //302.小车移动至站点 ==> 303.小车移动至站点完成 wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT.sts) { //304.小车迁入提升机中 ==> 305.小车迁入提升机完成 wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT.sts) { //308.小车迁出提升机中 ==> 309.小车迁出提升机完成 if (Utils.getLev(shuttleProtocol.getCurrentLocNo()) != Utils.getLev(wrkMast.getLocNo())) { continue;//小车未到达目标层 } wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE.sts) { //310.小车移动中 ==> 311.小车移动完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_MOVE_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT.sts) { //小车移动至站点 ==> 小车移动至站点完成 wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT.sts) { //小车迁入提升机中 ==> 小车迁入提升机完成 wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT.sts) { //小车迁出提升机中 ==> 小车迁出提升机完成 wrkMast.setWrkSts(WrkStsType.MOVE_OUT_LIFT_COMPLETE_TRANSPORT_LIFT.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SHUTTLE_TRANSPORT_LIFT.sts) { //小车放货中 ==> 小车放货完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_SITE_TRANSPORT_LIFT_OUT.sts) { //小车移动至站点 ==> 小车移动至站点完成 wrkMast.setWrkSts(WrkStsType.MOVE_SITE_COMPLETE_TRANSPORT_LIFT_OUT.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_LIFT_TRANSPORT_LIFT_OUT.sts) { //小车迁入提升机中 ==> 小车迁入提升机完成 wrkMast.setWrkSts(WrkStsType.MOVE_IN_LIFT_COMPLETE_TRANSPORT_LIFT_OUT.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_LIFT_TRANSPORT_LIFT_OUT.sts) { //小车迁出提升机中 ==> 小车放货完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_MOVE_TRANSPORT_LIFT_OUT.sts); shuttleThread.setSyncTaskNo(0); } else if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) { //204.小车充电中 ==> 205.小车充电完成 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } // else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_1.sts) { // wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_2.sts); // shuttleThread.setSyncTaskNo(0); // notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 // } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_3.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_4.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_7.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_8.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_11.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_12.sts); wrkMast.setLiftNo(null); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_13.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_14.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_12.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_13.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_10.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_11.sts); wrkMast.setLiftNo(null); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_6.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_7.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_2.sts) { wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_3.sts); shuttleThread.setSyncTaskNo(0); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_COMPLETE);//触发通知 } else { continue; } if (wrkMastService.updateById(wrkMast)) { //设置四向穿梭车为空闲状态 shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE); News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo()); } else { News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo()); } } else { Object object = redisUtil.get(RedisKeyType.SHUTTLE_WORK_FLAG.key + shuttleProtocol.getTaskNo()); if (object != null) { ShuttleAssignCommand assignCommand = JSON.parseObject(object.toString(), ShuttleAssignCommand.class); if (!assignCommand.getAuto()) { //手动模式 //工作号清零 shuttleThread.setTaskNo(0); //设置四向穿梭车为空闲状态 shuttleThread.setProtocolStatus(ShuttleProtocolStatusType.IDLE); News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo()); } } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 执行移库任务 */ public synchronized void shuttleLocMoveExecute() { try { //查询移库任务 List wrkMasts = wrkMastService.selectList(new EntityWrapper().in("wrk_sts", WrkStsType.NEW_LOC_MOVE.sts, WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts, WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts)); for (WrkMast wrkMast : wrkMasts) { boolean stepTake = this.shuttleLocMoveExecuteTake(wrkMast);//移库任务-小车取货中 if (!stepTake) { continue; } boolean stepPut = this.shuttleLocMoveExecutePut(wrkMast);//移库任务-小车取货中 if (!stepPut) { continue; } boolean stepComplete = this.shuttleLocMoveComplete(wrkMast);//移库任务-任务完成 if (!stepComplete) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 移库任务-小车取货中 * 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 shuttleLocMoveExecuteTake(WrkMast wrkMast) { //--------------------------------------小车移动至站点-----------------------------------------// Date now = new Date(); //小车移动至站点 501.生成移库任务 ==> 502.小车取货中 if (wrkMast.getWrkSts() == WrkStsType.NEW_LOC_MOVE.sts) { if (wrkMast.getShuttleNo() == null) {//没有绑定小车，进行调度 boolean result = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getSourceLocNo(), null);//调度小车到货物点进行取货 News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); if (result) { wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts);//小车搬运中 501.生成移库任务 ==> 502.小车取货中 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { return false; } } return false; } } return true; } /** * 移库任务-小车放货中 * 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 shuttleLocMoveExecutePut(WrkMast wrkMast) { //--------------------------------------小车移动至站点-----------------------------------------// Date now = new Date(); //小车移动至站点 502.小车取货中 ==> 503.小车放货中 if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_TAKE.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getSourceLocNo())) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达取货位置", wrkMast.getWrkNo(), wrkMast.getSourceLocNo()); return false; } boolean result = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), null, wrkMast.getLocNo(), wrkMast.getShuttleNo(), "TRANSPORT");//调度小车放货 News.info("{}任务，调度小车{}系统等待中", wrkMast.getWrkNo(), result ? "成功" : "失败"); if (result) { wrkMast.setWrkSts(WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts);//小车搬运中 502.小车取货中 ==> 503.小车放货中 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { return false; } } return false; } return true; } /** * 移库任务-任务完成 * 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 shuttleLocMoveComplete(WrkMast wrkMast) { //--------------------------------------小车移动至站点-----------------------------------------// Date now = new Date(); //小车移动至站点 503.小车放货中 ==> 509.移库完成 if (wrkMast.getWrkSts() == WrkStsType.LOC_MOVE_SHUTTLE_PUT.sts) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车未到达放货位置", wrkMast.getWrkNo()); return false; } if (shuttleProtocol.getHasLift()) { News.taskInfo(wrkMast.getWrkNo(), "{}任务，小车处于顶升状态", wrkMast.getWrkNo()); return false; } wrkMast.setWrkSts(WrkStsType.COMPLETE_LOC_MOVE.sts);//小车搬运中 503.小车放货中 ==> 509.移库完成 wrkMast.setModiTime(now); wrkMast.setSystemMsg("");//清空消息 if (wrkMastService.updateById(wrkMast)) { return false; } return false; } return true; } /** * 提升机任务完成 */ public synchronized void liftFinished() { try { for (LiftSlave slave : slaveProperties.getLift()) { //获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId()); if (liftThread == null) { continue; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { continue; } //提升机为等待确认且空闲 if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) { //将任务档标记为完成 WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo()); if (wrkMast != null) { if (wrkMast.getWrkSts() == WrkStsType.INBOUND_LIFT_RUN.sts) { //3.提升机搬运中 ==> 4.提升机搬运完成 wrkMast.setWrkSts(WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts); } else if (wrkMast.getWrkSts() == WrkStsType.OUTBOUND_LIFT_RUN.sts) { //104.提升机搬运中 ==> 109.出库完成 wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts); wrkMast.setLiftNo(null);//释放提升机 } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_RUN.sts) { //306.提升机搬运中 ==> 307.提升机搬运完成 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_RUN_COMPLETE.sts); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT.sts) { //提升机至小车层 ==> 提升机至小车层完成 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT.sts); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_TARGET_TRANSPORT_LIFT.sts) { //提升机至放货层 ==> 提升机至放货层完成 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_TARGET_COMPLETE_TRANSPORT_LIFT.sts); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_LIFT_TO_SHUTTLE_TRANSPORT_LIFT_OUT.sts) { //提升机至小车层 ==> 提升机至小车层完成 wrkMast.setWrkSts(WrkStsType.MOVE_LIFT_TO_SHUTTLE_COMPLETE_TRANSPORT_LIFT_OUT.sts); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_5.sts) { //提升机至小车层 ==> 提升机至小车层完成 wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_6.sts); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_IN_NO_LIFT_9.sts) { //提升机至小车层 ==> 提升机至小车层完成 wrkMast.setWrkSts(WrkStsType.MOVE_IN_NO_LIFT_10.sts); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_8.sts) { //提升机至小车层 ==> 提升机至小车层完成 wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_9.sts); } else if (wrkMast.getWrkSts() == WrkStsType.MOVE_OUT_NO_LIFT_4.sts) { //提升机至小车层 ==> 提升机至小车层完成 wrkMast.setWrkSts(WrkStsType.MOVE_OUT_NO_LIFT_5.sts); } wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { liftThread.setSyncTaskNo(0); liftThread.setProtocolStatus(LiftProtocolStatusType.IDLE); 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()); } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 输送线任务完成 */ public synchronized void devpFinished() { try { DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1); Map station = devpThread.getStation(); WrkMast wrkMast = null; for (StaProtocol staProtocol : station.values()) { if (staProtocol.getSiteId() == 1013 || staProtocol.getSiteId() == 1024) { wrkMast = wrkMastService.selectOne(new EntityWrapper().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts)); if (wrkMast != null) { wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts); wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo()); } else { News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo()); } } } } } catch (Exception e) { e.printStackTrace(); } } /** * 异常信息记录 */ public void recErr() { try { this.recShuttleErr(); this.recLiftErr(); } catch (Exception e) { News.error("recErr fail", e); } } /** * 四向穿梭车异常信息记录 */ private void recShuttleErr() { Date now = new Date(); for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) { // 获取四向穿梭车信息 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId()); if (shuttleThread == null) { continue; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } if (shuttleProtocol.getTaskNo() != 0) { //有任务 BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo()); // 有异常 if (latest == null) { if (shuttleProtocol.getErrorCode() != null && Integer.parseInt(shuttleProtocol.getErrorCode()) != 0) { WrkMast wrkMast = wrkMastService.selectByWorkNo(shuttleProtocol.getTaskNo()); if (wrkMast == null) { continue; } int errorCode = Integer.parseInt(shuttleProtocol.getErrorCode()); BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(errorCode); String errName = basShuttleErr == null ? "未知异常" : basShuttleErr.getErrName(); BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 shuttleSlave.getId(), // 四向穿梭车 null, // plc wrkMast.getLocNo(), // 目标库位 wrkMast.getStaNo(), // 目标站 wrkMast.getSourceStaNo(), // 源站 wrkMast.getSourceLocNo(), // 源库位 wrkMast.getBarcode(), // 条码 errorCode, // 异常码 errName, // 异常 1, // 异常情况 now, // 添加时间 null, // 添加人员 now, // 修改时间 null, // 修改人员 "任务中异常", // 备注 JSON.toJSONString(shuttleProtocol) // 系统状态数据 ); if (!basShuttleErrLogService.insert(basShuttleErrLog)) { News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName); } } } else { // 异常修复 if (shuttleProtocol.getErrorCode() == null || Integer.parseInt(shuttleProtocol.getErrorCode()) == 0) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basShuttleErrLogService.updateById(latest)) { News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId()); } } } } } } /** * 提升机异常信息记录 */ private void recLiftErr() { Date now = new Date(); for (LiftSlave slave : slaveProperties.getLift()) { // 获取提升机信息 LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, slave.getId()); if (liftThread == null) { continue; } LiftProtocol liftProtocol = liftThread.getStatus(); if (liftProtocol == null) { continue; } if (liftProtocol.getTaskNo() != 0) { //有任务 BasLiftErrLog latest = basLiftErrLogService.findLatestByTaskNo(slave.getId(), liftProtocol.getTaskNo()); // 有异常 if (latest == null) { if (liftProtocol.getErrorCode() != null && !liftProtocol.getErrorCode().equals("0")) { WrkMast wrkMast = wrkMastService.selectByWorkNo(liftProtocol.getTaskNo()); if (wrkMast == null) { continue; } BasLiftErr basLiftErr = basLiftErrService.queryByCode(Integer.parseInt(liftProtocol.getErrorCode())); String errName = basLiftErr == null ? "未知异常" : basLiftErr.getErrName(); BasLiftErrLog basLiftErrLog = new BasLiftErrLog(null, // 编号 wrkMast.getWrkNo(), // 工作号 now, // 发生时间 null, // 结束时间 wrkMast.getWrkSts(), // 工作状态 wrkMast.getIoType(), // 入出库类型 slave.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:{}]", slave.getId(), errName); } } } else { // 异常修复 if (liftProtocol.getErrorCode() == null || liftProtocol.getErrorCode().equals("0")) { latest.setEndTime(now); latest.setUpdateTime(now); latest.setStatus(2); if (!basLiftErrLogService.updateById(latest)) { News.error("提升机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", slave.getId(), latest.getId()); } } } } } } /** * 四向穿梭车电量检测 ===>> 发起充电 */ public synchronized void loopShuttleCharge() { try { List charges = basShuttleChargeService.selectList(new EntityWrapper().orderBy("charge_id", true)); if (charges.isEmpty()) { return;//无充电桩 } for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { //获取四向穿梭车线程 ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId()); ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { continue; } //判断当前小车是否满足需要充电要求 if (!shuttleThread.isRequireCharge()) { continue; } WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttleProtocol.getShuttleNo()); if (wrkMast != null) {//已有充电任务 continue; } //小车所在楼层 int lev = Utils.getLev(shuttleProtocol.getCurrentLocNo()); BasShuttleCharge shuttleCharge = null; //搜索小车所在楼层有没有充电桩 for (BasShuttleCharge charge : charges) { if (lev != Utils.getLev(charge.getLocNo())) { continue;//小车和充电桩不在同一层 } if (charge.getStatus() == 0) { continue;//充电桩被禁用 } //小车和充电桩在同一层 if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) { shuttleCharge = charge; break; } } if (shuttleCharge == null) { //同楼层没有找到充电桩，找可用充电桩 //小车同楼层没有充电桩，只要充电桩可用就生成充电任务 for (BasShuttleCharge charge : charges) { if (wrkMastService.selectChargeWorkingByChargeSta(charge.getChargeId()) == null) { //判断当前充电桩是否有小车，如有小车，不分配该充电桩 ArrayList locs = new ArrayList<>(); locs.add(charge.getLocNo()); Integer checkHasShuttle = Utils.checkGroupLocHasShuttle(locs); if (checkHasShuttle != null) { //当前充电桩有穿梭车，不分配该充电桩 continue; } if (charge.getStatus() == 0) { continue;//充电桩被禁用 } shuttleCharge = charge; break; } } } if (shuttleCharge == null) { continue; } String chargeLocNo = shuttleCharge.getLocNo(); wrkMast = new WrkMast(); wrkMast.setMk(String.valueOf(shuttleCharge.getChargeId())); wrkMast.setWrkNo(commonService.getWorkNo(WrkIoType.SHUTTLE_CHARGE.id)); wrkMast.setWrkSts(WrkStsType.NEW_CHARGE.sts); wrkMast.setIoType(WrkIoType.SHUTTLE_CHARGE.id);//300.充电 wrkMast.setIoPri((double) 999); wrkMast.setLocNo(chargeLocNo); wrkMast.setShuttleNo(shuttle.getId()); wrkMast.setMemo("charge"); wrkMast.setAppeTime(new Date()); if (!wrkMastService.insert(wrkMast)) { News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId()); continue; } News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId()); } } catch (Exception e) { e.printStackTrace(); } } /** * 执行四向穿梭车充电任务 */ public synchronized void executeShuttleCharge() { try { //查询小车充电任务 for (ShuttleSlave shuttle : slaveProperties.getShuttle()) { WrkMast wrkMast = wrkMastService.selectChargeWorking(shuttle.getId()); if (wrkMast == null) { continue; } boolean result1 = this.executeShuttleChargeStepGoToChargeSta(wrkMast);//小车等待充电桩 if (!result1) { continue; } boolean result2 = this.executeShuttleChargeStepArrivalChargeSta(wrkMast);//小车到达充电桩 if (!result2) { continue; } boolean result3 = this.executeShuttleChargeStepStartCharge(wrkMast);//小车开始充电 if (!result3) { continue; } boolean result4 = this.executeShuttleChargeStepStopCharge(wrkMast);//小车停止充电 if (!result4) { continue; } boolean result5 = this.executeShuttleChargeStepLeaveCharge(wrkMast);//小车离开充电桩 if (!result5) { continue; } } } catch (Exception e) { e.printStackTrace(); } } /** * 小车前往充电桩 */ private synchronized boolean executeShuttleChargeStepGoToChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.NEW_CHARGE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts); wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } //调度小车去充电桩 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), wrkMast.getLocNo(), wrkMast.getShuttleNo()); if (!dispatched) { return false; } wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN.sts);//小车前往充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } /** * 小车到达充电桩 */ private synchronized boolean executeShuttleChargeStepArrivalChargeSta(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //判断是否存在未完成的移动任务 WrkMast moveWrk = wrkMastService.selectShuttleHasMoveWorking(wrkMast.getShuttleNo()); if (moveWrk != null) { return false; } if (!shuttleProtocol.getCurrentLocNo().equals(wrkMast.getLocNo())) { return false; } //小车在充电桩位置 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts);//小车到达充电桩 wrkMast.setModiTime(new Date()); wrkMastService.updateById(wrkMast); return false; } return true; } //小车开始充电 private synchronized boolean executeShuttleChargeStepStartCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_RUN_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } //小车已经在充电桩位置，下发充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, true); assignCommand.setCommands(commands);//运行命令 wrkMast.setWrkSts(WrkStsType.CHARGE_SHUTTLE_WORKING.sts); wrkMast.setModiTime(new Date()); if (!wrkMastService.updateById(wrkMast)) { return false; } //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); notifyUtils.notify(String.valueOf(SlaveType.Shuttle), shuttleProtocol.getShuttleNo(), String.valueOf(wrkMast.getWrkNo()), wrkMast.getWmsWrkNo(), NotifyMsgType.SHUTTLE_POWER_START);//触发通知 return false; } return true; } //小车停止充电 private synchronized boolean executeShuttleChargeStepStopCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_WORKING.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } if (!shuttleThread.isChargingCompleted()) { return false; } //小车已经在充电桩位置，下发停止充电命令 ShuttleAssignCommand assignCommand = new ShuttleAssignCommand(); assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号 assignCommand.setTaskNo(wrkMast.getWrkNo());//任务号 assignCommand.setTaskMode(ShuttleTaskModeType.CHARGE.id);//出库模式 assignCommand.setSourceLocNo(shuttleProtocol.getCurrentLocNo());//源库位(小车当前位置) List commands = shuttleOperaUtils.getShuttleChargeCommand(assignCommand, shuttleThread, false); assignCommand.setCommands(commands);//运行命令 //下发任务 shuttleAction.assignWork(shuttleProtocol.getShuttleNo(), assignCommand); return false; } return true; } //小车离开充电桩 private synchronized boolean executeShuttleChargeStepLeaveCharge(WrkMast wrkMast) { if (wrkMast.getWrkSts() == WrkStsType.CHARGE_SHUTTLE_COMPLETE.sts) { ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo()); if (shuttleThread == null) { return false; } ShuttleProtocol shuttleProtocol = shuttleThread.getStatus(); if (shuttleProtocol == null) { return false; } BasShuttleCharge basShuttleCharge = basShuttleChargeService.selectOne(new EntityWrapper().eq("charge_id", wrkMast.getMk())); if (basShuttleCharge == null) { return false; } //调度小车去待机位 boolean dispatched = shuttleDispatchUtils.dispatchShuttle(wrkMast.getWrkNo(), basShuttleCharge.getWaitLocNo(), wrkMast.getShuttleNo()); if (!dispatched) { return false; } wrkMast.setWrkSts(WrkStsType.COMPLETE_CHARGE.sts); wrkMast.setModiTime(new Date()); if (wrkMastService.updateById(wrkMast)) { return false; } return false; } return true; } /** * 执行小车移库任务 */ public synchronized void shuttleMoveExecute() { try { //查询小车移库任务 List wrkMasts = wrkMastService.selectShuttleMoveWrk(); for (WrkMast wrkMast : wrkMasts) { if ("TRANSPORT_LIFT".equals(wrkMast.getMk())) { this.shuttleMoveExecuteTransportLift(wrkMast); } else if ("TRANSPORT_DEVP".equals(wrkMast.getMk())) { this.shuttleMoveExecuteTransportNoLift(wrkMast); } else { shuttleMoveService.shuttleMoveExecuteMove(wrkMast); } } } catch (Exception e) { e.printStackTrace(); } } private void shuttleMoveExecuteTransportLift(WrkMast wrkMast) { LiftThread liftThread = LiftUtils.getRecentLift(wrkMast.getLocNo()); if (liftThread == null) { return; } String liftLocNo = liftThread.getLiftLocNo(Utils.getLev(wrkMast.getLocNo())); if (Utils.getRow(liftLocNo) == Utils.getRow(wrkMast.getSourceLocNo()) && Utils.getBay(liftLocNo) == Utils.getBay(wrkMast.getSourceLocNo())) { //取货位置是提升机 transportLiftInService.shuttleMoveExecuteTransportLiftTake(wrkMast); } else { //放货位置是提升机 transportLiftOutService.shuttleMoveExecuteTransportLiftPut(wrkMast); } } private void shuttleMoveExecuteTransportNoLift(WrkMast wrkMast) { if (12 == Utils.getRow(wrkMast.getSourceLocNo()) && 3 == Utils.getBay(wrkMast.getSourceLocNo())) { //入库 noLiftInService.shuttleMoveExecute(wrkMast); } else { //出库 noLiftOutService.shuttleMoveExecute(wrkMast); } } /** * 入出库模式切换函数 */ public synchronized void ioConvert() { try { // 根据输送线plc遍历 FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1); WrkMast pakout = wrkMastService.selectWorkingPakout(1032); if (pakout != null) { if (devpThread.ioModeOf2_5 != IoModeType.PAKOUT_MODE) { // 出库切换中 WrkMast pakin = wrkMastService.selectWorkingPakin(1032); if (pakin == null && !devpThread.getStation().get(1031).isLoading() && !devpThread.getStation().get(1032).isLoading()) { // 出库模式 devpThread.ioModeOf2_5 = IoModeType.PAKOUT_MODE; } } } else { // 入库模式 devpThread.ioModeOf2_5 = IoModeType.PAKIN_MODE; } } catch (Exception e) { e.printStackTrace(); } } }