package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.exception.CoolException;
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import com.zy.asrs.controller.CrnController;
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import com.zy.asrs.domain.enums.TaskStatusType;
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import com.zy.asrs.domain.enums.WorkNoType;
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import com.zy.asrs.domain.param.CrnOperatorParam;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.CommandUtils;
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import com.zy.asrs.utils.RouteUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.HttpHandler;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.RgvSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.BarcodeThread;
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import com.zy.core.thread.RgvThread;
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import com.zy.core.thread.SiemensDevpThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.io.IOException;
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import java.util.*;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private TaskWrkMapper taskWrkMapper;
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@Autowired
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private TaskWrkService taskWrkService;
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@Autowired
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private StaDescMapper staDescMapper;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private ApiLogService apiLogService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private BasRgvService basRgvService;
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@Autowired
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private WrkMastStaMapper wrkMastStaMapper;
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@Autowired
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private BasRgvMapMapper basRgvMapMapper;
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@Value("${wms.url}")
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private String wmsUrl;
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@Value("${wms.inboundTaskApplyPath}")
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private String inboundTaskApplyPath;
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@Value("${wms.movePath}")
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private String movePath;
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@Value("${wms.taskStatusFeedbackPath}")
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private String taskStatusFeedbackPath;
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@Autowired
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private CrnController crnController;
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@Value("${wms.rgvOpen}")
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private boolean rgvOpen;
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public void generateStoreWrkFile() throws IOException, InterruptedException {
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try {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Integer workNo = staProtocol.getWorkNo();
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Integer stano = staProtocol.getStaNo();
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "";
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if (staProtocol.isFrontErr()) {
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errMsg = "前超限";
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back = true;
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}
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if (!back && staProtocol.isBackErr()) {
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errMsg = "后超限";
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back = true;
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}
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if (!back && staProtocol.isHighErr()) {
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errMsg = "高超限";
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back = true;
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}
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if (!back && staProtocol.isLeftErr()) {
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errMsg = "左超限";
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back = true;
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}
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if (!back && staProtocol.isRightErr()) {
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errMsg = "右超限";
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back = true;
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}
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if (!back && staProtocol.isWeightErr()) {
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errMsg = "超重";
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back = true;
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}
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if (!back && staProtocol.isBarcodeErr()) {
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errMsg = "扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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if (stano == inSta.getBackSta().shortValue()){
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continue;
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}
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if (workNo == 0 && stano == 0){
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continue;
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}
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if (!staProtocol.isPakMk()){
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continue;
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}
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// News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
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staProtocol.setWorkNo(workNo);
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staProtocol.setStaNo(inSta.getStaNo());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
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if (taskWrk != null) {
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taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
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taskWrk.setModiTime(new Date());
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taskWrkMapper.updateById(taskWrk);
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}
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continue;
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}
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (workNo == 9991 )
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&& staProtocol.isPakMk()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if(!Cools.isEmpty(barcode) && !barcode.equals("99999999")) {
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// 请求wms接口，获取工作号和目标库位
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ToWmsDTO toWmsDTO = new ToWmsDTO(barcode,staProtocol.getSiteId(),staProtocol.isHigh() ? 2 : 1);
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TaskWrk taskWrk1=taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode",barcode));
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if(!Cools.isEmpty(taskWrk1)){
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log.info("托盘码："+barcode+"任务档存在");
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if (taskWrk1.getIoType()==1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())){
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StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", taskWrk1.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
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if (Cools.isEmpty(staDesc)){
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log.info("托盘码："+barcode+"任务档存在");
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return;
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}else {
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staProtocol.setWorkNo(taskWrk1.getWrkNo());
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staProtocol.setStaNo(staDesc.getCrnStn());
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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}
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}
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return;
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}
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HashMap<String, Object> headParam = new HashMap<>();
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headParam.put("Content-Type","application/json");
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String response;
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try{
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response = new HttpHandler.Builder()
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// .setHeaders(headParam)
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.setUri(wmsUrl)
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.setPath(inboundTaskApplyPath)
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.setJson(JSON.toJSONString(toWmsDTO))
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.build()
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.doPost();
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}catch (Exception e){
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log.error("请求入库调用接口失败");
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log.error("异常信息打印："+e);
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try{
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BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
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if (Cools.isEmpty(basDevp)){
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log.error("站点号异常"+inSta.getStaNo());
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} else if (basDevp.getStaErr()!=0){
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basDevp.setStaErr(2);
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basDevpService.updateById(basDevp);
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}
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}catch (Exception e1){
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// 退回
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log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e1);
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}
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staProtocol.setWorkNo(9999);
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staProtocol.setStaNo(inSta.getStaNo());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
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// if (taskWrk != null) {
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// taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
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// taskWrkMapper.updateById(taskWrk);
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// }
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continue;
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}
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JSONObject jsonObject = JSON.parseObject(response);
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apiLogService.save("wms请求入库货位接口"
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,wmsUrl+inboundTaskApplyPath
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,null
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,"127.0.0.1"
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,JSON.toJSONString(toWmsDTO)
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,response
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,true
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);
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log.info("入库请求参数{}" + JSON.toJSONString(toWmsDTO));
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log.info("入库请求返回参数{}" + JSON.toJSONString(response));
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if (jsonObject.getInteger("code").equals(200) && !Cools.isEmpty(jsonObject.get("data").toString())) {
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GetWmsDto getWmsDto = JSON.parseObject(jsonObject.get("data").toString(), GetWmsDto.class);
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try{
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BasDevp basDevp = basDevpService.selectById(inSta.getStaNo());
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if (Cools.isEmpty(basDevp)){
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log.error("站点号异常1"+inSta.getStaNo());
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throw new CoolException("站点号异常1,未查询到站点信息"+inSta.getStaNo());
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}
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Integer staNoCrnNo = Utils.StaNoCrnNo(inSta.getStaNo());
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if (staNoCrnNo==0){
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basDevp.setStaErr(1);
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basDevpService.updateById(basDevp);
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log.error("站点号异常2"+inSta.getStaNo());
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throw new CoolException("站点号异常2,站点号不存在"+inSta.getStaNo());
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}else {
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LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
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.eq("crn_no", staNoCrnNo.longValue())
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.eq("loc_no", getWmsDto.getLocNo()));
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if (Cools.isEmpty(locMast)){
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basDevp.setStaErr(1);
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basDevpService.updateById(basDevp);
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log.error("站点号异常3"+inSta.getStaNo());
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throw new CoolException("站点号异常3：此巷道不存在目标库位"+inSta.getStaNo());
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}
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}
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} catch (Exception e){
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// log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e);
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// 退回
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log.error("扫码检测程序异常"+inSta.getStaNo()+errMsg);
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log.error("扫码检测程序异常,异常信息"+e);
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staProtocol.setWorkNo(9999);
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staProtocol.setStaNo(inSta.getStaNo());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
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// if (taskWrk != null) {
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// taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
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// taskWrkMapper.updateById(taskWrk);
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// }
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continue;
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}
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//查看该库位是否为空库位
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LocMast locMast=locMastService.selectOne(new EntityWrapper<LocMast>()
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.eq("loc_sts","O")
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.eq("loc_no",getWmsDto.getLocNo()));
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if(Cools.isEmpty(locMast)){
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try{
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HashMap<String, Object> headParam1 = new HashMap<>();
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headParam1.put("taskNo",getWmsDto.getTaskNo());
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headParam1.put("status",6);
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headParam1.put("ioType",1);
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headParam1.put("barcode",barcode);
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String response2;
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response2 = new HttpHandler.Builder()
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// .setHeaders(headParam)
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.setUri(wmsUrl)
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.setPath(taskStatusFeedbackPath)
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.setJson(JSON.toJSONString(headParam1))
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.build()
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.doPost();
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JSONObject jsonObject1 = JSON.parseObject(response2);
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apiLogService.save("wcs派发库位==》不为空《==上报wms"
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,wmsUrl+taskStatusFeedbackPath
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,null
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,"127.0.0.1"
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,JSON.toJSONString(headParam1)
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,response
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,true
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);
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}catch (Exception e){
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log.error("wcs派发库位==》不为空《==上报wms", getWmsDto.getWrkNo());
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throw new CoolException("wcs派发入库任务上报wms失败,派发库位==》不为空《==，异常信息："+e);
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}
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}
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// 创新一个入库工作档
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TaskWrk taskWrk = taskWrkService.selectByTaskNo(getWmsDto.getWrkNo());
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if(Cools.isEmpty(taskWrk)) {
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taskWrk = createTask(getWmsDto,barcode);
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if (Cools.isEmpty(taskWrk)){
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log.error("库位异常，库位号：{}", getWmsDto.getTargetLocationCode());
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}else {
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taskWrkService.insert(taskWrk);
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StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
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staProtocol.setWorkNo(taskWrk.getWrkNo());
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staProtocol.setStaNo(staDesc.getCrnStn());
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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}
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}
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}else {
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continue;
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}
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} else {
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// 退回
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log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
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staProtocol.setWorkNo(9999);
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staProtocol.setStaNo(inSta.getStaNo());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
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if (taskWrk != null) {
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taskWrk.setMemo(errMsg);//将错误码存入备注字段进行展示
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taskWrk.setModiTime(new Date());
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taskWrkMapper.updateById(taskWrk);
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}
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}
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}
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}
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}
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} catch (Exception e) {
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log.error("generateStoreWrkFile e", e);
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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/**
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* 堆垛机站出库到出库站
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*/
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public void crnStnToOutStn() {
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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// 遍历堆垛机出库站
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for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs){
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try{
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// 获取堆垛机出库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
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// 查询工作档
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TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
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if (taskWrk == null) {
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continue;
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}
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log.info("下发输送线任务：taskWrk:"+JSON.toJSONString(taskWrk));
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// R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
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staProtocol.setWorkNo(taskWrk.getWrkNo());
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staProtocol.setStaNo(staDesc.getCrnStn());
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boolean offer = false;
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try{
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offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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}catch (Exception e){
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log.error("下发输送线任务失败：异常:"+e);
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log.error("下发输送线任务失败：异常:offer:"+offer);
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}
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// JSONObject jsonObject = JSON.parseObject(JSON.toJSONString(r));
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if (offer){
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log.info("下发输送线任务成功：taskWrk:"+JSON.toJSONString(taskWrk));
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Date now = new Date();
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taskWrk.setStatus(5);
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taskWrk.setWrkSts(14);
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taskWrk.setModiTime(now);
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taskWrk.setCompleteTime(now);
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taskWrkService.updateById(taskWrk);
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}else {
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log.error("下发输送线任务失败：taskWrk:"+JSON.toJSONString(taskWrk));
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// log.error("下发输送线任务失败：异常信息:"+JSON.toJSONString(r));
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}
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}
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}catch (Exception e){
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log.error("出库到出库站异常:异常信息："+e);
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}
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}
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}
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}
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}
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/**
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* 入出库 ===>> 堆垛机入出库作业下发
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*/
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public synchronized void crnIoExecute() throws IOException {
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for (CrnSlave crn : slaveProperties.getCrn()) {
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// 获取堆垛机信息
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) { continue; }
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BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
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if (basCrnp == null) {
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log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
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continue;
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}
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// 库位移转
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this.locToLoc(crn, crnProtocol);
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// 只有当堆垛机空闲 并且 无任务时才继续执行
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if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
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&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
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// 如果最近一次是入库模式
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if (crnProtocol.getLastIo().equals("I")) {
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if (basCrnp.getInEnable().equals("Y")) {
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this.crnStnToLoc(crn, crnProtocol); // 入库
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crnProtocol.setLastIo("O");
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} else if (basCrnp.getOutEnable().equals("Y")) {
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this.locToCrnStn(crn, crnProtocol); // 出库
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crnProtocol.setLastIo("I");
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}
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}
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// 如果最近一次是出库模式
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else if (crnProtocol.getLastIo().equals("O")) {
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if (basCrnp.getOutEnable().equals("Y")) {
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this.locToCrnStn(crn, crnProtocol); // 出库
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crnProtocol.setLastIo("I");
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} else if (basCrnp.getInEnable().equals("Y")) {
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this.crnStnToLoc(crn, crnProtocol); // 入库
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crnProtocol.setLastIo("O");
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}
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}
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}
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}
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}
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/**
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* 入库 ===>> 堆垛机站到库位
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*/
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public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
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for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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boolean flag = false;
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// 获取堆垛机入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
|
&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
|
flag = true;
|
}
|
if (!flag) {
|
continue;
|
}
|
|
// 获取工作状态为2（设备上走）的入库工作档
|
TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
|
if(null == taskWrk) {
|
continue;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
|
// taskWrk.setWrkNo(workNo);//工作号
|
Date now = new Date();
|
taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
|
// taskWrk.setAssignTime(now);//派发时间
|
taskWrk.setExecuteTime(now);
|
taskWrk.setWrkSts(3);//工作状态 3.吊车入库
|
taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
|
taskWrk.setModiTime(now);
|
taskWrk.setModiUser(9988L);
|
|
// //取出命令
|
// List<CommandInfo> commandInfos = commandInfoService.selectByTaskNo(taskWrk.getTaskNo());
|
// Integer commandStep = taskWrk.getCommandStep();
|
// if (commandInfos.isEmpty()) {
|
// continue;//命令空
|
// }
|
// CommandInfo commandInfo = commandInfos.get(commandStep);
|
// CommandPackage commandPackage = JSON.parseObject(commandInfo.getCommand(), CommandPackage.class);//取出命令报文
|
// CrnCommand crnCommand = JSON.parseObject(commandPackage.getCommand().toString(), CrnCommand.class);
|
//
|
// if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
|
// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
// } else {
|
// // 修改工作档状态 2.设备上走 => 3.吊车入库中
|
// Date now = new Date();
|
// taskWrk.setWrkSts(3);
|
// taskWrk.setModiTime(now);
|
// if (taskWrkMapper.updateById(taskWrk) == 0) {
|
// log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
// }
|
// //开始运行
|
// String response = CrnStartRunning(taskWrk);
|
// JSONObject jsonObject = JSON.parseObject(response);
|
// if (jsonObject.getInteger("code").equals(200)) {
|
//
|
// }else {
|
// log.error("入库开始运行通讯失败,"+jsonObject.get("msg"));
|
//
|
// }
|
// }
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位列
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排
|
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
|
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
|
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
|
crnCommand.setCommand((short)1);
|
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
|
log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
throw new CoolException("堆垛机命令生成失败");
|
}else{
|
try{
|
taskWrkService.updateById(taskWrk);
|
}catch (Exception e){
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，异常："+e);
|
}
|
try{
|
HashMap<String, Object> headParam = new HashMap<>();
|
headParam.put("taskNo",taskWrk.getTaskNo());
|
headParam.put("status",taskWrk.getStatus());
|
headParam.put("ioType",taskWrk.getIoType());
|
headParam.put("barcode",taskWrk.getBarcode());
|
String response;
|
response = new HttpHandler.Builder()
|
// .setHeaders(headParam)
|
.setUri(wmsUrl)
|
.setPath(taskStatusFeedbackPath)
|
.setJson(JSON.toJSONString(headParam))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
apiLogService.save("wcs派发入库任务上报wms"
|
,wmsUrl+taskStatusFeedbackPath
|
,null
|
,"127.0.0.1"
|
,JSON.toJSONString(headParam)
|
,response
|
,true
|
);
|
} catch (Exception e){
|
log.error("wcs派发入库任务上报wms失败", JSON.toJSONString(taskWrk));
|
// throw new CoolException("wcs派发入库任务上报wms失败");
|
}
|
|
}
|
}
|
|
// return;
|
}
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
|
*/
|
public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
|
List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
|
if (taskWrksInitial.size()==0){
|
return;
|
}
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
|
for (StaDesc staDesc : staDescs){
|
// 获取工作状态为11（生成出库ID）的出库工作档
|
List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(),staDesc.getStnNo().toString());
|
for (TaskWrk taskWrk : taskWrks){
|
if (taskWrk == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
}
|
|
// 判断堆垛机出库站状态
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
|
&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
break;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
break;
|
}
|
|
CrnCommand command = new CrnCommand();
|
command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
|
command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
|
command.setAckFinish((short) 0); // 任务完成确认位
|
command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
|
command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
|
command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
|
command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
|
command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
command.setCommand((short)1);
|
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command),false)) {
|
log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));
|
throw new CoolException("堆垛机命令生成失败");
|
}else{
|
try{
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
taskWrk.setWrkSts(12);
|
taskWrk.setStatus(2);
|
taskWrk.setModiTime(now);
|
taskWrk.setExecuteTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
}catch (Exception e){
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，异常："+e);
|
}
|
try{
|
HashMap<String, Object> headParam = new HashMap<>();
|
headParam.put("taskNo",taskWrk.getTaskNo());
|
headParam.put("status",taskWrk.getStatus());
|
headParam.put("ioType",taskWrk.getIoType());
|
headParam.put("barcode",taskWrk.getBarcode());
|
String response;
|
response = new HttpHandler.Builder()
|
// .setHeaders(headParam)
|
.setUri(wmsUrl)
|
.setPath(taskStatusFeedbackPath)
|
.setJson(JSON.toJSONString(headParam))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
apiLogService.save("wcs派发出库任务上报wms"
|
,wmsUrl+taskStatusFeedbackPath
|
,null
|
,"127.0.0.1"
|
,JSON.toJSONString(headParam)
|
,response
|
,true
|
);
|
}catch (Exception e){
|
log.error("wcs派发出库任务上报wms失败", JSON.toJSONString(taskWrk));
|
// throw new CoolException("wcs派发入库任务上报wms失败");
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的移库工作档
|
List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
|
.eq("\"crn_no\"",slave.getId())
|
.eq("\"wrk_sts\"",11)
|
.eq("\"io_type\"",3)
|
.orderBy("\"io_pri\"",false));
|
for (TaskWrk taskWrk : taskWrks){
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
// if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
|
// String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
|
// TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
|
// if (!Cools.isEmpty(hallowLocNoTask)){
|
// continue;
|
// }
|
// }
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
|
continue;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
|
|
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
|
crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
|
crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
|
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
|
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
|
crnCommand.setCommand((short) 1);
|
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand),false)) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
taskWrk.setWrkSts(12);
|
taskWrk.setStatus(2);
|
taskWrk.setModiTime(now);
|
taskWrk.setExecuteTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
try{
|
HashMap<String, Object> headParam = new HashMap<>();
|
headParam.put("taskNo",taskWrk.getTaskNo());
|
headParam.put("status",taskWrk.getStatus());
|
headParam.put("ioType",taskWrk.getIoType());
|
headParam.put("barcode",taskWrk.getBarcode());
|
String response;
|
response = new HttpHandler.Builder()
|
// .setHeaders(headParam)
|
.setUri(wmsUrl)
|
.setPath(taskStatusFeedbackPath)
|
.setJson(JSON.toJSONString(headParam))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
apiLogService.save("wcs派发移库任务上报wms"
|
,wmsUrl+taskStatusFeedbackPath
|
,null
|
,"127.0.0.1"
|
,JSON.toJSONString(headParam)
|
,response
|
,true
|
);
|
}catch (Exception e){
|
log.error("wcs派发移库库任务上报wms失败", taskWrk);
|
// throw new CoolException("wcs派发移库库任务上报wms失败");
|
}
|
|
}
|
return;
|
}
|
}
|
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public void storeFinished() throws InterruptedException {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (!Cools.isEmpty(crnProtocol.getTaskFinish()) && crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
//获取入库待确认工作档
|
TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
|
if (Cools.isEmpty(taskWrk)&&crnProtocol.getTaskNo() !=999) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
continue;
|
}
|
Thread.sleep(300);
|
//确认完成信号
|
CrnOperatorParam crnOperatorParam=new CrnOperatorParam();
|
crnOperatorParam.setCrnNo(crn.getId());
|
Date now = new Date();
|
|
crnController.crnTaskComplete(crnOperatorParam);
|
if(!Cools.isEmpty(taskWrk)){
|
if(taskWrk.getIoType()==1 && taskWrk.getWrkSts()==3){
|
taskWrk.setWrkSts(4);//入库完成
|
taskWrk.setStatus(5);//完结
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
|
locMast.setLocSts("F");//F.在库
|
locMast.setBarcode(taskWrk.getBarcode());//托盘码
|
locMast.setModiTime(now);
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
}else if(taskWrk.getIoType()==2&&taskWrk.getWrkSts()==12){
|
taskWrk.setWrkSts(13);//出库完成
|
taskWrk.setStatus(5);//完结
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
|
locMast.setLocSts("O");//O.空库位
|
locMast.setBarcode("");//托盘码
|
locMast.setModiTime(now);
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
}else if(taskWrk.getIoType()==3&&taskWrk.getWrkSts()==12){
|
taskWrk.setWrkSts(4);//入库完成
|
taskWrk.setStatus(5);//完结
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
|
locMast.setLocSts("F");//F.在库
|
locMast.setBarcode(taskWrk.getBarcode());//托盘码
|
locMast.setModiTime(now);
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
|
LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
|
locMast1.setLocSts("O");//O.空库位
|
locMast1.setBarcode("");//托盘码
|
locMast1.setModiTime(now);
|
locMast1.setModiUser(9999L);
|
locMastService.updateById(locMast1);
|
}
|
taskWrk.setModiTime(now);
|
taskWrk.setCompleteTime(now);
|
taskWrkService.updateById(taskWrk);
|
|
|
try{
|
HashMap<String, Object> headParam = new HashMap<>();
|
headParam.put("taskNo",taskWrk.getTaskNo());
|
headParam.put("status",taskWrk.getStatus());
|
headParam.put("ioType",taskWrk.getIoType());
|
headParam.put("barcode",taskWrk.getBarcode());
|
String response;
|
log.error("wcs完结任务上报wms==》", headParam);
|
|
response = new HttpHandler.Builder()
|
// .setHeaders(headParam)
|
.setUri(wmsUrl)
|
.setPath(taskStatusFeedbackPath)
|
.setJson(JSON.toJSONString(headParam))
|
.build()
|
.doPost();
|
log.error("wcs完结任务上报wms==》", response);
|
|
// JSONObject jsonObject = JSON.parseObject(response);
|
// log.error("wcs完结任务上报wms==》", jsonObject);
|
|
apiLogService.save("wcs派发入库任务上报wms"
|
,wmsUrl+taskStatusFeedbackPath
|
,null
|
,"127.0.0.1"
|
,JSON.toJSONString(headParam)
|
,response
|
,true
|
);
|
}catch (Exception e){
|
log.error("wcs完结任务上报wms失败", taskWrk);
|
log.error("wcs完结任务上报wms失败,报错信息：", e);
|
// throw new CoolException("wcs派发入库任务上报wms失败");
|
}
|
}
|
|
}
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
public void recCrnErr(){
|
Date now = new Date();
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
if (false) {
|
// if (crnProtocol.getModeType() != CrnModeType.STOP) {
|
// 有任务
|
if (crnProtocol.getTaskNo() != 0) {
|
BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
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
|
crn.getId(), // 堆垛机
|
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
|
(int) crnProtocol.getAlarm(), // 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
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasErrLog latest = basErrLogService.findLatest(crn.getId());
|
// 有异常
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
null, // 编号
|
null, // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
null, // 工作状态
|
null, // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int)crnProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"无任务异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
private TaskWrk createTask(GetWmsDto dto, String barcode){
|
String wcsLocNo = dto.getLocNo();
|
if(Cools.isEmpty(wcsLocNo)){
|
return null;
|
}
|
Date now = new Date();
|
TaskWrk taskWrk = new TaskWrk();
|
int workNo1 = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
|
taskWrk.setTaskNo(dto.getWrkNo());//任务号
|
taskWrk.setWrkNo(workNo1);
|
taskWrk.setStatus(TaskStatusType.RECEIVE.id);//任务状态：接收
|
taskWrk.setCreateTime(now);
|
taskWrk.setAssignTime(now);
|
taskWrk.setModiTime(now);
|
taskWrk.setModiUser(5555L);
|
taskWrk.setIoType(1);//任务类型
|
taskWrk.setIoPri(Cools.isEmpty(dto.getTaskPriority()) ? 300 : Integer.parseInt(dto.getTaskPriority()));//优先级
|
taskWrk.setBarcode(barcode);//条码
|
LocMast locMast = locMastService.selectByLocNo(wcsLocNo);
|
taskWrk.setCrnNo(locMast.getCrnNo());
|
taskWrk.setTargetPoint(wcsLocNo);
|
taskWrk.setStartPoint(dto.getStaNo().toString());
|
if(taskWrk.getIoType() == 1){
|
taskWrk.setWrkSts(2);
|
if (!Cools.isEmpty(taskWrk.getTargetPoint())) {
|
taskWrk.setOriginTargetPoint(taskWrk.getTargetPoint());
|
}
|
|
// } else if (param.getIoType() == 2) {
|
// taskWrk.setWrkSts(11);
|
// if (!Cools.isEmpty(param.getStartPoint())) {
|
// taskWrk.setStartPoint(Utils.getWcsLocNo(param.getStartPoint()));//起点
|
// taskWrk.setOriginStartPoint(param.getStartPoint());
|
// }
|
// taskWrk.setTargetPoint(param.getTargetPoint());
|
// }else if (param.getIoType() == 3){
|
// taskWrk.setWrkSts(11);
|
// if (!Cools.isEmpty(param.getStartPoint())) {
|
// taskWrk.setStartPoint(param.getStartPoint());//起点
|
// taskWrk.setOriginStartPoint(param.getStartPoint());
|
// }
|
}
|
return taskWrk;
|
}
|
/**
|
* 完成小车任务
|
*/
|
public synchronized void rgvCompleteWrkMastSta() {
|
try{
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
continue;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
continue;
|
}
|
|
// 只有当RGV等待WCS确认、自动
|
if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) ||
|
(rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
|
) {
|
log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
|
if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
|
if (rgvProtocol.getTaskNo1()==(short)32222){
|
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
|
if (!rgvComplete){
|
log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
|
}
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
|
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
|
break;
|
}
|
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
|
if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
|
log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
|
continue;
|
}
|
/* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
|
if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
|
Thread.sleep(200);
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
|
continue;
|
}
|
// 下发站点信息
|
staProtocol.setWorkNo(wrkMast.getWrkNo());
|
staProtocol.setStaNo(wrkMast.getStaNo());
|
if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
|
continue;
|
}
|
log.error("小车任务完成下发输送线任务："+staProtocol);
|
// try{
|
// Thread.sleep(1000);
|
// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
|
// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
|
// if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
|
// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
|
// staProtocolEnd.setStaNo(wrkMast.getStaNo());
|
// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
|
// continue;
|
// }
|
// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
|
// }
|
// }catch (Exception e){
|
//
|
// }
|
}*/
|
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
|
if (!rgvComplete){
|
log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
|
break;
|
}
|
wrkMastSta.setWrkSts(3);
|
wrkMastStaMapper.updateById(wrkMastSta);
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
|
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
|
}else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
|
if (rgvProtocol.getTaskNo2()==(short)32222){
|
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
|
if (!rgvComplete){
|
log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
|
}
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
|
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
|
break;
|
}
|
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
|
if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
|
log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
|
continue;
|
}
|
/*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
|
if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
|
Thread.sleep(200);
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
|
if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
|
continue;
|
}
|
// 下发站点信息
|
staProtocol.setWorkNo(wrkMast.getWrkNo());
|
staProtocol.setStaNo(wrkMast.getStaNo());
|
if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
|
continue;
|
}
|
log.error("小车任务完成下发输送线任务："+staProtocol);
|
// try{
|
// Thread.sleep(1000);
|
// DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
// StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
|
// log.error("小车任务完成读取输送线任务："+staProtocolEnd);
|
// if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
|
// staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
|
// staProtocolEnd.setStaNo(wrkMast.getStaNo());
|
// if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
|
// continue;
|
// }
|
// log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
|
// }
|
// }catch (Exception e){
|
//
|
// }
|
}*/
|
boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
|
if (!rgvComplete){
|
log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
|
break;
|
}
|
wrkMastSta.setWrkSts(3);
|
wrkMastStaMapper.updateById(wrkMastSta);
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
|
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
|
}else {
|
log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("小车复位线程报错！"+e);
|
}
|
}
|
/**
|
* 入出库 ===>> 小车作业下发
|
*/
|
public synchronized boolean rgvIoExecute(Integer sign) {
|
boolean rgvIoExecuteSign = false;
|
try{
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
// 获取小车信息
|
boolean signWork = false;
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
continue;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
continue;
|
}
|
|
// 只有当RGV空闲、自动,工位一无物//rgv可用
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getLoaded1()==0
|
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
|
) {
|
switch (sign){
|
//执行小车货物搬运任务
|
case 1:
|
signWork = rgvRunWrkMastFullSta(rgvSlave);
|
break;
|
//执行小车空板搬运任务
|
case 2://放//拆盘
|
signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
|
break;
|
case 3://满放
|
signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
|
break;
|
case 4://取叠盘
|
signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
|
break;
|
case 6:////提升
|
// signWork = qwe();
|
break;
|
default:
|
break;
|
}
|
for (int signCount = 1;!signWork && signCount<7;signCount++){
|
switch (signCount){
|
case 1://执行小车货物搬运任务
|
signWork = rgvRunWrkMastFullSta(rgvSlave);
|
break;
|
case 2://放//拆盘
|
signWork = rgvRunWrkMastEmptyStaPut(rgvSlave);
|
break;
|
case 3://满放
|
signWork = rgvRunWrkMastEmptyStaPutFull(rgvSlave);
|
break;
|
case 4://取叠盘
|
signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
|
break;
|
case 6:////提升
|
// signWork = rgvRunWrkMastEmptyStaPut();
|
break;
|
default:
|
break;
|
}
|
}
|
}else {
|
continue;
|
}
|
if (!rgvIoExecuteSign){
|
rgvIoExecuteSign = signWork;
|
}
|
}
|
// if (!rgvIoExecuteSign){
|
// if (sign>6){
|
//
|
// }
|
// }
|
}catch (Exception e){
|
log.error("RGV小车任务下发报错"+e);
|
}
|
return rgvIoExecuteSign;
|
}
|
|
/**
|
* 执行小车搬运任务
|
*/
|
public synchronized boolean rgvRunWrkMastFullSta(RgvSlave rgvSlave) {
|
try{
|
// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
return false;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
return false;
|
}
|
|
// 只有当RGV空闲、自动,工位一无物//rgv可用
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getLoaded1()==0
|
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
|
) {
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(basRgv.getRgvNo());
|
if (basRgvMap == null) {
|
log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
|
return false;
|
}
|
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
|
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
|
for (WrkMastSta wrkMastSta : wrkMastStaList){
|
if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版 3：取放
|
continue;
|
}
|
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
|
if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
|
continue;
|
}
|
Date date = new Date();
|
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
|
if (staProtocol == null) {
|
log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
|
continue;
|
}
|
if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
|
continue;
|
}
|
if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
|
if (staProtocol.isLoadingSuper()){
|
continue;
|
}
|
}
|
if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
|
if (!staProtocol.isEmptyMk()){
|
continue;
|
}
|
}
|
BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
|
if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
|
continue;
|
}
|
StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
|
if (staProtocols == null) {
|
log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
|
continue;
|
}
|
if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
|
continue;
|
}
|
|
|
log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
|
log.info(date+"取放任务下发：目标站状态："+basDevp);
|
boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
|
if (sign){
|
boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
|
if (signMap){
|
wrkMastSta.setWrkSts(1);
|
try{
|
wrkMastStaMapper.updateById(wrkMastSta);
|
}catch (Exception e){
|
log.error("更新小车任务失败");
|
}
|
return true;
|
}else {
|
log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
|
}
|
}else {
|
log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
|
}
|
break;
|
}
|
}
|
// }
|
}catch (Exception e){
|
log.error("3875行执行小车搬运任务下发失败");
|
log.error("3875行"+e);
|
}
|
return false;
|
}
|
/**
|
* 执行小车搬运任务//拆盘
|
*/
|
public synchronized boolean rgvRunWrkMastEmptyStaPut(RgvSlave rgvSlave) {//拆盘
|
try{
|
// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
return false;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
return false;
|
}
|
|
// 只有当RGV空闲、自动,工位二有物//rgv可用//拆盘
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
|
&& (rgvProtocol.getLoaded2()==3 || rgvProtocol.getLoaded2()==1 || rgvProtocol.getLoaded2()==4)////0 无物；1 一层无物二层有物 （只能拆叠） ；2一层有物二层无物() ；3 1、2层都有物 4：（）只允许拆盘
|
) {
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
if (basRgvMap == null) {
|
log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
|
return false;
|
}
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
|
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
|
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
|
for (WrkMastSta wrkMastSta : wrkMastStaList){
|
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=2){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
|
continue;
|
}
|
boolean sign = false;
|
if ( wrkMastSta.getStaEnd()!=0){//放
|
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
|
if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
|
continue;
|
}
|
Date date = new Date();
|
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
|
if (staProtocol == null) {
|
log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
|
continue;
|
}
|
if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
|
continue;
|
}
|
if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
|
if (staProtocol.isLoadingSuper()){
|
continue;
|
}
|
}
|
if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
|
if (!staProtocol.isEmptyMk()){
|
continue;
|
}
|
}
|
|
log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
|
log.info(date+"拆盘任务下发：目标站状态："+basDevp);
|
sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
|
}else {
|
continue;
|
}
|
if (sign){
|
boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
|
if (signMap){
|
wrkMastSta.setWrkSts(2);
|
try{
|
wrkMastStaMapper.updateById(wrkMastSta);
|
}catch (Exception e){
|
log.error("更新小车任务失败");
|
}
|
return true;
|
}else {
|
log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
|
}
|
}else {
|
log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
|
}
|
break;
|
}
|
}
|
// }
|
}catch (Exception e){
|
log.error("3933行执行小车放空板任务下发失败");
|
log.error("3933行"+e);
|
}
|
return false;
|
}
|
|
/**
|
* 执行小车搬运任务
|
*/
|
public synchronized boolean rgvRunWrkMastEmptyStaPutFull(RgvSlave rgvSlave) {//满放
|
try{
|
// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
return false;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
return false;
|
}
|
|
// 只有当RGV空闲、自动,工位二有物//rgv可用
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
|
&& (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘
|
) {
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
if (basRgvMap == null) {
|
log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
|
return false;
|
}
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
|
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());//获取活动范围
|
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);//查询可执行任务
|
for (WrkMastSta wrkMastSta : wrkMastStaList){
|
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=6){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放 7:提升
|
continue;
|
}
|
boolean sign = false;
|
if ( wrkMastSta.getStaEnd()!=0){//满放
|
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
|
if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
|
continue;
|
}
|
Date date = new Date();
|
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
|
if (staProtocol == null) {
|
log.info(date+"满放任务下发：未查询到站点信息："+wrkMastSta);
|
continue;
|
}
|
if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
|
continue;
|
}
|
if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
|
if (staProtocol.isLoadingSuper()){
|
continue;
|
}
|
}
|
if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
|
if (!staProtocol.isEmptyMk()){
|
continue;
|
}
|
}
|
|
log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
|
log.info(date+"满放任务下发：目标站状态："+basDevp);
|
sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
|
}else {
|
continue;
|
}
|
if (sign){
|
boolean signMap = rgvMapUpdate(basRgvMap, basRgvMap.getStartRoute(), wrkMastSta.getStaEnd());
|
if (signMap){
|
wrkMastSta.setWrkSts(2);
|
try{
|
wrkMastStaMapper.updateById(wrkMastSta);
|
}catch (Exception e){
|
log.error("更新小车任务失败");
|
}
|
return true;
|
}else {
|
log.error("3857行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
|
}
|
}else {
|
log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
|
}
|
break;
|
}
|
}
|
// }
|
}catch (Exception e){
|
log.error("3933行执行小车放空板任务下发失败");
|
log.error("3933行"+e);
|
}
|
return false;
|
}
|
|
public synchronized boolean rgvRunWrkMastEmptyStaTake(RgvSlave rgvSlave) {//叠盘
|
try{
|
// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
return false;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
return false;
|
}
|
|
// 只有当RGV空闲、自动,工位二无物//rgv可用
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
|
&& (rgvProtocol.getLoaded2()==0 || rgvProtocol.getLoaded2()==1 ) //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠） ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘
|
) {
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
if (basRgvMap == null) {
|
log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
|
return false;
|
}
|
List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
|
List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
|
for (WrkMastSta wrkMastSta : wrkMastStaList){
|
if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=1){// 2:空板 || 工作类型 1:取（叠盘） 2：拆盘 5：满取 6：满放
|
continue;
|
}
|
boolean sign = false;
|
if ( wrkMastSta.getStaStart()!=0){//取
|
BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
|
if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
|
continue;
|
}
|
Date date = new Date();
|
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
|
if (staProtocol == null) {
|
log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
|
continue;
|
}
|
if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
|
continue;
|
}
|
if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
|
if (!staProtocol.isEmptyMk()){
|
continue;
|
}
|
}
|
|
log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
|
log.info(date+"叠盘任务下发：目标站状态："+basDevp);
|
sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
|
}else {
|
continue;
|
}
|
if (sign){
|
boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
|
if (signMap){
|
wrkMastSta.setWrkSts(1);
|
try{
|
wrkMastStaMapper.updateById(wrkMastSta);
|
}catch (Exception e){
|
log.error("更新小车任务失败");
|
}
|
return true;
|
}else {
|
log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
|
}
|
}else {
|
log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
|
}
|
break;
|
}
|
}
|
// }
|
}catch (Exception e){
|
log.error("3989行执行小车取空板任务下发失败");
|
log.error("3989行"+e);
|
}
|
return false;
|
}
|
|
/*
|
* 有任务但未执行 此时需要调整小车位置
|
* */
|
public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
|
try{
|
// Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
|
// if (integer==0){
|
// return;
|
// }
|
WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
|
if (Cools.isEmpty(wrkMastSta)){
|
return;
|
}
|
boolean signRgv = true;
|
boolean signRgv1 = true;
|
boolean signRgv2 = true;
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
continue;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
continue;
|
}
|
|
// 只有当RGV空闲、自动,工位一无物//rgv可用
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
|
&& rgvProtocol.getTaskNo1()==0
|
&& rgvProtocol.getTaskNo2()==0
|
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
) {
|
if (rgvProtocol.getRgvNo()!=1){
|
if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
|
continue;
|
}
|
rgvAvoidanceXY(rgvProtocol.getRgvNo());
|
// return;
|
continue;
|
}
|
if (!rgvProtocol.getRgvPosI().equals(110) && !rgvProtocol.getRgvPosI().equals(108) && !rgvProtocol.getRgvPosI().equals(119)){
|
continue;
|
}
|
Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
|
if (count108Y!=0){
|
continue;
|
}
|
// Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
|
// if (count108!=0){
|
// continue;
|
// }
|
rgvAvoidanceXY(rgvProtocol.getRgvNo());
|
continue;
|
// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
// Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
|
// List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
|
// List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
|
// if (!wrkMastStaList.isEmpty()){
|
// log.info("小车存在可执行任务，跳过避让！！4214");
|
// return;
|
// }
|
// if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
|
//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
|
//// if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
|
// if (rgvProtocol.getRgvNo()==1){
|
// signRgv1 = false;
|
// }else {
|
// signRgv2 = false;
|
// }
|
// }
|
// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
|
// signRgv1 = false;
|
// continue;
|
// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
|
// signRgv2 = false;
|
// continue;
|
// }
|
}else {
|
signRgv = false;
|
break;
|
}
|
}
|
// if (signRgv && (signRgv1 || signRgv2)){
|
// for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
// RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
// RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
// if (rgvProtocol == null) {
|
// continue;
|
// }
|
//
|
// // 只有当RGV空闲、自动,工位一无物//rgv可用
|
// if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
// && rgvProtocol.getModeType() == RgvModeType.AUTO
|
// && rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
|
// && rgvProtocol.getTaskNo1()==0
|
// && rgvProtocol.getTaskNo2()==0
|
// && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
// && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
// ) {
|
// if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
|
// continue;
|
// } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
|
// continue;
|
// }
|
// BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
|
// rgvAvoidanceXY(rgvProtocol.getRgvNo());
|
// rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
|
//
|
// }
|
// }
|
// }
|
}catch (Exception e){
|
log.error("4109行执行小车初始化任务下发失败");
|
log.error("4109行"+e);
|
}
|
}
|
|
/*
|
* 刷新地图数据
|
* */
|
public synchronized void refreshRgvMap() {
|
try{
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
continue;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
continue;
|
}
|
|
// 只有当RGV空闲、自动,工位一无物//rgv可用
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getLoaded1()==0 //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
|
&& rgvProtocol.getTaskNo1()==0
|
&& rgvProtocol.getTaskNo2()==0
|
) {
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvSlave.getId());
|
basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
|
rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
|
}
|
}
|
}catch (Exception e){
|
log.error("4109行执行小车初始化任务下发失败");
|
log.error("4109行"+e);
|
}
|
}
|
|
/*
|
* 小车XY移动 避让
|
* */
|
public synchronized boolean rgvAvoidanceXY(Integer rgvId){
|
if (rgvId==1){
|
try{
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
|
rgvCommand.setTaskNo1((short)32222); // 工位1工作号
|
rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式: 回原点
|
//basRgvMap.getLockStartRoute().shortValue()
|
rgvCommand.setSourceStaNo1( (short)104);
|
rgvCommand.setCommand((short) 1); //工位1任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
|
}
|
}else {
|
try{
|
BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvId);
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
|
rgvCommand.setTaskNo2((short)32222); // 工位2工作号
|
rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式: 回原点
|
rgvCommand.setSourceStaNo2((short)114);
|
rgvCommand.setCommand((short) 2); //工位2任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务 step=9，回原点 9999任务号
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
|
}
|
}
|
}
|
|
|
/*
|
* 小车取货至工位任务
|
* */
|
public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
|
rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
|
rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式: 取放货
|
rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
|
rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
|
rgvCommand.setCommand((short) 1); //工位1任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 小车取货至工位任务
|
* */
|
public synchronized boolean rgvTakeFull(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
|
rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
|
rgvCommand.setTaskMode1(RgvTaskModeType.FETCH); // 工位1任务模式: 取货
|
rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue()); //工位1起点
|
rgvCommand.setCommand((short) 1); //工位1任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 小车放货至输送线任务
|
* */
|
public synchronized boolean rgvPutFull(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish1((short) 0); // 工位1任务完成确认位
|
rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().shortValue()); // 工位1工作号
|
rgvCommand.setTaskMode1(RgvTaskModeType.PUT); // 工位1任务模式: 放货
|
rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue()); //工位1目标站点
|
rgvCommand.setCommand((short) 1); //工位1任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 小车取空板至工位任务 叠盘
|
* */
|
public synchronized boolean rgvTakeEmpty(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
|
rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
|
rgvCommand.setTaskMode2(RgvTaskModeType.FETCH); // 工位2任务模式: 取货
|
rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
|
rgvCommand.setCommand((short) 2); //工位2任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 小车放空板至输送线任务 //拆盘
|
* */
|
public synchronized boolean rgvPutEmpty(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
|
rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
|
rgvCommand.setTaskMode2(RgvTaskModeType.PUT); // 工位2任务模式: 放货
|
rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
|
rgvCommand.setCommand((short) 2); //工位2任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 小车取空板至工位任务 满取
|
* */
|
public synchronized boolean rgvTakeEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
|
rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
|
rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式: 满取
|
rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
|
rgvCommand.setCommand((short) 2); //工位2任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 小车放空板至输送线任务 //满放
|
* */
|
public synchronized boolean rgvPutEmptyFull(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
|
rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
|
rgvCommand.setTaskMode2(RgvTaskModeType.PUT_6); // 工位2任务模式: 满放
|
rgvCommand.setDestinationStaNo2(wrkMastSta.getStaEnd().shortValue()); //工位2目标站点
|
rgvCommand.setCommand((short) 2); //工位2任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 小车复位
|
* */
|
public synchronized boolean rgvComplete(Integer rgvId){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(3, new RgvCommand()))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}",rgvId);
|
return false;
|
} else {
|
log.info("RGV命令下发成功，RGV号={}",rgvId);
|
return true;
|
}
|
}catch (Exception e){
|
log.error("RGV命令下发失败，RGV号={}。异常："+e,rgvId);
|
return false;
|
}
|
}
|
|
/*
|
* 小车地图更新 更新锁
|
* */
|
public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
|
if (rgvOpen){
|
return true;
|
}
|
|
// List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
|
//更新当前小车锁
|
try{
|
Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
|
// Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
|
Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
|
basRgvMapCurrent.setLockEndRoute(fallMerge);
|
basRgvMapMapper.updateById(basRgvMapCurrent);
|
|
//更新另一台小车地图
|
Integer rgvNoOther = basRgvMapCurrent.getRgvNoOther();
|
BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
|
List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
|
Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
|
Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
|
basRgvMapOther.setEndRoute(lockEndRouteL);
|
basRgvMapMapper.updateById(basRgvMapOther);
|
return true;
|
}catch (Exception e){
|
log.error("小车地图更新出错！");
|
return false;
|
}
|
}
|
|
}
|
