线边库轮训再次条件不满足需再次进入轮训beta，getTargetStorge参照机器人调整补充缺失逻辑

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

@@ -20,8 +20,10 @@ import com.github.zuihou.business.operationManagementCenter.service.TaskNodeServ
 import com.github.zuihou.business.operationManagementCenter.service.WorkpieceService;
 import com.github.zuihou.business.productionReadyCenter.dao.AAutoNodeLogMapper;
 import com.github.zuihou.business.productionReadyCenter.dao.BBomMapper;
+import com.github.zuihou.business.productionReadyCenter.dao.BomProcedureMapper;
 import com.github.zuihou.business.productionReadyCenter.entity.AAutoNodeLog;
 import com.github.zuihou.business.productionReadyCenter.entity.BBom;
+import com.github.zuihou.business.productionReadyCenter.entity.BomProcedure;
 import com.github.zuihou.business.productionReadyCenter.service.AAutoNodeLogService;
 import com.github.zuihou.business.productionReadyCenter.service.BomProcedureProductionresourceService;
 import com.github.zuihou.business.productionResourceCenter.dao.ProductionresourceBizMapper;
@@ -141,6 +143,8 @@ public class TaskWorkNode {
     private ProductionresourcePositionMapper productionresourcePositionMapper;
     @Autowired
     private BBomMapper bBomMapper;
+    @Autowired
+    private BomProcedureMapper bomProcedureMapper;
 
 
     //总控端口
@@ -680,7 +684,10 @@ public class TaskWorkNode {
     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());
-
+        BomProcedure bomProcedure = bomProcedureMapper.selectOne(Wraps.<BomProcedure>lbQ().eq(BomProcedure::getId,task.getProcedureId()));
+        BBom bom = bBomMapper.selectById(task.getBomId());
+        Long bomZzoneId = bom.getZoneId();
+        ZZone bomzZone = zoneService.getById(bomZzoneId);
 
         // 判断该节点使用那条线的plc
         Map<String, String> plcInfo = DictionaryKey.PLC_CATEGORY.get(zone.getNo());
@@ -706,9 +713,9 @@ public class TaskWorkNode {
 
             if (count == 0) {//第一步的时候锁定资源
                 //判断机器人是否为空
+                robotList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{taskNode.getResourceId().toString()});
                 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());
 
@@ -721,37 +728,44 @@ public class TaskWorkNode {
                 ProductionresourcePosition po = logical(robotList,dataMap);
                 //机器人手抓没被锁定，并且有空闲未知
                 if (po != null) {
-                    Map returnMap = getTargetStorge(nextTaskNode, taskNode.getFindAgvFlag(), zone);
+                    Map returnMap = getTargetStorge(nextTaskNode, taskNode.getFindAgvFlag(), zone,bomProcedure.getType(),bomzZone);
                     targetStorge = returnMap.get("store") == null ? null : (Storge) returnMap.get("store");
 
-                    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 + "_" + YunjianConstant.YUNJIAN_JXS + 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
-                    Map locationMap = new HashMap();
-                    locationMap.put("location", startStore.getPointId());
-                    dataMap.put("data", locationMap);
-
-                    dataMap.put("method", "MoveRobotPosition");
+                    if(null != targetStorge){
+                        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 + "_" + YunjianConstant.YUNJIAN_JXS + 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
+                        Map locationMap = new HashMap();
+                        locationMap.put("location", startStore.getPointId());
+                        dataMap.put("data", locationMap);
+
+                        dataMap.put("method", "MoveRobotPosition");
+                        dataMap.put("result", true);
+                    }else{
+                        dataMap.put("result", false);
+                    }
+                }else{
+                    dataMap.put("result", false);
                 }
-                dataMap.put("result", po != null);
+
             } else if (count == 1) {
                 jqrStorge = (Storge) msgUtil.redis_get(DemoCacheKey.YUNJIAN_CAMP + "_" + YunjianConstant.YUNJIAN_JXS + taskNode.getId());
                 dataMap.put("method", "GetFlexibleWire");
@@ -822,40 +836,49 @@ public class TaskWorkNode {
 
             if (count == 0) {//第一步的时候锁定资源
                 //目标地址和类型
-                Map returnMap = getTargetStorge(taskNode, taskNode.getFindAgvFlag(), zone);
-                targetStorge = returnMap.get("store") == null ? null : (Storge) returnMap.get("store");
                 robotList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{taskNode.getResourceId().toString()});
 
                 dataMap.put("method", "GetServoStacker");
-                ProductionresourcePosition po = logical(robotList, targetStorge, dataMap);
+                ProductionresourcePosition po = logical(robotList,dataMap);
                 if (po != null) {
-                    //目标地址和类型
-                    jqrStorge = storgeService.getById(robotList.get(0).getStorgeId());
-                    Storge startStore = workpieceService.getWorkPieceStock(taskNode.getCompleteBatchNo(), false);
-
-                    dataMap.put("fromStorge", startStore);
-
-                    Map locationMap = new HashMap();
-                    locationMap.put("location", startStore.getPointId());
-                    dataMap.put("data", locationMap);
-                    //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 + "_" + YunjianConstant.YUNJIAN_JXS + 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);
+
+                    Map returnMap = getTargetStorge(taskNode, taskNode.getFindAgvFlag(), zone,bomProcedure.getType(),bomzZone);
+                    targetStorge = returnMap.get("store") == null ? null : (Storge) returnMap.get("store");
+
+                    if(null != targetStorge){
+                        //目标地址和类型
+                        jqrStorge = storgeService.getById(robotList.get(0).getStorgeId());
+                        Storge startStore = workpieceService.getWorkPieceStock(taskNode.getCompleteBatchNo(), false);
+
+                        dataMap.put("fromStorge", startStore);
+
+                        Map locationMap = new HashMap();
+                        locationMap.put("location", startStore.getPointId());
+                        dataMap.put("data", locationMap);
+                        //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 + "_" + YunjianConstant.YUNJIAN_JXS + 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);
+                        dataMap.put("result", true);
+                    }else{
+                        dataMap.put("result", false);
+                    }
+                }else{
+                    dataMap.put("result", false);
                 }
-                dataMap.put("result", po != null);
+
             } 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("method", "SendServoStacker");
@@ -874,56 +897,129 @@ public class TaskWorkNode {
         return dataMap;
     }
 
-
-    public Map getTargetStorge(TaskNode taskNode, String findAgvFlag, ZZone zZone) {
+    public Map getTargetStorge(TaskNode taskNode, String findAgvFlag, ZZone zZone,String bomProcedureType, ZZone bomzZone) {
         Map returnMap = new HashMap();
         Storge targetStorge = null;
-        Storge agvEndStationStorge = null;
         Long resourceId = taskNode.getTargetResourceId();
+        String xbkFlag = "";
+
+        if("1".equals(findAgvFlag)){ //需要提前锁定下个接驳位
+            // begin modify by yejian on 20220513 for agv动态查找满足抽检一个工序需多次调度agv问题
+            // 先找到处理节点下一节点agv起点地址
 
-        if ("1".equals(findAgvFlag)) {//需要提前锁定下个接驳位
-            //获取接驳位。
+            TaskNode lastAgvTaskNode = taskNodeService.getNextNTaskNode(taskNode,1);;
             Map map = storgeService.getPlateStorgeByNo(zZone);
-            targetStorge = map.get("storge") == null ? null : (Storge) map.get("storge");
-            String targetResourceId = map.get("resourceId") == null ? null : (String) map.get("resourceId");
-            //对面产线接驳位不为空TODO
-            String[] jbwArr = DictionaryKey.YJ_ZONE_JBW.get(zZone.getName()).split(",");
+
+
+            targetStorge = map.get("storge") ==null?null:(Storge)map.get("storge");
+            String targetResourceId = map.get("resourceId") ==null?null:(String)map.get("resourceId");
+            // 在向下找agv终点位子
+            // 下一个节点机器人所属产线
+            TaskNode afterLastAgvTaskNode = taskNodeService.getNextNTaskNode(lastAgvTaskNode,1);
+            ZZoneProductionresource zoneProductionresource = zZoneProductionresourceMapper.selectOne(Wraps.<ZZoneProductionresource>lbQ().eq(ZZoneProductionresource::getResourceId,afterLastAgvTaskNode.getResourceId()));
+            //获取产线ID
+            Long agvGoalZoneId = zoneProductionresource.getZoneId();
+            ZZone agvGoalZone = zoneService.getById(agvGoalZoneId);
+            String[] jbwArr = DictionaryKey.YJ_ZONE_JBW.get(agvGoalZone.getName()).split(",");
             List<ProductionresourcePosition> jbwBList = productionresourcePositionService.getFreeProductionresourceAgvPositionByNos(jbwArr);
+            logger.info("节点{},查询线边库轮询终点接驳位接驳位数量{}",taskNode.getId(),jbwBList);
+            if(targetStorge!=null&&CollectionUtil.isNotEmpty(jbwBList)){
 
-            if (targetStorge != null && CollectionUtil.isNotEmpty(jbwBList)) {
                 ProductionresourcePosition position = null;
                 for(ProductionresourcePosition productionresourcePosition : jbwBList){
                     position = productionresourcePosition;
                     break;
                 }
+                logger.info("节点{},查询线边库轮询终点接驳位{}",taskNode.getId(),position);
                 if(null!=position){
-                    agvEndStationStorge = storgeService.getById(position.getStorgeId());
-
                     //更新到targetresourceid
-                    TaskNode lastAgvTaskNode = taskNodeService.getNextNTaskNode(taskNode,1);
-//                    TaskNode lastOperationTaskNode = taskNodeService.getOne(Wraps.<TaskNode>lbQ().eq(TaskNode::getTaskId, taskNode.getTaskId()).orderByDesc(TaskNode::getCompleteBatchSort).last("limit 1"));
+//                TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode,1);
                     taskNode.setTargetResourceId(Long.parseLong(targetResourceId));
                     lastAgvTaskNode.setTargetResourceId(position.getResourceId());
                     lastAgvTaskNode.setResourceId(taskNode.getTargetResourceId());
                     taskNodeService.updateById(taskNode);
                     taskNodeService.updateById(lastAgvTaskNode);
+                    logger.info("节点{},更新线边库轮询相应节点接驳位信息完成",taskNode.getId());
                 }
-                returnMap.put("store", targetStorge);
+
+                returnMap.put("store",targetStorge);
+                returnMap.put("targetxbk","0");
+
+            }else{//需要放到线边库
+                xbkFlag = "1";
             }
-        } else {
-            //目标设备
-            if (resourceId != null) {
-                List<ProductionresourcePosition> targetList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[]{resourceId.toString()});
-                if (CollectionUtil.isNotEmpty(targetList)) {
-                    targetStorge = storgeService.getById(targetList.get(0).getStorgeId());
-                    returnMap.put("store", targetStorge);
+        }else {
+            //
+            if(bomProcedureType.equals("下料")){
+                // 下料特殊处理，动态查找可用立库位子存放下料后的子盘夹具
+                Long storgeId = getLikuStockInList();
+                targetStorge = storgeService.getById(storgeId);
+                returnMap.put("store",targetStorge);
+                returnMap.put("targetxbk","0");
+            }else{
+                //目标设备
+                if(resourceId!=null){
+                    List<ProductionresourcePosition> targetList = productionresourcePositionService.getFreeProductionresourcePositionByIds(new String[] {resourceId.toString()});
+                    logger.info("节点{},查找目标设备可用信息{}",taskNode.getId(),targetList);
+                    if(CollectionUtil.isNotEmpty(targetList)){
+                        targetStorge = storgeService.getById(targetList.get(0).getStorgeId());
+                        returnMap.put("store",targetStorge);
+                        returnMap.put("targetxbk","0");
+
+                        if("1".equals(bomzZone.getRunMode())){//自动模式下，
+                            TaskNode nextTaskNode = taskNodeService.getNextNTaskNode(taskNode,1);
+                            if("04".equals(nextTaskNode.getInterfaceType())){//上料、下料、翻面
+                                xbkFlag = "1";
+                            }
+                        }
+                    }else{//需要放到线边库
+                        xbkFlag = "1";
+                    }
                 }
             }
         }
-        returnMap.put("agvEndStationStorge", agvEndStationStorge);
+
+        if("1".equals(xbkFlag)){//最终放到线边库中
+
+            returnMap.put("targetxbk","1");
+        }
         return returnMap;
     }
 
+    /**
+     * 立库获取终点位置，取空库位的数据
+     * @return
+     */
+    private long getLikuStockInList(){
+        List <StockInfo> returnList = null;
+
+        List<Productionresource> productionresources = productionresourceBizMapper.selectList(Wraps.<Productionresource>lbQ().like(Productionresource::getName,"立库"));
+        List<Long> productionresourceIds = productionresources.stream().map(t->t.getId()).collect(Collectors.toList());
+
+        if(CollectionUtil.isEmpty(productionresourceIds)){
+            return -1;
+        }
+        String resourceIds = "";
+        for(int i = 0; i < productionresourceIds.size(); i++){
+            if(i == productionresourceIds.size() - 1){
+                resourceIds = resourceIds + productionresourceIds.get(i);
+            }else{
+                resourceIds = resourceIds + productionresourceIds.get(i)+ ",";
+            }
+        }
+        Map queryMap = new HashMap();
+        queryMap.put("resourceIds",resourceIds);
+
+        // 判断夹具是否有可用的，查询330个库位信息中是否还有夹具
+
+        List<Long> allStockList = stockInfoMapper.getAvailableStorge(queryMap);
+        if(allStockList.size() > 0){
+            return allStockList.get(0);
+        }else{
+            return -1;
+        }
+    }
+
     /**
      * 设备动态逻辑判断处理
      *

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

@@ -535,9 +535,9 @@ public class RobotNodeServiceImpl implements NodeOperationService {
             TaskNode afterLastAgvTaskNode = taskNodeService.getNextNTaskNode(lastAgvTaskNode,1);
             ZZoneProductionresource zoneProductionresource = zZoneProductionresourceMapper.selectOne(Wraps.<ZZoneProductionresource>lbQ().eq(ZZoneProductionresource::getResourceId,afterLastAgvTaskNode.getResourceId()));
             //获取产线ID
-            zoneId = zoneProductionresource.getZoneId();
-            zZone = zoneService.getById(zoneId);
-            String[] jbwArr = DictionaryKey.YJ_ZONE_JBW.get(zZone.getName()).split(",");
+            Long agvGoalZoneId = zoneProductionresource.getZoneId();
+            ZZone agvGoalZone = zoneService.getById(agvGoalZoneId);
+            String[] jbwArr = DictionaryKey.YJ_ZONE_JBW.get(agvGoalZone.getName()).split(",");
             List<ProductionresourcePosition> jbwBList = productionresourcePositionService.getFreeProductionresourceAgvPositionByNos(jbwArr);
             log.info("节点{},查询终点接驳位接驳位数量{}",taskNode.getId(),jbwBList);
             if(targetStorge!=null&&CollectionUtil.isNotEmpty(jbwBList)){
@@ -547,7 +547,7 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                     position = productionresourcePosition;
                     break;
                 }
-                log.info("节点{},查询到起点接驳位{}",taskNode.getId(),position);
+                log.info("节点{},查询到终点接驳位{}",taskNode.getId(),position);
                 if(null!=position){
                     agvEndStationStorge =storgeService.getById(position.getStorgeId());
                     //更新到targetresourceid
@@ -652,7 +652,6 @@ public class RobotNodeServiceImpl implements NodeOperationService {
                 returnMap.put("targetxbk","1");
             }
         }
-        returnMap.put("agvEndStationStorge",agvEndStationStorge);
         return returnMap;
     }