package com.zy.asrs.service.impl;
|
|
import com.alibaba.fastjson.JSON;
|
import com.alibaba.fastjson.JSONObject;
|
import com.baomidou.mybatisplus.mapper.EntityWrapper;
|
import com.core.common.Cools;
|
import com.core.common.SpringUtils;
|
import com.core.exception.CoolException;
|
import com.zy.asrs.entity.*;
|
import com.zy.asrs.mapper.*;
|
import com.zy.asrs.service.*;
|
import com.zy.asrs.utils.Utils;
|
import com.zy.common.model.*;
|
import com.zy.common.model.enums.WrkChargeType;
|
import com.zy.common.service.CommonService;
|
import com.zy.common.service.erp.ErpService;
|
import com.zy.common.utils.*;
|
import com.zy.core.CrnThread;
|
import com.zy.core.DevpThread;
|
import com.zy.core.News;
|
import com.zy.core.cache.MessageQueue;
|
import com.zy.core.cache.SlaveConnection;
|
import com.zy.core.enums.*;
|
import com.zy.core.model.*;
|
import com.zy.core.model.command.*;
|
import com.zy.core.model.protocol.*;
|
import com.zy.core.properties.SlaveProperties;
|
import com.zy.core.thread.*;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.beans.factory.annotation.Value;
|
import org.springframework.stereotype.Service;
|
import org.springframework.transaction.annotation.Transactional;
|
import org.springframework.transaction.interceptor.TransactionAspectSupport;
|
|
import java.util.*;
|
import java.util.stream.Collectors;
|
|
/**
|
* 立体仓库WCS系统主流程业务
|
* Created by vincent on 2020/8/6
|
*/
|
@Slf4j
|
@Service("mainService")
|
@Transactional
|
public class MainServiceImpl {
|
|
@Value("${wms.url}")
|
private String wmsUrl;
|
@Autowired
|
private SlaveProperties slaveProperties;
|
@Autowired
|
private WrkMastMapper wrkMastMapper;
|
@Autowired
|
private WrkDetlService wrkDetlService;
|
@Autowired
|
private LocMastService locMastService;
|
@Autowired
|
private LocDetlService locDetlService;
|
@Autowired
|
private StaDescService staDescService;
|
@Autowired
|
private BasCrnpService basCrnpService;
|
@Autowired
|
private BasDevpService basDevpService;
|
@Autowired
|
private BasErrLogService basErrLogService;
|
@Autowired
|
private BasSteErrLogService basSteErrLogService;
|
@Autowired
|
private BasCrnErrorMapper basCrnErrorMapper;
|
@Autowired
|
private BasSteService basSteService;
|
@Autowired
|
private WrkChargeService wrkChargeService;
|
@Autowired
|
private BasSteErrService basSteErrService;
|
@Autowired
|
private CommonService commonService;
|
@Autowired
|
private WrkChargeMapper wrkChargeMapper;
|
@Autowired
|
private ErpService erpService;
|
@Autowired
|
private OrderMapper orderMapper;
|
@Autowired
|
private OrderDetlMapper orderDetlMapper;
|
@Autowired
|
private RedisUtil redisUtil;
|
|
/**
|
* 组托
|
* 入库站，根据条码扫描生成入库工作档，工作状态 2
|
*/
|
public void generateStoreWrkFile() {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历入库口
|
for (DevpSlave.Sta inSta : devp.getInSta()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
Short workNo = staProtocol.getWorkNo();
|
// 尺寸检测异常
|
boolean back = false;
|
String errMsg = "异常：";
|
if (staProtocol.isFrontErr()) {
|
errMsg = errMsg+"前超限；";
|
back = true;
|
}
|
if (staProtocol.isBackErr()) {
|
errMsg = errMsg+"后超限";
|
back = true;
|
}
|
if (staProtocol.isHighErr()) {
|
errMsg = errMsg+"高超限";
|
back = true;
|
}
|
if (staProtocol.isLeftErr()) {
|
errMsg = errMsg+"左超限";
|
back = true;
|
}
|
if (staProtocol.isRightErr()) {
|
errMsg = errMsg+"右超限";
|
back = true;
|
}
|
if (staProtocol.isWeightErr()) {
|
errMsg = errMsg+"超重";
|
back = true;
|
}
|
if (staProtocol.isBarcodeErr()) {
|
errMsg = errMsg+"扫码失败";
|
back = true;
|
}
|
// 退回
|
if (back) {
|
// led 异常显示
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
if (ledThread != null) {
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
|
}
|
continue;
|
}
|
// 判断是否满足入库条件
|
if (staProtocol.isAutoing() && staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
|
&& staProtocol.isPakMk()) {
|
|
// 获取条码扫描仪信息
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
|
if (barcodeThread == null) {
|
continue;
|
}
|
String barcode = barcodeThread.getBarcode();
|
if(!Cools.isEmpty(barcode)) {
|
// News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
|
if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)|| "00000000".equals(barcode)) {
|
staProtocol.setWorkNo((short) 32002);
|
staProtocol.setStaNo(inSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
if (ledThread != null) {
|
String errorMsg = "扫码失败，请重试";
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
|
}
|
continue;
|
}
|
} else {
|
staProtocol.setWorkNo((short) 32002);
|
staProtocol.setStaNo(inSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
if (ledThread != null) {
|
String errorMsg = "扫码失败，请重试";
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
|
}
|
continue;
|
}
|
|
// 过滤盘点/拣料/并板任务
|
// if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
|
// continue;
|
// }
|
|
// 判断重复工作档
|
// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
|
// if (wrkMast != null) {
|
// News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
|
// continue;
|
// }
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
SearchLocParam param = new SearchLocParam();
|
param.setBarcode(barcode);
|
param.setIoType(1);
|
param.setSourceStaNo(inSta.getStaNo());
|
// param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
// plc 处理
|
barcodeThread.setBarcode("");
|
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
staProtocol.setStaNo(dto.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
} else if (code == 500){
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
} else if (code == 700) {
|
staProtocol.setWorkNo((short) 32002);
|
staProtocol.setStaNo(inSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
if (ledThread != null) {
|
String errorMsg = barcode + "托盘识别异常，请先进行组托！";
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* wms入库
|
* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
|
*/
|
@Deprecated
|
public void generateStoreWrkFile0() {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历入库口
|
for (DevpSlave.Sta inSta : devp.getInSta()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
Short workNo = staProtocol.getWorkNo();
|
// 判断是否满足入库条件
|
if (staProtocol.isAutoing() && staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
|
&& staProtocol.isPakMk()) {
|
|
// 尺寸检测异常
|
boolean back = false;
|
String errMsg = "";
|
if (staProtocol.isFrontErr()) {
|
errMsg = "前超限";
|
back = true;
|
}
|
if (!back && staProtocol.isBackErr()) {
|
errMsg = "后超限";
|
back = true;
|
}
|
if (!back && staProtocol.isHighErr()) {
|
errMsg = "高超限";
|
back = true;
|
}
|
if (!back && staProtocol.isLeftErr()) {
|
errMsg = "左超限";
|
back = true;
|
}
|
if (!back && staProtocol.isRightErr()) {
|
errMsg = "右超限";
|
back = true;
|
}
|
if (!back && staProtocol.isWeightErr()) {
|
errMsg = "超重";
|
back = true;
|
}
|
if (!back && staProtocol.isBarcodeErr()) {
|
errMsg = "扫码失败";
|
back = true;
|
}
|
|
// 退回
|
if (back) {
|
News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
|
staProtocol.setWorkNo((short) 32002);
|
staProtocol.setStaNo(inSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
if (ledThread != null) {
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
|
}
|
continue;
|
}
|
|
// 判断重复工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
|
if (wrkMast == null) { continue; }
|
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (result) {
|
// 更新工作主档
|
wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
|
}
|
} else {
|
News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 拣料、并板、盘点再入库
|
*/
|
public synchronized void stnToCrnStnPick(){
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历拣料入库口
|
for (DevpSlave.Sta pickSta : devp.getPickInSta()) {
|
|
// 获取拣料入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
// 0 - 9990 或者 9996
|
&& (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990)
|
&& staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
|
&& staProtocol.isPakMk()){
|
|
// 获取条码扫描仪信息
|
// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
|
// if (barcodeThread == null) {
|
// continue;
|
// }
|
|
WrkMast wrkMast = null;
|
if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
|
wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
|
if (null == wrkMast) {
|
continue;
|
}
|
} else {
|
continue;
|
}
|
// if (staProtocol.getWorkNo() == 9996) {
|
// String barcode = barcodeThread.getBarcode();
|
// if(!Cools.isEmpty(barcode)) {
|
// News.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
|
// if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
|
// staProtocol.setWorkNo((short) 32002);
|
// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
//
|
// // led 异常显示
|
// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
// if (ledThread != null) {
|
// String errorMsg = "扫码失败，请重试";
|
// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
// }
|
// continue;
|
// }
|
// } else {
|
// staProtocol.setWorkNo((short) 32002);
|
// staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
//
|
// // led 异常显示
|
// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
// if (ledThread != null) {
|
// String errorMsg = "扫码失败，请重试";
|
// MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
// }
|
// continue;
|
// }
|
// wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
|
// if (null == wrkMast) {
|
// News.error("{}条码错误，暂无拣料任务！", barcode);
|
// }
|
// }
|
if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
|
|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo()) ) {
|
continue;
|
}
|
|
try {
|
// 访问 WMS 获取入库库位
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
SearchLocParam param = new SearchLocParam();
|
param.setWrkNo(wrkMast.getWrkNo());
|
param.setIoType(wrkMast.getIoType());
|
param.setSourceStaNo(pickSta.getStaNo());
|
// param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
// // 获取目标站
|
// Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
|
// .eq("type_no", wrkMast.getIoType() - 50)
|
// .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
|
// .eq("crn_no", dto.getCrnNo()); // 堆垛机号
|
// StaDesc staDesc = staDescService.selectOne(wrapper);
|
// if (Cools.isEmpty(staDesc)) {
|
// News.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
|
// continue;
|
// }
|
// // 堆垛机站点(目标站)
|
// Integer staNo = staDesc.getCrnStn();
|
|
// 保存工作明细档历史档
|
// if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
|
// throw new CoolException("保存工作明细档历史档失败");
|
// }
|
// 保存工作主档历史档
|
if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
|
throw new CoolException(wrkMast.getWrkNo() + "保存工作主档历史档失败");
|
}
|
|
String sourceLocNo = wrkMast.getSourceLocNo().trim();
|
// 更新工作档数据状态
|
wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
|
wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
|
wrkMast.setSourceStaNo(pickSta.getStaNo()); // 源站
|
wrkMast.setStaNo(dto.getStaNo()); // 目标站
|
wrkMast.setCrnNo(dto.getCrnNo());
|
wrkMast.setLocNo(dto.getLocNo()); // 目标库位 = 出库时的源库位
|
wrkMast.setSourceLocNo(""); // 源库位清空
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
}
|
if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
|
throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
|
}
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
|
}
|
|
} else if (code == 500){
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
} else {
|
staProtocol.setWorkNo((short) 32002);
|
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 堆垛机站出库到出库站
|
*/
|
public void crnStnToOutStn() {
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
// 遍历堆垛机出库站
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
|
// 获取堆垛机出库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
continue;
|
}
|
// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
|
// 移动中
|
continue;
|
}
|
// 判断堆垛机状态等待确认
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
|
&& crnProtocol.statusType == CrnStatusType.WAITING
|
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 下发站点信息
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
continue;
|
}
|
|
// 更新工作档状态为 17.出库完成
|
wrkMast.setWrkSts(17L);
|
wrkMast.setCrnEndTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) != 0) {
|
// 复位堆垛机
|
crnThread.setResetFlag(true);
|
} else {
|
News.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
}
|
|
}
|
}
|
}
|
}
|
|
// /**
|
// * 入库 ===>> 四向穿梭车入库作业下发
|
// */
|
// public synchronized void shuttleIoInExecute() {
|
// // 根据输送线plc遍历
|
// for (DevpSlave devp : slaveProperties.getDevp()) {
|
// // 遍历入库站
|
// for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
|
// // 获取入库站信息
|
// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
//
|
// StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
|
// StaProtocol staProtocol105 = devpThread.getStation().get(105);
|
// staProtocol105.setWorkNo((short) 752);
|
// staProtocol105.setStaNo((short) 100);
|
//
|
// StaProtocol staProtocol106 = devpThread.getStation().get(106);
|
// staProtocol106.setWorkNo((short) 753);
|
// staProtocol106.setStaNo((short) 100);
|
//
|
// if (staProtocol == null) {
|
// continue;
|
// } else {
|
// staProtocol = staProtocol.clone();
|
// }
|
// Short workNo = staProtocol.getWorkNo();
|
//
|
// // 判断是否满足入库条件
|
// if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
|
// WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
|
// if (wrkMast != null) {
|
// if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
|
// ShuttleThread shuttleThread = null;
|
// HashMap<String, Object> searchIdleShuttle = null;
|
// if (wrkMast.getWrkSts() == 4) {
|
// //寻找最近且空闲的四向穿梭车
|
// searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
// shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
// }else {
|
// //状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
|
// Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
|
// shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
|
// }
|
//
|
// if (shuttleThread == null) {
|
// continue;
|
// }
|
//
|
// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
// if (!shuttleProtocol.isIdle()) {
|
// continue;
|
// }
|
//
|
// wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
|
//
|
// //分配任务号
|
// shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
// //分配源库位
|
// shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
|
//
|
// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
// //四向穿梭车号
|
// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
// //任务号
|
// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
// //入出库模式
|
// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
|
// //源库位(小车当前位置)
|
// String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
// assignCommand.setSourceLocNo(currentLocNo);
|
//
|
// if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
|
// //同一层
|
// //分配目标库位
|
// shuttleProtocol.setLocNo(wrkMast.getLocNo());
|
// //目标库位
|
// assignCommand.setLocNo(wrkMast.getLocNo());
|
// wrkMast.setWrkSts(9L);//小车入库中
|
//
|
// //获取从小车
|
// }else {
|
// //不同层，将目标库位分配成提升机库位号
|
//
|
// //小车当前层高
|
// Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
|
//
|
// //获取提升机
|
// LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
// //提升机库位号
|
// String liftLocNo = liftSlave.getLiftLocNo(currentLev);
|
// shuttleProtocol.setLocNo(liftLocNo);
|
// //目标库位
|
// assignCommand.setLocNo(liftLocNo);
|
// wrkMast.setWrkSts(5L);//小车迁移状态
|
// }
|
//
|
// if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// //下发任务
|
// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
// }
|
// }
|
//
|
// }
|
// }
|
//
|
// }
|
// }
|
//
|
// }
|
|
/**
|
* 入库 ===>> 四向穿梭车入库作业下发
|
*/
|
public synchronized void shuttleIoInExecute() {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历入库站
|
for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
|
StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
|
// StaProtocol staProtocol105 = devpThread.getStation().get(105);
|
// staProtocol105.setWorkNo((short) 752);
|
// staProtocol105.setStaNo((short) 100);
|
//
|
// StaProtocol staProtocol106 = devpThread.getStation().get(106);
|
// staProtocol106.setWorkNo((short) 753);
|
// staProtocol106.setStaNo((short) 100);
|
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
Short workNo = staProtocol.getWorkNo();
|
|
// 判断是否满足入库条件
|
if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
|
WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
|
ShuttleThread shuttleThread = null;
|
HashMap<String, Object> searchIdleShuttle = null;
|
if (wrkMast.getWrkSts() == 4) {
|
//寻找最近且空闲的四向穿梭车
|
searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
}else {
|
//状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
|
Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
|
}
|
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
|
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)
|
|
String locNo = wrkMast.getLocNo();//当前工作档库位号
|
Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//当前工作档库位层高
|
Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//小车当前层高
|
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String liftLocNo = liftSlave.getLiftLocNo(currentLev);
|
|
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
|
//同一层直接取货无需经过提升机
|
//直接计算车到提升机取货再到库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
|
assignCommand.setCommands(commands);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getLocNo());
|
wrkMast.setWrkSts(9L);//小车入库中
|
}else {
|
//不同层，将目标库位分配成提升机库位号
|
|
//小车移动到提升机口，计算路径
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//分配目标库位
|
shuttleProtocol.setLocNo(liftLocNo);
|
//目标库位
|
assignCommand.setLocNo(liftLocNo);
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(5L);//小车迁移状态
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}
|
}
|
|
}
|
}
|
|
}
|
|
//获取起点-终点指令。mapType：1=》无货地图，2=》有货地图
|
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
|
//计算小车起点到中点所需命令
|
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);
|
List<ShuttleCommand> commands = new ArrayList<>();
|
if (calc == null) {
|
return null;
|
}
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
|
//将每一段路径分成command指令
|
for (ArrayList<NavigateNode> nodes : data) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 1);
|
command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
|
command.setMiddleCodeNum((short) 0);
|
command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
|
command.setStartToDistDistance(allDistance);
|
command.setMiddleToDistDistance(1000);
|
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
|
command.setPalletLift((short) 1);
|
command.setForceMoveDistance(1000);
|
command.setChargeSwitch((short) 2);
|
command.setIOControl((short) 0);
|
command.setRunSpeed((short) 1000);
|
command.setRadarTmp((short) 0);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
}
|
return commands;
|
}
|
|
//获取起点-中点-终点指令
|
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
|
//计算小车起点到中点所需命令
|
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//小车无货，走入库地图
|
List<ShuttleCommand> commands = new ArrayList<>();
|
if (calc == null) {
|
return null;
|
}
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
|
//将每一段路径分成command指令
|
for (ArrayList<NavigateNode> nodes : data) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 1);
|
command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
|
command.setMiddleCodeNum((short) 0);
|
command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
|
command.setStartToDistDistance(allDistance);
|
command.setMiddleToDistDistance(1000);
|
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
|
command.setPalletLift((short) 1);
|
command.setForceMoveDistance(1000);
|
command.setChargeSwitch((short) 2);
|
command.setIOControl((short) 0);
|
command.setRunSpeed((short) 1000);
|
command.setRadarTmp((short) 0);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
}
|
|
//小车指令到达目标位置后，再发出一条顶升指令
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 2);
|
command.setPalletLift((short) 1);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
//计算小车中点到终点所需命令
|
List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//小车有货，走出库地图(出库地图有专用货道)
|
if (calc2 == null) {
|
return null;
|
}
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
|
for (ArrayList<NavigateNode> nodes : data2) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
command = new ShuttleCommand();
|
command.setCommandWord((short) 1);
|
command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
|
command.setMiddleCodeNum((short) 0);
|
command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));
|
command.setStartToDistDistance(allDistance);
|
command.setMiddleToDistDistance(1000);
|
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
|
command.setPalletLift((short) 1);
|
command.setForceMoveDistance(1000);
|
command.setChargeSwitch((short) 2);
|
command.setIOControl((short) 0);
|
command.setRunSpeed((short) 1000);
|
command.setRadarTmp((short) 0);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
}
|
|
//小车指令到达目标位置后，再发出一条托盘下降指令
|
command = new ShuttleCommand();
|
command.setCommandWord((short) 2);
|
command.setPalletLift((short) 2);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
return commands;
|
}
|
|
/**
|
* 出库 ===>> 四向穿梭车出库作业下发
|
*/
|
public synchronized void shuttleIoOutExecute() {
|
for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
|
//提取一条待出库任务
|
if (wrkMast != null) {
|
String outStaLocNo = null;//出库站点库位号
|
//获取出库站点
|
for (DevpSlave devpSlave : slaveProperties.getDevp()) {
|
for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
|
if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
|
//出库站点和工作档出库站点一致
|
outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
|
}
|
}
|
|
}
|
|
if (wrkMast.getWrkSts() == 21
|
|| wrkMast.getWrkSts() == 25
|
|| wrkMast.getWrkSts() == 31) {
|
ShuttleThread shuttleThread = null;
|
HashMap<String, Object> searchIdleShuttle = null;
|
if (wrkMast.getWrkSts() == 21) {
|
//寻找最近且空闲的四向穿梭车
|
searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
}else if(wrkMast.getWrkSts() == 31 || wrkMast.getWrkSts() == 25) {
|
//继续完成之前小车未完成的任务
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
}
|
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
if (outStaLocNo == null) {
|
continue;
|
}
|
|
wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
|
//源库位(小车当前位置)
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
|
//小车当前层高
|
Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String liftLocNo = liftSlave.getLiftLocNo(currentLev);
|
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(currentLocNo);
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
//四向穿梭车号
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
//任务号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//入出库模式
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
|
assignCommand.setSourceLocNo(currentLocNo);
|
|
if (wrkMast.getWrkSts() == 21) {
|
//判断小车和库位是否在同一层
|
if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
|
//同一层(将小车移动到货物位置)
|
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getSourceLocNo());
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(26L);//小车搬运中
|
}else {
|
//不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)
|
|
//小车到提升机口指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
shuttleProtocol.setLocNo(liftLocNo);
|
//目标库位
|
assignCommand.setLocNo(liftLocNo);
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(22L);//小车迁移状态
|
}
|
} else if (wrkMast.getWrkSts() == 25) {
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getSourceLocNo());
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(26L);//小车搬运中
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
|
*/
|
public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
|
HashMap<String, Object> map = new HashMap<>();
|
String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
|
LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
|
String lay = locNo.substring(locNo.length() - 2, locNo.length());//当前工作档库位层高
|
ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
|
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
|
String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//库位号对应层高
|
if (lay.equals(shuttleLocNoLay)) {
|
//当前四向穿梭车和工作档任务在同一层，则调配该车辆
|
map.put("sameLay", true);//同一层
|
map.put("result", shuttleThread);
|
return map;
|
}
|
|
//更新当前最近的四向穿梭车
|
if (recentShuttle == null) {
|
recentShuttle = shuttleThread;
|
}else {
|
ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//目前最近穿梭车
|
String recentShuttleLocNo = recentShuttleProtocol.getCurrentLocNo();//二维码对应库位号
|
String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//库位号对应层高
|
|
int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
|
int layInt = Integer.parseInt(lay);
|
int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
|
int i = Math.abs(layInt - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值
|
int j = Math.abs(layInt - shuttleLocNoLayInt);//工作档楼层减当前穿梭车楼层，取绝对值
|
if (i < j) {
|
//更新最近穿梭车
|
recentShuttle = shuttleThread;
|
} else if (i == j) {
|
//楼层相同情况
|
//找距离出库点最近的车
|
|
if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
|
//只要有一辆车不是空闲则不进行调度
|
map.put("sameLay", false);//不同层
|
map.put("result", null);
|
return map;
|
}
|
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
|
String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);
|
|
//当前最近四向穿梭车到提升机路径
|
List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//当前楼层四向穿梭车到提升机路径
|
List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//判断哪一个路径最短
|
if (shuttlePath.size() < recentShuttlePath.size()) {
|
//如果当前楼层的车路径更小，则更新最近穿梭车
|
recentShuttle = shuttleThread;
|
}
|
}
|
}
|
}
|
|
map.put("sameLay", false);//不同层
|
map.put("result", recentShuttle);
|
return map;
|
}
|
|
/**
|
* 四向穿梭车任务完成
|
*/
|
public synchronized void shuttleFinished() {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//四向穿梭车状态为等待确认
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
|
&& shuttleProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
|
if (wrkMast != null) {
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 9:
|
wrkMast.setWrkSts(14L);
|
break;
|
case 5:
|
wrkMast.setWrkSts(6L);
|
break;
|
case 22:
|
wrkMast.setWrkSts(23L);
|
break;
|
case 26:
|
wrkMast.setWrkSts(27L);
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//标记复位
|
shuttleProtocol.setPakMk(true);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
}
|
|
}
|
|
//四向穿梭车状态为充电状态
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识
|
&& shuttleProtocol.getTaskNo() != 0) {
|
//查询是否有充电任务
|
WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
|
if (wrkCharge != null) {
|
switch (wrkCharge.getWrkSts().intValue()) {
|
case 52://四向穿梭车迁移到提升机口
|
wrkCharge.setWrkSts(53L);//迁移完成
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
break;
|
case 56:
|
if (shuttleProtocol.getBatteryPower() == 1000) {
|
wrkCharge.setWrkSts(60L);//充电完成
|
}
|
break;
|
default:
|
}
|
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
if (wrkCharge.getWrkSts() == 60) {
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
}
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//标记复位
|
shuttleProtocol.setPakMk(true);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 提升机任务
|
*/
|
public synchronized void liftIoExecute() {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//判断提升机是否处于空闲状态
|
if (!liftProtocol.isIdle()) {
|
continue;
|
}
|
|
//搜索是否有待处理的任务
|
WrkMast wrkMast = wrkMastMapper.selectLiftStep623();
|
if (wrkMast == null) {
|
continue;
|
}
|
|
//给提升机分配任务
|
liftProtocol.setLiftLock(true);//锁定提升机
|
liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
//找到四向穿梭车的线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, liftProtocol.getShuttleNo().intValue());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//命令list
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
|
//当前穿梭车库位号
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
//当前穿梭车楼层
|
int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
|
|
//工作档目标库位号
|
String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
|
//工作档目标库位楼层
|
int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
|
|
//提升机当前楼层
|
int liftLev = liftProtocol.getLev().intValue();
|
if (liftLev != currentLocNoLey) {
|
//不同楼层
|
LiftCommand command1 = new LiftCommand();
|
command1.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command1.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command1.setRun((short) 1);//升降
|
command1.setDistPosition((short) currentLocNoLey);//目标楼层(穿梭车所在楼层)
|
command1.setLiftLock(true);//锁定提升机
|
|
commands.add(command1);//将命令添加进list
|
}
|
|
//输送线将四向穿梭车移动进来
|
LiftCommand command2 = new LiftCommand();
|
command2.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command2.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command2.setRun((short) 6);//输送线运作
|
command2.setLiftLock(true);//锁定提升机
|
|
commands.add(command2);//将命令添加进list
|
|
//提升机前往目标楼层
|
LiftCommand command3 = new LiftCommand();
|
command3.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command3.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command3.setRun((short) 1);//升降
|
command3.setDistPosition((short) wrkMastLocNoLey);//工作档目标楼层
|
command3.setLiftLock(true);//锁定提升机
|
|
commands.add(command3);//将命令添加进list
|
|
//提升机到达指定楼层，输送线将四向穿梭车移出去
|
//输送线将四向穿梭车移动出去
|
LiftCommand command4 = new LiftCommand();
|
command4.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command4.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command4.setRun((short) 3);//输送线运作
|
command4.setLiftLock(true);//锁定提升机
|
|
commands.add(command4);//将命令添加进list
|
|
if (wrkMast.getIoType() == 101) {
|
//出库任务
|
wrkMast.setWrkSts(24L);//移动任务
|
}else {
|
//入库任务
|
wrkMast.setWrkSts(7L);//移动任务
|
}
|
//所需命令组合完毕，更新数据库，提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(liftProtocol.getTaskNo());
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
}
|
|
/**
|
* 提升机任务完成
|
*/
|
public synchronized void liftFinished() {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//提升机为等待确认
|
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo724(liftProtocol.getTaskNo().intValue());
|
if (wrkMast != null) {
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 7:
|
wrkMast.setWrkSts(8L);
|
break;
|
case 24:
|
wrkMast.setWrkSts(25L);
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
//标记复位
|
liftProtocol.setPakMk(true);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
//提升机解锁
|
liftProtocol.setLiftLock(false);
|
News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
|
} else {
|
News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
|
}
|
}
|
|
//查询是否有充电任务
|
WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
|
if (wrkCharge != null) {
|
switch (wrkCharge.getWrkSts().intValue()) {
|
case 54://提升机搬运中
|
wrkCharge.setWrkSts(55L);//提升机搬运完成
|
break;
|
default:
|
}
|
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
//标记复位
|
liftProtocol.setPakMk(true);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
//提升机解锁
|
liftProtocol.setLiftLock(false);
|
News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
|
} else {
|
News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecute(){
|
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; }
|
BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
if (basCrnp == null) {
|
News.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
|
continue;
|
}
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
// 入库
|
if (this.crnStnToLoc(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
// 出库
|
if (this.locToCrnStn(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("I");
|
}
|
}
|
// 如果最近一次是出库模式
|
else if (crnProtocol.getLastIo().equals("O")) {
|
if (basCrnp.getOutEnable().equals("Y")) {
|
// 出库
|
if (this.locToCrnStn(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
// 入库
|
if (this.crnStnToLoc(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("O");
|
}
|
}
|
// 库位移转
|
// this.locToLoc(crn, crnProtocol);
|
// 演示
|
// this.steMoveDemo(crn, crnProtocol);
|
}
|
}
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
*/
|
public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
|
boolean flag = false;
|
// 获取堆垛机入库站信息
|
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) {
|
News.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
// 获取工作状态为 2,3,4,5,6 的入库工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
|
if(null == wrkMast) {
|
// News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
|
continue;
|
}
|
|
// 同库位组进行校验
|
List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getLocNo());
|
if (!Cools.isEmpty(groupLocNo)) {
|
if (null != wrkMastMapper.selectPakoutWorkingByGroupLoc(groupLocNo)) {
|
continue;
|
}
|
}
|
|
if (wrkMast.getWrkSts() < 3) {
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
|
&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
|
flag = true;
|
}
|
if (!flag) {
|
continue;
|
}
|
}
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (locMast == null) {
|
News.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
News.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
|
continue;
|
}
|
|
List<LocMast> locMasts = null;
|
boolean sign=false;
|
if (locMast.getRow1()>=5){
|
locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
|
.eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
|
for (LocMast locMast1:locMasts){
|
if (locMast1.getRow1()>locMast.getRow1()){
|
if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
|
if (!locMast1.getLocSts().equals("X")){
|
sign=true;
|
break;
|
}
|
}
|
}else if (locMast1.getRow1()<locMast.getRow1()){
|
if (locMast1.getLocSts().equals("F") || locMast1.getLocSts().equals("D")){
|
News.error("当前工作档目标库位所在排前边存在货物！", wrkMast.getWrkNo());
|
sign=true;
|
break;
|
}
|
}
|
}
|
}else {
|
locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
|
.eq("bay1",locMast.getBay1()).eq("lev1",locMast.getLev1()));
|
for (LocMast locMast1:locMasts){
|
if (locMast1.getRow1()>locMast.getRow1()){
|
if (locMast1.getLocSts().equals("F") || locMast1.getLocSts().equals("D")){
|
News.error("当前工作档目标库位所在排前边存在货物！", wrkMast.getWrkNo());
|
sign=true;
|
break;
|
}
|
}else if (locMast1.getRow1()<locMast.getRow1()){
|
if (!locMast1.getLocSts().equals("F") && !locMast1.getLocSts().equals("D")){
|
if (!locMast1.getLocSts().equals("X")){
|
sign=true;
|
break;
|
}
|
}
|
}
|
}
|
}
|
if (sign){
|
continue;
|
}
|
|
// 检测是否存在出库任务
|
if (null != wrkMastMapper.selectPakout(slave.getId(), null)) {
|
News.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
|
continue;
|
}
|
|
// 置顶任务
|
if (wrkMast.getIoPri()<8000){
|
wrkMast.setIoPri(wrkMast.getIoPri()+9000d);
|
}
|
wrkMastMapper.updateById(wrkMast);
|
|
// 目标库位 ===>> 最外层库位
|
if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
|
// 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
|
Integer steNo = this.hasCar(wrkMast.getLocNo());
|
// 有小车
|
if (steNo != null) {
|
// 小车行走到堆垛机待搬移点
|
if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
|
this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
|
return true;
|
}
|
}
|
// 小车搬走
|
if (wrkMast.getWrkSts() == 3L) {
|
this.carMoveOut(wrkMast, steNo, crnProtocol);
|
return true;
|
}
|
// 没有小车
|
} else {
|
|
// 当前入库库位组没有小车 堆垛机则去站点取货入库
|
// case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
|
// case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
|
if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 堆垛机入库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.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()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 7.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(7L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
|
} else {
|
return true;
|
}
|
}
|
}
|
|
}
|
|
// 目标库位 ===>> 非最外层库位
|
} else {
|
// 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
|
Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
|
// 有小车
|
if (steNo != null) {
|
// 小车行走到待机位
|
if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
|
this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
|
} else {
|
return true;
|
}
|
}
|
// 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中
|
if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
|
// 小车处于空闲
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
// 堆垛机入库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.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()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 3.小车待搬 ===>> 7.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(7L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
return true;
|
}
|
}
|
}
|
}
|
// 没有小车
|
} else {
|
if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
|
// 寻找当前堆垛机对应的小车
|
SteThread steThread = queryIdleCar(wrkMast);
|
if (steThread != null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
|
// 让小车等待搬运待续
|
this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
|
return true;
|
}
|
}
|
}
|
// 堆垛机搬运小车
|
if (wrkMast.getWrkSts() == 3L) {
|
this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
|
return true;
|
}
|
}
|
}
|
}
|
return false;
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
*/
|
public synchronized boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的出库工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
|
News.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={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
|
News.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
|
continue;
|
}
|
List<LocMast> locMasts = null;
|
boolean sign=false;
|
if (sourceSta.getRow1()>=5){
|
locMasts=locMastService.selectList(new EntityWrapper<LocMast>().ge("row1", 5)
|
.eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
|
for (LocMast locMast1:locMasts){
|
if (locMast1.getRow1()<sourceSta.getRow1()){
|
if (!locMast1.getLocSts().equals("O")){
|
News.error("当前工作档源库位所在排前边存在货物！", wrkMast.getWrkNo());
|
sign=true;
|
break;
|
}
|
}
|
}
|
}else {
|
locMasts=locMastService.selectList(new EntityWrapper<LocMast>().le("row1", 4)
|
.eq("bay1",sourceSta.getBay1()).eq("lev1",sourceSta.getLev1()));
|
for (LocMast locMast1:locMasts){
|
if (locMast1.getRow1()>sourceSta.getRow1()){
|
if (!locMast1.getLocSts().equals("O")){
|
News.error("当前工作档目标库位所在排前边存在货物！", wrkMast.getWrkNo());
|
sign=true;
|
break;
|
}
|
}
|
}
|
}
|
if (sign){
|
continue;
|
}
|
|
// 同库位组进行校验
|
List<String> groupLocNo = Utils.getGroupLocNo(wrkMast.getSourceLocNo());
|
if (!Cools.isEmpty(groupLocNo)) {
|
if (null != wrkMastMapper.selectPakinWorkingByGroupLoc(groupLocNo)) {
|
continue;
|
}
|
}
|
|
// 判断是否有同库位组的出库任务，如果有，则暂停
|
List<String> outsideLoc = Utils.getGroupOutsideLoc(wrkMast.getSourceLocNo());
|
if (!Cools.isEmpty(outsideLoc)) {
|
if (!Cools.isEmpty(wrkMastMapper.selectWorkingOfPakOutBySource(outsideLoc))) {
|
// News.warn("{}工作档出库失败，原因：外层库位{}正在执行出库任务！", wrkMast.getWrkNo(), JSON.toJSONString(outsideLoc));
|
continue;
|
}
|
}
|
|
// 获取堆垛机出库站信息
|
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) {
|
News.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
// 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) {
|
continue;
|
}
|
|
// 过滤
|
if (null != wrkMastMapper.selectPakin(slave.getId(), null)) {
|
News.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo());
|
continue;
|
}
|
|
// 置顶任务
|
if (wrkMast.getIoPri()<8000){
|
wrkMast.setIoPri(wrkMast.getIoPri()+8999d);
|
}
|
wrkMastMapper.updateById(wrkMast);
|
|
// 最外层库位，直接堆垛机出库
|
if (locMastService.isOutMost(wrkMast.getSourceLocNo(), false)) {
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 堆垛机出库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.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(sourceSta.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 16.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(16L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
return true;
|
}
|
}
|
// 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
|
} else {
|
// 当前组库位是否有穿梭车
|
Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
|
// 有小车
|
if (steNo != null) {
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
|
// 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 14.小车搬出库
|
Date now = new Date();
|
wrkMast.setWrkSts(14L);
|
wrkMast.setSteNo(steNo);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
Integer outCrnNo = locMastService.getOutCrnNo(locMast);
|
wrkMast.setCrnNo(outCrnNo);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
return true;
|
}
|
}
|
}
|
}
|
if (wrkMast.getWrkSts() == 15L) {
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 堆垛机出库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.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.getGroupRow(sourceSta.getRow1(), false).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 15.等待吊车 => 16.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(16L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
return true;
|
}
|
}
|
}
|
|
// 没有小车
|
} else {
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
// 寻找最近的小车
|
SteThread steThread = queryIdleCar(wrkMast);
|
if (steThread != null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
|
// 让小车等待搬运待续
|
this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
|
return true;
|
}
|
}
|
}
|
// 堆垛机搬运小车
|
if (wrkMast.getWrkSts() == 12L) {
|
this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
|
return true;
|
}
|
}
|
}
|
}
|
}
|
return false;
|
}
|
|
/**
|
* 库位移转
|
*/
|
@Deprecated
|
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
// 获取工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
|
if (null == wrkMast) {
|
return;
|
}
|
// 获取源库位信息
|
LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (null == sourceLoc) {
|
News.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
|
return;
|
}
|
// 源库位 库位状态判断
|
if (!sourceLoc.getLocSts().equals("R") && !sourceLoc.getLocSts().equals("S")) {
|
return;
|
}
|
// 获取目标库位信息
|
LocMast loc = locMastService.selectById(wrkMast.getLocNo());
|
if (null == loc) {
|
News.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
|
return;
|
}
|
// 获取堆垛机信息 并 判断是否可入出
|
BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
|
if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
|
return;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
return;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
return;
|
}
|
|
// 置顶任务
|
wrkMast.setIoPri((double) 9999);
|
wrkMastMapper.updateById(wrkMast);
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.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(sourceLoc.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 16.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(16L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("【库位移转】 修改工作档状态 11.生成出库ID => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
|
}
|
|
/**
|
* 当前库位组是否存在空闲小车
|
*/
|
public Integer hasCar(String locNo) {
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(ste.getId());
|
if (Cools.isEmpty(steProtocol, basSte)) { continue; }
|
if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
|
&& basSte.getBay() == Utils.getBay(locNo)
|
&& basSte.getLev() == Utils.getLev(locNo)) {
|
return ste.getId();
|
}
|
}
|
return null;
|
}
|
|
/**
|
* 当前库位组是否存在其他小车
|
*/
|
public Integer existOtherSte(String locNo, Integer steNo) {
|
Integer otherSteNo = null;
|
for (SteSlave ste : slaveProperties.getSte()) {
|
if (ste.getId().equals(steNo)) { continue; }
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isEnable()) {
|
BasSte basSte = basSteService.selectById(ste.getId());
|
if (basSte != null) {
|
if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
|
&& basSte.getBay() == Utils.getBay(locNo)
|
&& basSte.getLev() == Utils.getLev(locNo))
|
||
|
(Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
|
&& steProtocol.getBay() == Utils.getBay(locNo)
|
&& steProtocol.getLev() == Utils.getLev(locNo))
|
) {
|
otherSteNo = ste.getId();
|
break;
|
}
|
}
|
}
|
}
|
return otherSteNo;
|
}
|
|
/**
|
* 当前库位组是否存在空闲小车
|
*/
|
public Integer hasCarOfIdle(String locNo) {
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
|
&& steProtocol.getBay() == Utils.getBay(locNo)
|
&& steProtocol.getLev() == Utils.getLev(locNo)) {
|
return steProtocol.getSteNo().intValue();
|
}
|
}
|
}
|
return null;
|
}
|
|
/**
|
* 查找当前库位最适合的穿梭车来作业
|
*/
|
public SteThread queryIdleCar(WrkMast wrkMast) {
|
List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
|
int val = 0;
|
SteThread result = null;
|
for (BasSte basSte : basStes) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (!steProtocol.isIdle()) { continue; }
|
// if (steProtocol.getRow() == 1) { continue; }
|
String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
|
// 如果在同一个库位组
|
if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
|
&& steProtocol.getBay().intValue() == Utils.getBay(locNo)
|
&& steProtocol.getLev().intValue() == Utils.getLev(locNo)) {
|
return steThread;
|
}
|
LocMast locMast = locMastService.selectById(locNo);
|
int lev = locMast.getLev1();
|
int bay = locMast.getBay1();
|
int levAbs = Math.abs(lev - steProtocol.getLev());
|
int bayAbs = Math.abs(bay - steProtocol.getBay());
|
if (val == 0) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
} else {
|
if ((levAbs + bayAbs) < val) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
}
|
}
|
}
|
return result;
|
}
|
|
public SteThread queryIdleCar(CrnProtocol crnProtocol) {
|
List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
|
int val = 0;
|
SteThread result = null;
|
for (BasSte basSte : basStes) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (!steProtocol.isIdle()) { continue; }
|
if (steProtocol.getRow() == 1) { continue;}
|
int lev = crnProtocol.getLevel();
|
int bay = crnProtocol.getBay();
|
int levAbs = Math.abs(lev - steProtocol.getLev());
|
int bayAbs = Math.abs(bay - steProtocol.getBay());
|
if (val == 0) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
} else {
|
if ((levAbs + bayAbs) < val) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
}
|
}
|
}
|
return result;
|
}
|
|
/**
|
* 让小车行走至待机位
|
*/
|
public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 如果处于待机位
|
if (steProtocol.locaType.equals(SteLocaType.A_WAITING) || steProtocol.locaType.equals(SteLocaType.B_WAITING)) {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setWrkSts(3L);
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
} else {
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 行走至待机位
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
|
public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
|
if (!basSteService.updatePakMk(steNo, "Y")) {
|
News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
|
/**
|
* 让小车从 远点 ====>> 移动到近点
|
* 等待堆垛机搬运
|
*/
|
public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 让小车从 远点 ====>> 移动到近点
|
* 等待堆垛机搬运
|
*/
|
public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机搬入小车
|
*/
|
public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
// 堆垛机空闲
|
if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
|
LocMast locMast;
|
// 入库搬
|
if (wrkMast.getWrkSts() <= 10) {
|
|
// 判断被移库位是否存在其他小车
|
Integer otherSte = existOtherSte(wrkMast.getLocNo(), steNo);
|
if (otherSte != null) {
|
News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getLocNo(), otherSte);
|
return;
|
}
|
|
locMast = locMastService.selectById(wrkMast.getLocNo());
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 3.小车待搬 => 4.迁入小车
|
Date now = new Date();
|
wrkMast.setWrkSts(4L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
// 出库搬
|
} else {
|
// 判断被移库位是否存在其他小车
|
Integer otherSte = existOtherSte(wrkMast.getSourceLocNo(), steNo);
|
if (otherSte != null) {
|
News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, wrkMast.getSourceLocNo(), otherSte);
|
return;
|
}
|
|
locMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 12.小车待搬 => 13.迁入小车
|
Date now = new Date();
|
wrkMast.setWrkSts(13L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 12.小车待搬 => 13.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 入库 ===>> 堆垛机搬出小车
|
*/
|
public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
// 穿梭车空闲
|
if (steProtocol.isIdle()) {
|
// 堆垛机空闲
|
if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) && crnProtocol.getTaskNo() == 0) {
|
|
BasSte basSte = basSteService.selectById(steNo);
|
if (basSte == null) {
|
News.error("{}号穿梭车在数据库不存在！！！", steNo);
|
return;
|
}
|
|
String idleLocNo = basSte.getIdleLoc();
|
|
// 判断被移库位是否存在其他小车
|
Integer otherSte = existOtherSte(idleLocNo, steNo);
|
if (otherSte != null) {
|
News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", steNo, idleLocNo, otherSte);
|
return;
|
}
|
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo, true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 目标库位列
|
crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(idleLocNo, true), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
|
// 修改工作档状态 3.小车待搬 => 5.迁出小车
|
Date now = new Date();
|
wrkMast.setWrkSts(5L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 3.小车待搬 => 5.迁出小车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
@Transactional
|
public void storeFinished() {
|
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 (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(crnProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
|
// 充电任务
|
WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo());
|
if (wrkCharge == null) {
|
News.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());
|
wrkMast = wrkMastMapper.selectCrnWaiting2(crnProtocol.getTaskNo().intValue());
|
if (wrkMast.getIoType() != 11) {
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
News.error("堆垛机处于等待确认且任务完成状态,复位，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
} else {
|
News.error("堆垛机处于等待确认且任务完成状态,复位失败，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
}
|
}
|
continue;
|
} else {
|
// 小车搬至指定库位完成
|
if (wrkCharge.getWrkSts() == 23) {
|
// 23.吊车搬运 ===>> 24.小车到达
|
wrkCharge.setWrkSts(24L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 23.吊车搬运 ===>> 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
if (!steThread.confirmPos()) {
|
News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 27) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
if (steThread.confirmPos()) {
|
// 27.放至充电位 ===>> 28.充电就绪
|
wrkCharge.setWrkSts(28L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 27.放至充电位 ===>> 28.充电就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
} else {
|
News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
|
}
|
} else if (wrkCharge.getWrkSts() == 34) {
|
// 34.吊车搬运 ===>> 35.小车就绪
|
wrkCharge.setWrkSts(35L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 34.吊车搬运 ===>> 35.小车就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
if (!steThread.confirmPos()) {
|
News.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 42) {
|
// 42.吊车搬运 ===>> 43.小车到达
|
wrkCharge.setWrkSts(43L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改复位任务状态 42.吊车搬运 ===>> 43.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
if (!steThread.confirmPos()) {
|
News.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 46) {
|
// 46.放至待机位 ===>> 47.复位成功
|
wrkCharge.setWrkSts(47L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改复位任务状态 46.放至待机位 ===>> 47.复位成功 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
if (!steThread.confirmPos()) {
|
News.error("{}号穿梭车重新定位失败！作业复位任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
if (wrkMast == null) { continue; }
|
if (wrkMast.getIoType() != 11) {
|
// 入库 ==>> 货物搬入库
|
if (wrkMast.getWrkSts() == 7){
|
// 判断是否需要小车入库
|
if (locMastService.isOutMost(wrkMast.getLocNo(), true)) {
|
// ==> 9.入库完成
|
wrkMast.setWrkSts(9L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
News.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
} else {
|
// 给穿梭车下发命令
|
Integer steNo = wrkMast.getSteNo();
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 7.吊车入库中 => 8.小车搬入库
|
wrkMast.setWrkSts(8L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
News.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
// 入库 ===>> 迁入小车 完成
|
} else if (wrkMast.getWrkSts() == 4) {
|
// 4.迁入小车 ==> 6.小车待入
|
wrkMast.setWrkSts(6L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
|
if (!steThread.confirmPos()) {
|
News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 穿梭车去待机位
|
BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(9999); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取
|
// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
// steCommand.setBay(steProtocol.getBay());
|
// steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
|
}
|
} else {
|
News.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// 入库 ===>> 迁出小车 完成
|
} else if (wrkMast.getWrkSts() == 5) {
|
// 5.迁出小车 ==> 6.小车待入
|
wrkMast.setWrkSts(6L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
|
if (!steThread.confirmPos()) {
|
News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 穿梭车去待机位
|
BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(9999); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取
|
// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
// steCommand.setBay(steProtocol.getBay());
|
// steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
|
}
|
} else {
|
News.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// 出库 ===>> 迁入小车 完成
|
} else if (wrkMast.getWrkSts() == 13) {
|
// 给穿梭车下发命令
|
Integer steNo = wrkMast.getSteNo();
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
// 穿梭车重新定位排列层
|
if (!steThread.confirmPos()) {
|
News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 13.迁入小车 ==> 14.小车搬出库
|
wrkMast.setWrkSts(14L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
Integer outCrnNo = locMastService.getOutCrnNo(locMast);
|
wrkMast.setCrnNo(outCrnNo);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
News.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
// 移库 ===>> 堆垛机搬至目标库位组 完成
|
} else if (wrkMast.getWrkSts() == 16) {
|
// 16.吊车出库中 ==> 17.出库完成
|
wrkMast.setWrkSts(17L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
Integer outCrnNo = locMastService.getOutCrnNo(locMast);
|
wrkMast.setCrnNo(outCrnNo);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
News.error("修改工作档状态 16.吊车出库中 ==> 17.出库完成 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public synchronized void carGenerateStore() {
|
Date now = new Date();
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {
|
if (steProtocol.getTaskNo() == 9999) {
|
steThread.setResetFlag(true);
|
} else {
|
// 查询是否有待入库的任务
|
WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
// 充电任务
|
WrkCharge wrkCharge = wrkChargeService.selectById(steProtocol.getTaskNo());
|
if (wrkCharge == null) {
|
continue;
|
} else {
|
if (wrkCharge.getWrkSts() == 21) {
|
// 21.准备充电 ===>> 22.小车待搬
|
wrkCharge.setWrkSts(22L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
} else if (wrkCharge.getWrkSts() == 25) {
|
// 25.小车走行 ===>> 26.等待充电
|
wrkCharge.setWrkSts(26L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 25.小车走行 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
}
|
// else if (wrkCharge.getWrkSts() == 29) {
|
// // 29.开始充电 ===>> 30.完成充电
|
// wrkCharge.setWrkSts(30L);
|
// if (!wrkChargeService.updateById(wrkCharge)) {
|
// News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
// } else {
|
// steThread.setResetFlag(true);
|
// }
|
// }
|
else if (wrkCharge.getWrkSts() == 32) {
|
// 32.小车走行 ===>> 33.小车待搬
|
wrkCharge.setWrkSts(33L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务状态 32.小车走行 ===>> 33.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
} else if (wrkCharge.getWrkSts() == 36) {
|
// 36.小车走行 ===>> 37.演示完成
|
wrkCharge.setWrkSts(37L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
} else if (wrkCharge.getWrkSts() == 44) {
|
// 44.小车走行 ===>> 45.小车待搬
|
wrkCharge.setWrkSts(45L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务状态 44.小车走行 ===>> 45.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
}
|
}
|
}
|
|
if (wrkMast == null) { continue; }
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 2:
|
// 修改工作档状态 2.设备上走 => 3.小车待搬
|
wrkMast.setWrkSts(3L);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
case 8:
|
// 修改工作档状态 8.小车搬入库 => 9.入库完成
|
wrkMast.setWrkSts(9L);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
case 11:
|
if (wrkMast.getIoType() != 11) {
|
// 修改工作档状态 11.生成出库ID => 12.小车待搬
|
wrkMast.setWrkSts(12L);
|
} else {
|
if (Cools.isEmpty(wrkMast.getMk())) {
|
News.error("移库工作档没有流程标记！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
if (wrkMast.getMk().equals("I")) {
|
String locNo = wrkMast.getLocNo();
|
if (Utils.getGroupRow(locNo, false).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), false))
|
&& steProtocol.getBay() == Utils.getBay(locNo)
|
&& steProtocol.getLev() == Utils.getLev(locNo)) {
|
// 修改工作档状态 11.生成出库ID => 6.小车待入
|
wrkMast.setWrkSts(6L);
|
} else {
|
// 修改工作档状态 11.生成出库ID => 3.小车待搬
|
wrkMast.setWrkSts(3L);
|
}
|
} else if (wrkMast.getMk().equals("O")) {
|
// 修改工作档状态 11.生成出库ID => 12.小车待搬
|
wrkMast.setWrkSts(12L);
|
}
|
}
|
}
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 11.生成出库ID => 12.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
case 14:
|
// 修改工作档状态 14.小车搬出库 => 15.等待吊车
|
wrkMast.setWrkSts(15L);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recCrnErr();
|
this.recSteErr();
|
} catch (Exception e) {
|
News.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
private 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;
|
}
|
// 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? "未知异常":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)) {
|
News.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)) {
|
News.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? "未知异常":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)) {
|
News.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)) {
|
News.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 穿梭车异常信息记录
|
*/
|
private void recSteErr(){
|
Date now = new Date();
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) {
|
continue;
|
}
|
// 有任务
|
if (steProtocol.getTaskNo() != 0) {
|
BasSteErrLog latest = basSteErrLogService.findLatestByTaskNo(ste.getId(), steProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
|
WrkMast wrkMast = wrkMastMapper.selectById(steProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
|
String errName = steErr==null? "未知异常":steErr.getErrName();
|
BasSteErrLog basSteErrLog = new BasSteErrLog(
|
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
|
ste.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) steProtocol.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 (!basSteErrLogService.insert(basSteErrLog)) {
|
News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (steProtocol.getAlarm() == null || !steProtocol.isAlarm()) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basSteErrLogService.updateById(latest)) {
|
News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasSteErrLog latest = basSteErrLogService.findLatest(ste.getId());
|
// 有异常
|
if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != steProtocol.getAlarm().intValue())) {
|
BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
|
String errName = steErr==null? "未知异常":steErr.getErrName();
|
BasSteErrLog basSteErrLog = new BasSteErrLog(
|
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
|
ste.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)steProtocol.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 (!basSteErrLogService.insert(basSteErrLog)) {
|
News.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.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 (!basSteErrLogService.updateById(latest)) {
|
News.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public void storeEmptyPlt(){
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 站点条件判断
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& staProtocol.isEmptyMk()
|
&& (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
|
&& staProtocol.isPakMk()) {
|
|
// 获取条码扫描仪信息
|
String barcode = null;
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
|
if (barcodeThread != null) {
|
String barcode0 = barcodeThread.getBarcode();
|
if(!Cools.isEmpty(barcode0)) {
|
// News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
|
if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
|
barcode = barcode0;
|
}
|
}
|
}
|
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
if (!Cools.isEmpty(barcode)) {
|
param.setBarcode(barcode);
|
}
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
// param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
staProtocol.setStaNo(dto.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
} else {
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public void ledExecute() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> wrkMasts = new ArrayList<>();
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
|
wrkMasts.add(wrkMast);
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(wrkMast.getWrkNo());
|
ledCommand.setIoType(wrkMast.getIoType());
|
// 出库模式
|
switch (wrkMast.getIoType()) {
|
case 101:
|
ledCommand.setTitle("全板出库");
|
break;
|
case 103:
|
ledCommand.setTitle("拣料出库");
|
break;
|
case 104:
|
ledCommand.setTitle("并板出库");
|
break;
|
case 107:
|
ledCommand.setTitle("盘点出库");
|
break;
|
case 110:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
|
break;
|
}
|
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
|
ledCommand.setLocNo(wrkMast.getLocNo());
|
ledCommand.setStaNo(wrkMast.getStaNo());
|
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
|
}
|
commands.add(ledCommand);
|
}
|
Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
|
// 获取LED线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// 相同工作号集合则过滤
|
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
|
continue;
|
}
|
// 命令下发 -------------------------------------------------------------------------------
|
if (!commands.isEmpty()) {
|
if (led.getId()>3){
|
if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId()-3, led.getIp(), led.getPort());
|
continue;
|
}else {
|
ledThread.setLedMk(false);
|
}
|
}else {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
}else {
|
ledThread.setLedMk(false);
|
}
|
}
|
}
|
|
try {
|
// 修改主档led标记
|
for (WrkMast wrkMast : wrkMasts) {
|
wrkMast.setOveMk("Y");
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("更新工作档失败");
|
}
|
}
|
|
// 更新线程当前工作号集合
|
ledThread.setWorkNos(workNos);
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
public void ledReset() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) {
|
continue;
|
}
|
if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
|
News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
} else {
|
|
}
|
}
|
}
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) { continue; }
|
if (staProtocol.getWorkNo() != 0) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
}
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
for (DevpSlave devpSlave : slaveProperties.getDevp()) {
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleProtocol.isRequireCharge()) {
|
continue;
|
}
|
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
|
if (wrkCharge != null) {//已有充电任务
|
continue;
|
}
|
|
ShuttleChargeType shuttleCharge = null;
|
String locNo;
|
for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
|
switch (chargeType.id) {
|
case 1:
|
if (devpThread.charge0 == false) {
|
ShuttleChargeType first = ShuttleChargeType.FIRST;
|
locNo = first.locNo;
|
if (wrkChargeService.selectWorkingOfCharge(first.id) == null) {
|
shuttleCharge = first;
|
}
|
}
|
break;
|
default:
|
}
|
}
|
|
if (shuttleCharge == null) {
|
continue;
|
}
|
|
String chargeLocNo = shuttleCharge.locNo;
|
wrkCharge = new WrkCharge();
|
wrkCharge.setShuttleNo(shuttle.getId());
|
wrkCharge.setCharge(shuttleCharge.id);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
|
wrkCharge.setWrkSts(51L); // 21.准备充电
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setLocNo(chargeLocNo);
|
wrkCharge.setMemo("charge");
|
wrkCharge.setAppeTime(new Date());
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
|
continue;
|
}
|
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
|
News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
|
}
|
}
|
|
|
}
|
|
/**
|
* 执行四向穿梭车充电任务
|
*/
|
public synchronized void executeShuttleCharge() {
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
|
if (wrkCharge == null) {
|
return;
|
}
|
|
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
|
if (shuttleThread == null) {
|
return;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return;
|
}
|
|
//当前穿梭车库位号
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
//小车当前层高
|
Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String liftLocNo = liftSlave.getLiftLocNo(currentLev);
|
//充电库位号
|
String chargeLocNo = wrkCharge.getLocNo();
|
//充电库位层高
|
Integer chargeLocNoLev = Integer.parseInt(chargeLocNo.substring(chargeLocNo.length() - 2, chargeLocNo.length()));
|
|
if (wrkCharge.getWrkSts() == 51 || wrkCharge.getWrkSts() == 55) {
|
if (currentLev == chargeLocNoLev) {
|
//同一层无需经过提升机
|
//直接计算车到充电库位
|
//获取小车到充电库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//进行充电中
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode((short) 9);//充电
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);//充电任务
|
|
//创建充电指令
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 5);//充电
|
command.setShuttleNo(shuttleProtocol.getShuttleNo());
|
command.setChargeSwitch((short) 1);//开始充电
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
//指令集分配
|
assignCommand.setCommands(commands);
|
|
wrkCharge.setWrkSts(56L);//充电中状态
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}else {
|
//不同层，将目标库位分配成提升机库位号
|
|
//小车移动到提升机口，计算路径
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//分配目标库位
|
shuttleProtocol.setLocNo(liftLocNo);
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode((short) 9);//充电
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);//充电任务
|
//目标库位
|
assignCommand.setLocNo(liftLocNo);
|
//源库位
|
assignCommand.setSourceLocNo(currentLocNo);
|
assignCommand.setCommands(commands);
|
wrkCharge.setWrkSts(52L);//小车迁移状态
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}else if(wrkCharge.getWrkSts() == 53){
|
//小车已经达到提升机口
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
return;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return;
|
}
|
|
//判断提升机是否处于空闲状态
|
if (!liftProtocol.isIdle()) {
|
return;
|
}
|
|
//给提升机分配任务
|
liftProtocol.setLiftLock(true);//锁定提升机
|
liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//设置四向穿梭车号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
//命令list
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
|
//提升机当前楼层
|
int liftLev = liftProtocol.getLev().intValue();
|
if (liftLev != currentLev) {
|
//穿梭车和提升机处于不同楼层
|
LiftCommand command1 = new LiftCommand();
|
command1.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command1.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command1.setRun((short) 1);//升降
|
command1.setDistPosition(currentLev.shortValue());//目标楼层(穿梭车所在楼层)
|
command1.setLiftLock(true);//锁定提升机
|
commands.add(command1);//将命令添加进list
|
}
|
|
//输送线将四向穿梭车移动进来
|
LiftCommand command2 = new LiftCommand();
|
command2.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command2.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command2.setRun((short) 6);//输送线运作
|
command2.setLiftLock(true);//锁定提升机
|
|
commands.add(command2);//将命令添加进list
|
|
//提升机前往目标楼层
|
LiftCommand command3 = new LiftCommand();
|
command3.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command3.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command3.setRun((short) 1);//升降
|
command3.setDistPosition(chargeLocNoLev.shortValue());//充电库位目标楼层
|
command3.setLiftLock(true);//锁定提升机
|
|
commands.add(command3);//将命令添加进list
|
|
//提升机到达指定楼层，输送线将四向穿梭车移出去
|
//输送线将四向穿梭车移动出去
|
LiftCommand command4 = new LiftCommand();
|
command4.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command4.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command4.setRun((short) 3);//输送线运作
|
command4.setLiftLock(true);//锁定提升机
|
|
commands.add(command4);//将命令添加进list
|
|
wrkCharge.setWrkSts(54L);//提升机搬运中
|
//所需命令组合完毕，更新数据库，提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(liftProtocol.getTaskNo());
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
|
} else if (wrkCharge.getWrkSts() == 56) {
|
//充电中
|
//判断小车是否充满电量
|
if (shuttleProtocol.getBatteryPower() == 1000) {
|
//充满，断开充电
|
List<ShuttleCommand> commands = new ArrayList<>();
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode((short) 0);
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);
|
|
//创建充电指令
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 5);//充电
|
command.setShuttleNo(shuttleProtocol.getShuttleNo());
|
command.setChargeSwitch((short) 2);//断开充电
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
//指令集分配
|
assignCommand.setCommands(commands);
|
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
}
|
}
|
|
}
|
|
/**
|
* 小车电量检测 ===>> 发起充电
|
*/
|
@SuppressWarnings("serial")
|
public synchronized void loopSteCharge() {
|
if (!Cools.isEmpty(wrkMastMapper.selectAllC())){
|
return;
|
}
|
if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) {
|
return;
|
}
|
if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) {
|
return;
|
}
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
for (SteSlave ste : slaveProperties.getSte()) {
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(ste.getId());
|
if (Cools.isEmpty(steProtocol, basSte)) { continue; }
|
try {
|
// 在线 空闲 无作业标记 不在充电
|
if (steProtocol.getMode() == 0
|
|| !steProtocol.statusType.equals(SteStatusType.IDLE)
|
|| basSte.getPakMk().equals("Y")
|
|| basSte.getAutoCharge().equals("N")
|
// || steProtocol.getChargeStatus() == 1
|
) {
|
continue;
|
}
|
if (!steProtocol.isEnable()) {
|
continue;
|
}
|
if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
|
continue;
|
}
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
|
|
if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
|
// 寻找空闲充电桩
|
SteChargeType steCharge = null;
|
do {
|
String locNo;
|
if (devpThread.charge0) {
|
SteChargeType first = SteChargeType.FIRST;
|
locNo = first.locNo;
|
if (basSteService.hasCarOfLocNo(locNo) == null
|
&& wrkChargeService.selectWorkingOfCharge(first.ssbm) == null) {
|
steCharge = first;
|
break;
|
}
|
}
|
// if (!devpThread.charge1) {
|
// SteChargeType second = SteChargeType.SECOND;
|
// locNo = second.locNo;
|
// if (basSteService.hasCarOfLocNo(locNo) == null
|
// && wrkChargeService.selectWorkingOfCharge(second.ssbm) == null) {
|
// steCharge = second;
|
// break;
|
// }
|
// }
|
// if (!devpThread.charge2) {
|
// SteChargeType third = SteChargeType.THIRD;
|
// locNo = third.locNo;
|
// if (basSteService.hasCarOfLocNo(locNo) == null
|
// && wrkChargeService.selectWorkingOfCharge(third.ssbm) == null) {
|
// steCharge = third;
|
// break;
|
// }
|
// }
|
break;
|
} while (false);
|
|
if (steCharge == null) {
|
// News.warn("{}号小车【电量：{}】充电失败，原因：没有空闲充电桩。", ste.getId(), steProtocol.getCharge());
|
continue;
|
}
|
String chargeLocNo = steCharge.locNo;
|
wrkCharge = new WrkCharge();
|
wrkCharge.setSteNo(ste.getId());
|
wrkCharge.setCharge(steCharge.ssbm);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
|
wrkCharge.setWrkSts(21L); // 21.准备充电
|
wrkCharge.setCrnNo(1); // 固定1号堆垛机
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setLocNo(chargeLocNo);
|
wrkCharge.setMemo("charge");
|
wrkCharge.setAppeTime(new Date());
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
|
continue;
|
}
|
|
// 处于充电库位组
|
if ( 0<steProtocol.getRow().intValue() && steProtocol.getRow().intValue()<=4
|
&& steProtocol.getBay().intValue() == Utils.getBay(chargeLocNo)
|
&& steProtocol.getLev().intValue() == Utils.getLev(chargeLocNo)) {
|
// 修改工作档状态 21.准备充电 => 24.小车到达
|
wrkCharge.setWrkSts(24L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 21.准备充电 => 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
} else {
|
this.letCarBeWaiting(wrkCharge, ste.getId());
|
}
|
|
break;
|
}
|
} catch (Exception e) {
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
News.error("loopSteCharge fail", e);
|
}
|
}
|
}
|
|
/**
|
* 执行小车充电任务
|
*/
|
public synchronized void executeSteCharge() {
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, 1);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (null == wrkCharge) {
|
try{
|
if (steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()){
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(1); // 穿梭车编号
|
steCommand.setTaskNo(10060); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
|
if (!MessageQueue.offer(SlaveType.Ste, 1, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
}
|
}
|
}catch (Exception e){
|
return;
|
}
|
return;
|
}
|
Integer steNo = wrkCharge.getSteNo();
|
|
BasSte basSte = basSteService.selectById(steNo);
|
if (Cools.isEmpty(steProtocol, basSte)) { return; }
|
if (steProtocol.getMode() == 0
|
|| !steProtocol.statusType.equals(SteStatusType.IDLE)
|
|| basSte.getPakMk().equals("Y")
|
|| basSte.getAutoCharge().equals("N")
|
// || steProtocol.getChargeStatus() == 1
|
) {
|
return;
|
}
|
if (!steProtocol.isEnable()) {
|
return;
|
}
|
if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())+40) {
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//中断充电标记
|
wrkCharge.setWrkSts(30L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}else {
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
}
|
}
|
return;
|
}else if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine()) && steProtocol.getChargeStatus()==(short)0 && steProtocol.isBrushConnect()) {
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//中断充电标记
|
wrkCharge.setWrkSts(30L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}else {
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
}
|
}
|
return;
|
}
|
try {
|
// filter
|
if (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1) {
|
return;
|
}
|
|
// 22.小车待搬
|
if (wrkCharge.getWrkSts() == 22) {
|
|
// 入出库任务优先
|
if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
|
return;
|
}
|
|
LocMast locMast = locMastService.selectById(basSte.getIdleLoc());
|
|
// 搬小车至小车走向通道
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { return; }
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 22.小车待搬 => 23.吊车搬运
|
Date now = new Date();
|
wrkCharge.setWrkSts(23L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
|
} else if (wrkCharge.getWrkSts() == 24L) {
|
// 小车行驶通道
|
if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
|
if (steProtocol.getChargeStatus() == 1) { return; }
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 去右端
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 24.小车到达 ===> 25.小车走行
|
wrkCharge.setWrkSts(25L);
|
Date now = new Date();
|
wrkCharge.setCrnEndTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 24.小车到达 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 26) {
|
//26.等待充电 ===>
|
// 穿梭车下发充电任务
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
} else {
|
// 28.充电就绪 ===>> 29.开始充电
|
wrkCharge.setWrkSts(29L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 29) {
|
Float idle2 = steProtocol.isIdle2();
|
String chargeLine = SpringUtils.getBean(BasSteService.class).selectById(1).getChargeLine();
|
if (idle2<(Float.parseFloat(chargeLine)+2)){
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 666));//充电标记
|
}else if (idle2 >= 100f){
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(3, 999));//中断充电标记
|
// 29.开始充电 ===>> 30.完成充电
|
wrkCharge.setWrkSts(30L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改充电任务状态 29.开始充电 ===>> 30.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}else {
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.CLOSE_CHARGE); // 任务模式: 断开充电
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
}
|
}
|
}
|
}
|
} catch (Exception e) {
|
News.error("executeSteCharge fail", e);
|
}
|
}
|
|
/**
|
* 轮询充电桩是否有空闲小车
|
*/
|
@Deprecated
|
public synchronized void queryChargeLocOfComplete() {
|
// 与充电任务不同步进行
|
if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
|
if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
// 检索充电桩
|
for (SteChargeType value : SteChargeType.values()) {
|
Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
|
if (steNo != null) {
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(steNo);
|
if (Cools.isEmpty(steProtocol, basSte)) {
|
continue;
|
}
|
if (steProtocol.getCharge() < 99) {
|
continue;
|
}
|
if (steProtocol.getMode() == 0) {
|
continue;
|
}
|
if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
|
continue;
|
}
|
// // 1号充电桩
|
// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
|
// continue;
|
// }
|
// // 2号充电桩
|
// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
|
// continue;
|
// }
|
// // 3号充电桩
|
// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
|
// continue;
|
// }
|
// // 小车是否处于充电状态
|
// if (steProtocol.getChargeStatus() == 1) {
|
// continue;
|
// }
|
// case 1 : 自动充电开 馈电 ×
|
// case 2 : 自动充电开 满电 ✔
|
// case 3 : 自动充电关 馈电 ✔
|
// case 4 : 自动充电关 满电 ✔
|
if (basSte.getAutoCharge().equals("Y")
|
&& steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
|
continue;
|
}
|
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);
|
|
if (wrkCharge == null) {
|
// 开始穿梭车复位任务
|
wrkCharge = new WrkCharge();
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
|
wrkCharge.setWrkSts(41L); // 41.小车准备复位
|
wrkCharge.setCrnNo(2); // 固定2号堆垛机
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setSourceLocNo(value.locNo);
|
wrkCharge.setLocNo(basSte.getIdleLoc());
|
wrkCharge.setMemo("reset");
|
wrkCharge.setAppeTime(new Date());
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("保存{}号穿梭车复位任务失败!!!", steNo);
|
} else {
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 小车从充电桩 至 待机库位
|
*/
|
@Deprecated
|
public synchronized void steFromChargeToIdleLoc() {
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
|
if (wrkCharge == null) { return; }
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
|
if (Cools.isEmpty(steProtocol, basSte)) {
|
return;
|
}
|
// 搬运至固定通道
|
if (wrkCharge.getWrkSts() == 41L) {
|
// 搬小车至小车走向通道
|
List<String> channel = slaveProperties.getChannel();
|
for (String channelLocNo : channel) {
|
Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
|
if (null != otherSte) {
|
News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
|
} else {
|
// 固定堆垛机
|
int crnNo = 1;
|
if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
|
return;
|
}
|
|
LocMast channelLoc = locMastService.selectById(channelLocNo);
|
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnNo); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
|
// 修改工作档状态 41.小车准备复位 => 42.吊车搬运
|
Date now = new Date();
|
wrkCharge.setWrkSts(42L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
break;
|
}
|
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 43L) {
|
// 小车行驶通道
|
if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 去左端
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 43.小车到达 ===> 44.小车走行
|
wrkCharge.setWrkSts(44L);
|
Date now = new Date();
|
wrkCharge.setCrnEndTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 45L) {
|
if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
|
return;
|
}
|
|
LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());
|
|
Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
|
if (null != otherSte) {
|
News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
|
} else {
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { return; }
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
|
// 修改工作档状态 45.小车待搬 => 46.放至待机位
|
Date now = new Date();
|
wrkCharge.setWrkSts(46L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改工作档状态 45.小车待搬 => 46.放至待机位 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
|
}
|
}
|
}
|
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（出库版)
|
* tip：同步
|
*/
|
private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
|
try {
|
List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
|
LocMast loc = null;
|
for (Integer row : rows) {
|
if (Utils.isDeepLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (loc != null) {
|
if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
|
LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
|
if (!shallowLoc1.getLocSts().equals("O")) {
|
loc = null;
|
}
|
}
|
}
|
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
if (null == loc) {
|
for (Integer row : rows) {
|
if (Utils.isShallowLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (null != loc) {//对应深库位非在库状态,不能移库
|
String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
|
LocMast deepLoc1 = locMastService.selectById(deepLoc);
|
if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
|
loc = null;
|
}
|
}
|
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
}
|
if (null == loc) {
|
News.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
|
}
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
// 保存工作档
|
WrkMast wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(new Date());
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(20D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
|
wrkMast.setLocNo(loc.getLocNo()); // 目标库位
|
wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
News.error("双深库位 --- 保存工作档失败！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
if (shallowLoc.getLocSts().equals("F")) {
|
List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
|
for (LocDetl locDetl : locDetls) {
|
WrkDetl wrkDetl = new WrkDetl();
|
wrkDetl.sync(locDetl);
|
wrkDetl.setWrkNo(workNo);
|
wrkDetl.setIoTime(new Date());
|
wrkDetl.setAnfme(locDetl.getAnfme());
|
wrkDetl.setAppeTime(new Date());
|
wrkDetl.setModiTime(new Date());
|
if (!wrkDetlService.insert(wrkDetl)) {
|
News.error("双深库位 --- 保存工作档明细失败！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("保存工作档明细失败");
|
}
|
}
|
}
|
// 修改源库位状态
|
if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
|
shallowLoc.setLocSts("R"); // R.出库预约
|
shallowLoc.setModiTime(new Date());
|
if (!locMastService.updateById(shallowLoc)) {
|
News.error("双深库位 --- 更新源库位状态失败！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
News.error("双深库位 --- 源库位出库失败！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("源库位出库失败");
|
}
|
// 修改目标库位状态
|
if (loc.getLocSts().equals("O")) {
|
loc.setLocSts("S"); // S.入库预约
|
loc.setModiTime(new Date());
|
if (!locMastService.updateById(loc)) {
|
News.error("双深库位 --- 更新目标库位状态失败！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
News.error("双深库位 --- 移转失败！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("移转失败");
|
}
|
} catch (Exception e) {
|
News.error("双深库位阻塞，对浅库位进行移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
|
public synchronized void demo() {
|
if (Cools.isEmpty(crn2DemoLocs)) {
|
crn2DemoLocs = locMastService.getDemoNextLoc(2);
|
}
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
if (!crn.getDemo()) {
|
continue;
|
}
|
// 必须为演示状态
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
|
// filter
|
if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
|
.eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
|
continue;
|
}
|
|
SteThread steThread = queryIdleCar(crnProtocol);
|
if (Cools.isEmpty(steThread)) {
|
News.warn("没有空闲的小车进行演示功能");
|
continue;
|
}
|
int steNo = steThread.getSlave().getId();
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(steNo);
|
if (Cools.isEmpty(steProtocol, basSte)) { continue; }
|
|
// 只有当穿梭车空闲 并且 无任务时才继续执行
|
if (steProtocol.isIdle()) {
|
|
String locNo = null;
|
Iterator<String> iterator = crn2DemoLocs.iterator();
|
while (iterator.hasNext()) {
|
String next = iterator.next();
|
if (!Cools.isEmpty(this.hasCar(next))) { continue; }
|
String lastLoc = crn2LastLoc;
|
if (!Cools.isEmpty(lastLoc)) {
|
if (!lastLoc.substring(2, 7).equals(next.substring(2, 7))
|
|| !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) {
|
locNo = next;
|
iterator.remove();
|
break;
|
} else {
|
iterator.remove();
|
}
|
} else {
|
locNo = next;
|
iterator.remove();
|
break;
|
}
|
|
}
|
if (!Cools.isEmpty(locNo)) {
|
crn2LastLoc = locNo;
|
}
|
|
News.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);
|
|
String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());
|
|
WrkCharge wrkCharge = new WrkCharge();
|
wrkCharge.setCrnNo(crn.getId());
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
|
wrkCharge.setWrkSts(31L); // 31.生成演示ID
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setSourceLocNo(sourceLocNo);
|
wrkCharge.setLocNo(locNo);
|
wrkCharge.setMemo("demo");
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 演示取货
|
*/
|
private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
|
// 获取工作档信息
|
WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
|
.in("wrk_sts", 31, 33, 35));
|
if (null == wrkCharge) {
|
return;
|
}
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (null == steProtocol) { return; }
|
if (steProtocol.isIdle()) {
|
// 31.生成演示ID
|
if (wrkCharge.getWrkSts() == 31L) {
|
this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
|
wrkCharge.setWrkSts(32L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
|
}
|
// 33.小车待搬
|
} else if (wrkCharge.getWrkSts() == 33L) {
|
LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 33.小车待搬 => 34.吊车搬运
|
Date now = new Date();
|
wrkCharge.setWrkSts(34L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
|
}
|
}
|
// 35.小车就绪
|
} else if (wrkCharge.getWrkSts() == 35L) {
|
|
int steNo = steProtocol.getSteNo().intValue();
|
if (!basSteService.updatePakMk(steNo, "Y")) {
|
News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
|
if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
|
originByLoc = SteTaskModeType.BACK_ORIGIN;
|
} else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
|
originByLoc = SteTaskModeType.GO_ORIGIN;
|
} else {
|
return;
|
}
|
steCommand.setTaskMode(originByLoc);
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 35.小车就绪 => 36.小车走行
|
wrkCharge.setWrkSts(36L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
/**
|
* 出入库模式切换
|
*/
|
public synchronized void outAndIn() {
|
try {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
for (DevpSlave.Sta inSta : devp.getInSta()) {
|
Thread.sleep(500);
|
boolean a=true,b=true;
|
List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
|
if (Cools.isEmpty(wrkMasts)){
|
b=false;
|
}else {
|
for (WrkMast wrkMast:wrkMasts){
|
if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
|
a=false;
|
break;
|
}
|
}
|
}
|
switch (inSta.getStaNo()) {
|
case 102://1F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
|
}
|
break;
|
case 202://2F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
|
}
|
break;
|
case 302://3F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
|
}
|
break;
|
}
|
}
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
|
}
|
