添加产线字段

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/mq/TaskWorkNode.java

@@ -6,6 +6,7 @@ import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.github.zuihou.base.R;
 import com.github.zuihou.business.DemoLine.DemoCacheKey;
 import com.github.zuihou.business.DemoLine.DemoLineConstant;
+import com.github.zuihou.business.DemoLine.YunjianConstant;
 import com.github.zuihou.business.edgeLibrary.dao.StockInfoMapper;
 import com.github.zuihou.business.edgeLibrary.entity.StockInfo;
 import com.github.zuihou.business.edgeLibrary.entity.Storge;
@@ -71,6 +72,8 @@ import java.util.concurrent.ExecutorService;
 import java.util.concurrent.Executors;
 import java.util.concurrent.TimeUnit;
 
+import static java.util.stream.Collectors.groupingBy;
+
 @Component
 public class TaskWorkNode {
     @Autowired
@@ -435,90 +438,187 @@ public class TaskWorkNode {
 
     /**
      *  线边库条件处理判断
-     * @param map
+     * @param dataMap
      *
      * @return
      */
-    public Map checkXbkCon(TaskNode taskNode,TTask task, Map<String, Object> map){
-//        if(BizConstant.ROBOT_TYPE_CACHE.equals(zoneService.getRobotTypebyZone(taskNode.))){
-//
-//        }
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+    public Map checkXbkCon(TaskNode taskNode,TTask task, Map<String, Object> dataMap){
+        ZZone zone = dataMap.get("zone")==null?null:(ZZone)dataMap.get("zone");
+        int  count = Integer.parseInt (dataMap.get(taskNode.getId().toString() + "count") == null ? "0" : dataMap.get(taskNode.getId().toString() + "count").toString());
+
+        Storge jqrStorge = null;
+
+        Storge targetStorge = null;
+
+        List<ProductionresourcePosition> robotList = null;
+        if(BizConstant.ROBOT_TYPE_CACHE.equals(zoneService.getRobotTypebyZone(zone.getName()))){//有缓存位的机器人
+            //执行到第几步
+            dataMap.put(taskNode.getId().toString() + "count", count);
+            dataMap.put(YunjianConstant.YUNJIAN_XBK_CACHE_FLAG, "1");
+
+            if (count == 0) {//第一步的时候锁定资源
+                //判断机器人是否为空
+                Map<String, List<ProductionresourcePosition>> jqrMap = robotList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
+
+                robotList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[] {taskNode.getResourceId().toString()});
+                //目标地址和类型
+                targetStorge = workpieceService.getWorkPieceTargetStock(taskNode.getId());
+
+                jqrStorge = storgeService.getById(robotList.get(0).getStorgeId());
+
+                Storge startStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
+
+                //机器人手抓没被锁定，并且有空闲未知
+                if (logical(robotList,targetStorge,zone)!=null) {
+                    jqrStorge = storgeService.getById(jqrMap.get(DemoLineConstant.DEMOLINE_RJQR_ZS).get(0).getStorgeId());
+                    jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
+                    storgeService.lockStorge(jqrStorge, taskNode.getId());
+                    //锁定一个缓存位
+                    List<ProductionresourcePosition> hcwList = jqrMap.get(jqrMap.keySet().stream().filter(p -> !DemoLineConstant.DEMOLINE_RJQR_ZS.equals(p)).findFirst().get());
+                    Storge hcwStorge = storgeService.getById(hcwList.get(0).getStorgeId());
+                    hcwStorge.setCompleteBatchNo(task.getCompleteBatchNo());
+                    storgeService.lockStorge(hcwStorge, taskNode.getId());
+
+                    //锁定目标库位
+                    targetStorge.setCompleteBatchNo(task.getCompleteBatchNo());
+                    storgeService.lockStorge(targetStorge, taskNode.getId());
+
+                    //抓手缓存
+                    msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
+                    //缓存位缓存
+                    msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_HCW + taskNode.getId(), hcwStorge, 1, TimeUnit.DAYS);
+                    //目标缓存
+                    msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + taskNode.getId(), targetStorge, 1, TimeUnit.DAYS);
+
+                    //满足条件--机器人空闲，设备或线边库有一个空闲
+                    dataMap.put("Data", startStore);
+                    dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
+                }
+                dataMap.put("result", logical(robotList,targetStorge,zone));
+            } else if (count == 1) {
+                jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
+                Storge currentStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
+                dataMap.put("fromStorge", currentStore);
+                dataMap.put("Data", currentStore);
+                //出入库类型
+                dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                //目的地为机器人手臂
+                dataMap.put("toStorge", jqrStorge);
+                dataMap.put("result", true);
+            } else if (count == 2) {
+                Storge currentStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "putMaterial");
+                dataMap.put("fromStorge", currentStore);
+                //出入库类型
+                dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                //目的地为机器人手臂
+                Storge hcwStorge = (Storge) msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_HCW + taskNode.getId());
+                dataMap.put("Data", hcwStorge);
+                dataMap.put("toStorge", hcwStorge);
+                dataMap.put("result", true);
+            }if(count==3) {
+                dataMap.put("Data", targetStorge);
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
+            }else if(count == 4){//从缓存位拿出来
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"fetchMaterial");
+                Storge hcwStorge = (Storge)msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_HCW + taskNode.getId());
+                dataMap.put("Data", hcwStorge);
+                dataMap.put("fromStorge", hcwStorge);
+                Storge handStorge = (Storge)msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
+                dataMap.put("toStorge", handStorge);
+                //出入库类型
+                dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+            }else if(count == 5){
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
+                //出入库类型
+                dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                dataMap.put("Data", targetStorge);
+                dataMap.put("toStorge", targetStorge);
+
+                Storge handStorge = (Storge)msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
+                dataMap.put("fromStorge", handStorge);
+            }
+        }else {//没缓存位的机器人，伺服陀机
+
+            if (count == 0) {//第一步的时候锁定资源
+                //目标地址和类型
+                targetStorge = workpieceService.getWorkPieceTargetStock(taskNode.getId());
+                robotList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[] {taskNode.getResourceId().toString()});
+                //目标地址和类型
+                jqrStorge = storgeService.getById(robotList.get(0).getStorgeId());
+
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "fetchMaterial");
+                if (logical(robotList,targetStorge,zone)!=null) {
+                    Storge startStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
+
+                    dataMap.put("fromStorge", startStore);
+                    dataMap.put("Data", startStore);
+                    //出入库类型
+                    dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                    //目的地为机器人手臂
+                    dataMap.put("toStorge", jqrStorge);
+                    //锁定机器人
+                    jqrStorge.setCompleteBatchNo(task.getCompleteBatchNo());
+                    storgeService.lockStorge(jqrStorge, taskNode.getId());
+
+                    //锁定目标库位
+                    targetStorge.setCompleteBatchNo(task.getCompleteBatchNo());
+                    storgeService.lockStorge(targetStorge, taskNode.getId());
+
+                    //抓手缓存
+                    msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
+                    //目标缓存
+                    msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + taskNode.getId(), targetStorge, 1, TimeUnit.DAYS);
+                }
+            }else if(count==1){
+                targetStorge = msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + taskNode.getId())==null?null:(Storge) msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + taskNode.getId());
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
+                dataMap.put("toStorge", targetStorge);
+                dataMap.put("Data", targetStorge);
+            }
+            dataMap.put("result", true);
+        }
+        return dataMap;
+    }
 
 
+    /**
+     *  设备动态逻辑判断处理
+     *
+     * @param robotList
+     * @return
+     */
+    public ProductionresourcePosition logical(List<ProductionresourcePosition> robotList,Storge targetStorge,ZZone zone){
+        //设备不存在
+        if(checkRobot(robotList,zone.getName())){
+            return null;
+        }
+        //资源临界判断
+        int current_running_num = storgeService.getstorgeByZone(zone.getId().toString());
+        if(current_running_num == DictionaryKey.RESOURCE_MAX_NUM){
+            return null;
+        }
 
-        Storge xbkStorage = workpieceService.getWorkPieceStock(taskNode.getId(),false);
-        //判断线边库是否被锁定占用
-        if(xbkStorage.getLockStatus()=="1"){
-            //线边库已经释放锁定 不需要相关操作
-            map.put("msg", DictionaryKey.NodeException.RUNNING_FALSE);
-            map.put("result", false);
-        }else{
-            // 获取锁定节点ID
-            Long campId = xbkStorage.getCampId();
-            // 获取锁定节点
-            TWorkpiece workpiece = workpieceService.getWorkPiece(campId);
-            // 锁定节点对应设备ID
-            Long targetId = Long.parseLong(workpiece.getTpointId());
-            if(!taskNodeService.getRunStatus(targetId)){
-                map.put("result", false);
-                map.put("msg", DictionaryKey.NodeException.RUNNING_FALSE);
-                return map;
-            }
-            //获取目标设备的点位信息
-            ProductionresourcePosition resourcePosition = productionresourcePositionService.getOne(new LbqWrapper<ProductionresourcePosition>().eq(ProductionresourcePosition::getResourceId, targetId));
-            Productionresource productionresource = productionresourceBizMapper.selectOne(new LbqWrapper<Productionresource>().eq(Productionresource::getId, targetId));
-            //任意设备条件判断
-            boolean bool = resourcePosition!=null && resourcePosition.getLockStatus() == "1" && resourcePosition.getStatus() == "1" && resourcePosition.getHaveGoods() == "0";
-            Storge storge = null;
-            if(productionresource.getModuleDesc()=="接驳位"){
-                //目标对象是接驳位上托盘的库位
-                String[] jbwarr = new String[]{productionresource.getCode()};
-                //获取托盘的库位
-//                Map plateMap = storgeService.getPlateStorgeByNo(jbwarr, task.getCompleteBatchNo());
-//                storge = plateMap.get("storge") == null ? null : (Storge) plateMap.get("storge");
-//                bool = bool && (storge!=null );
-            }else{
-                //目标地址是加工设备
-                storge = storgeService.getById(resourcePosition.getStorgeId());
-                bool = bool && (storge!=null && storge.getLockStatus() == "1" && storge.getId() == workpiece.getTaskNodeId());
-            }
-            if(bool){
-                //预先锁定目标设备
-                storgeService.lockStorge(storge, taskNode.getId());
-                //实现移动操作到具体设备
+        if(targetStorge==null){
+            return null;
+        }
 
-                //线边库解锁
-                storgeService.unlockStorge(xbkStorage);
-                //更新workpiece的库位信息
+        return robotList.get(0);
+    }
 
-            }else{
-                map.put("msg", DictionaryKey.NodeException.RESOURCE_LOCK);
-            }
-            map.put("result", bool);
+    /**
+     * 判断机器人是否可用
+     * @return
+     */
+    public boolean checkRobot(List<ProductionresourcePosition> robotList,String  zoneName){
+        if(BizConstant.ROBOT_TYPE_NOCACHE.equals(zoneService.getRobotTypebyZone(zoneName))){
+            return CollectionUtil.isNotEmpty(robotList) && robotList.size() == 1;
+        }else if(BizConstant.ROBOT_TYPE_CACHE.equals(zoneService.getRobotTypebyZone(zoneName))){//手抓必须空闲。
+            Map<String, List<ProductionresourcePosition>> jqrMap = robotList.stream().collect(groupingBy(ProductionresourcePosition::getPointId));
+            return CollectionUtil.isNotEmpty(robotList) && robotList.size() >1&&jqrMap.containsKey(DemoLineConstant.DEMOLINE_RJQR_ZS);
         }
-        return map;
+        return true;
     }
 }
 

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/operationManagementCenter/service/WorkpieceService.java

@@ -71,6 +71,8 @@ public interface WorkpieceService extends SuperService<TWorkpiece> {
 
     public Storge getWorkPieceStock(Long taskNodeId, boolean isParent);
 
+    public Storge getWorkPieceTargetStock(Long taskNodeId);
+
 
     public TWorkpiece getWorkPiece(Long taskNodeId);
 

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/operationManagementCenter/service/impl/WorkpieceServiceImpl.java

@@ -542,6 +542,20 @@ public class WorkpieceServiceImpl extends SuperServiceImpl<WorkpieceMapper, TWor
         return storge;
     }
 
+    @Override
+    public Storge getWorkPieceTargetStock(Long taskNodeId) {
+        Storge storge = new Storge();
+        TWorkpiece tWorkpiece = new TWorkpiece();
+        List<TWorkpiece>list = baseMapper.selectList(Wraps.<TWorkpiece>lbQ().eq(TWorkpiece::getTaskNodeId,taskNodeId));
+        if(CollectionUtil.isNotEmpty(list)){
+            tWorkpiece = list.get(0);
+        }
+
+        storge = storgeMapper.selectById(tWorkpiece.getTstorgeId());
+
+        return storge;
+    }
+
     @Override
     public TWorkpiece getWorkPiece(Long taskNodeId) {
         TWorkpiece tWorkpiece = new TWorkpiece();

imcs-admin-boot/imcs-business-biz/src/main/java/com/github/zuihou/business/productionResourceCenter/service/impl/RobotNodeServiceImpl.java

@@ -393,7 +393,7 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                     //出入库类型
                     dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE, DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
                     //目的地为机器人手臂
-                    map.put("toStorge", jqrStorge);
+                    dataMap.put("toStorge", jqrStorge);
                     dataMap.put("result", true);
                 } else if (count == 2) {
                     Storge currentStore = workpieceService.getWorkPieceStock(taskNode.getId(), false);
@@ -439,47 +439,48 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                     msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId(), jqrStorge, 1, TimeUnit.DAYS);
                     //目标缓存
                     msgUtil.redis_set(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + nextTaskNode.getId(), targetStorge, 1, TimeUnit.DAYS);
-                    map.put("result", true);
+                    dataMap.put("result", true);
                 }
             }
         }else if ("放".equals(params[0])) {
             Object targetStorge = msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.YUNJIAN_TARGET_STORE + taskNode.getId());
             //执行到第几步
-            map.put(taskNode.getId().toString()+"count",count);
-            map.put("zkIp",ZK_ip_rxx);
+            dataMap.put(taskNode.getId().toString()+"count",count);
+            dataMap.put("zkIp",ZK_ip_rxx);
             if(BizConstant.ROBOT_TYPE_CACHE.equals(zoneService.getRobotTypebyZone(zoneName))){
                 dataMap.put(YunjianConstant.YUNJIAN_XBK_CACHE_FLAG, "1");
                 if(count==0) {
-                    map.put("Data", targetStorge);
-                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
+                    dataMap.put("Data", targetStorge);
+                    dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE, "moveMaterial");
                 }else if(count == 1){//从缓存位拿出来
-                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"fetchMaterial");
+                    dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"fetchMaterial");
                     Storge hcwStorge = (Storge)msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_HCW + taskNode.getId());
-                    map.put("Data", hcwStorge);
-                    map.put("fromStorge", hcwStorge);
+                    dataMap.put("Data", hcwStorge);
+                    dataMap.put("fromStorge", hcwStorge);
                     Storge handStorge = (Storge)msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-                    map.put("toStorge", handStorge);
+                    dataMap.put("toStorge", handStorge);
                     //出入库类型
-                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                    dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
                 }else if(count == 2){
-                    map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
+                    dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
                     //出入库类型
-                    map.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
-                    map.put("Data", targetStorge);
-                    map.put("toStorge", targetStorge);
+                    dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
+                    dataMap.put("Data", targetStorge);
+                    dataMap.put("toStorge", targetStorge);
 
                     Storge handStorge = (Storge)msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + DemoLineConstant.JQR3 + taskNode.getId());
-                    map.put("fromStorge", handStorge);
+                    dataMap.put("fromStorge", handStorge);
                 }
             }else if (BizConstant.ROBOT_TYPE_NOCACHE.equals(zoneService.getRobotTypebyZone(zoneName))) {
-                map.put("zkIp",ZK_ip_zndy);
-                map.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
-                map.put("toStorge", targetStorge);
-                map.put("Data", targetStorge);
+                dataMap.put("zkIp",ZK_ip_zndy);
+                dataMap.put(DemoLineConstant.DEMOLINE_BIZ_TYPE,"putMaterial");
+                dataMap.put("toStorge", targetStorge);
+                dataMap.put("Data", targetStorge);
+                dataMap.put(DemoLineConstant.DEMOLINE_STOCK_TYPE,DemoLineConstant.DEMOLINE_STOCK_TYPE_ALL_CRK);
             }
-            map.put("result", true);
+            dataMap.put("result", true);
         }
-        return map;
+        return dataMap;
     }
 
 
@@ -545,21 +546,21 @@ public class RobotNodeServiceImpl implements NodeOperationService {
      * @param robotList
      * @return
      */
-    private ProductionresourcePosition logical(List<ProductionresourcePosition> robotList,Storge targetStorge){
+    public ProductionresourcePosition logical(List<ProductionresourcePosition> robotList,Storge targetStorge){
         //设备不存在
         if(checkRobot()){
-            map.put("msg", DictionaryKey.NodeException.NO_RESOURCE);
+//            map.put("msg", DictionaryKey.NodeException.NO_RESOURCE);
             return null;
         }
         //资源临界判断
         int current_running_num = storgeService.getstorgeByZone(zoneId.toString());
         if(current_running_num == DictionaryKey.RESOURCE_MAX_NUM){
-            map.put("msg", DictionaryKey.NodeException.NO_RESOURCE);
+//            map.put("msg", DictionaryKey.NodeException.NO_RESOURCE);
             return null;
         }
 
         if(targetStorge==null){
-            map.put("msg", DictionaryKey.NodeException.NO_RESOURCE);
+//            map.put("msg", DictionaryKey.NodeException.NO_RESOURCE);
             return null;
         }