package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.baomidou.mybatisplus.mapper.Wrapper;
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import com.core.common.Cools;
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import com.core.common.DateUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.CodeDetectionUtil;
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import com.zy.asrs.utils.RouteUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.asrs.utils.VersionUtils;
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import com.zy.common.model.LocTypeDto;
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import com.zy.common.model.MatDto;
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import com.zy.common.model.SearchLocParam;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.CollectionUtils;
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import com.zy.common.utils.HttpHandler;
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import com.zy.common.utils.RedisUtil;
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import com.zy.common.utils.RgvUtils;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.*;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.LedCommand;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.cpmmandParam.CrnCommandParam;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.JarProtocol;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.*;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.*;
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import java.util.concurrent.TimeUnit;
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import java.util.stream.Collectors;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Autowired
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private CommonService commonService;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkDetlService wrkDetlService;
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@Autowired
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private WaitPakinMapper waitPakinMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasRgvService basRgvService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private LocDetlService locDetlService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private BasRgvErrMapper basRgvErrMapper;
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@Autowired
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private BasRgvErrLogService basRgvErrLogService;
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@Autowired
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private BasRgvPathService basRgvPathService;
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@Autowired
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private RedisUtil redisUtil;
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@Autowired
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private WrkMastStaMapper wrkMastStaMapper;
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@Autowired
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private BasRgvMapMapper basRgvMapMapper;
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@Autowired
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private RgvOneSignMapper rgvOneSignMapper;
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@Autowired
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private WrkMastCrnMapper wrkMastCrnMapper;
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@Autowired
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private WrkMastSplitTwinMapper wrkMastSplitTwinMapper;
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@Autowired
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private WrkMastSplitTwinService wrkMastSplitTwinService;
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@Autowired
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private BasJarMastService basJarMastService;
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@Value("${wms.url}")
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private String wmsUrl;
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateStoreWrkFile() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if (!Cools.isEmpty(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
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continue;
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}
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} else {
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continue;
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}
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// 获取入库站信息
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// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg+"前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg+"后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg+"高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg+"左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg+"右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg+"超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg+"扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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// led 异常显示
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
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}
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continue;
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}
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// 入出库模式判断
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// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
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// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
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// continue;
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// }
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// 判断是否满足入库条件
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if (staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk()
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&& staProtocol.getWorkNo() == 0
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&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
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// if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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// //条码为空或者不符合，退库到172站点
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// staProtocol.setWorkNo((short)32222);
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// staProtocol.setStaNo((short)172);
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// if (!result) {
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// throw new CoolException("更新plc站点信息失败");
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// }
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// continue;
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// }
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast != null) {
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log.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());
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continue;
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}
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// // 获取入库通知档
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// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
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// if (waitPakins.isEmpty()) {
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// log.error("无此入库条码数据。条码号={}", barcode);
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// continue;
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// }
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try {
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1(locTypeDto.getLocType1());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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barcodeThread.setBarcode("");
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staProtocol.setWorkNo(dto.getWorkNo());
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if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
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staProtocol.setStaNo(dto.getStaNo());
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} else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
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staProtocol.setStaNo(dto.getRgvSstaNo());
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}
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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throw new CoolException("更新plc站点信息失败");
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}
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} else {
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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}
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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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}
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateStoreWrkFileSingle() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSingleSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if (!Cools.isEmpty(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
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continue;
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}
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} else {
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continue;
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}
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// 获取入库站信息
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// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg+"前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg+"后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg+"高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg+"左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg+"右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg+"超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg+"扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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// led 异常显示
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
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}
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continue;
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}
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// 入出库模式判断
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// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
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// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
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// continue;
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// }
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// 判断是否满足入库条件
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if (staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk()
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&& staProtocol.getWorkNo() == 0
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&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
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if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
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log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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// //条码为空或者不符合，退库到172站点
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// staProtocol.setWorkNo((short)32222);
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// staProtocol.setStaNo((short)172);
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// if (!result) {
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// throw new CoolException("更新plc站点信息失败");
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// }
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast != null) {
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log.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());
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continue;
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}
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// // 获取入库通知档
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// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
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// if (waitPakins.isEmpty()) {
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// log.error("无此入库条码数据。条码号={}", barcode);
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// continue;
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// }
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try {
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1(locTypeDto.getLocType1());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/pair/station/single/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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barcodeThread.setBarcode("");
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staProtocol.setWorkNo(dto.getWorkNo());
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if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
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staProtocol.setStaNo(dto.getStaNo());
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} else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
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staProtocol.setStaNo(dto.getRgvSstaNo());
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}
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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throw new CoolException("更新plc站点信息失败");
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}
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} else {
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
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}
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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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}
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateStoreWrkFileLarge() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInLargeSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if (!Cools.isEmpty(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if ("NG".endsWith(barcode) || "NoRead".equals(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
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continue;
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}
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} else {
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continue;
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}
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// 获取入库站信息
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// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg+"前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg+"后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg+"高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg+"左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg+"右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg+"超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg+"扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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// led 异常显示
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
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}
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continue;
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}
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// 入出库模式判断
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// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
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// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
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// continue;
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// }
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// 判断是否满足入库条件
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if (staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk()
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&& staProtocol.getWorkNo() == 0
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&& staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {
|
|
if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || !CodeDetectionUtil.barcodeDetection(barcode)) {
|
log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
|
// //条码为空或者不符合，退库到172站点
|
// staProtocol.setWorkNo((short)32222);
|
// staProtocol.setStaNo((short)172);
|
// 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");
|
// }
|
continue;
|
}
|
|
// 判断重复工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
|
if (wrkMast != null) {
|
log.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;
|
}
|
// // 获取入库通知档
|
// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
|
// if (waitPakins.isEmpty()) {
|
// log.error("无此入库条码数据。条码号={}", barcode);
|
// 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);
|
if (jsonObject.getInteger("code").equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
barcodeThread.setBarcode("");
|
staProtocol.setWorkNo(dto.getWorkNo());
|
|
if(Cools.isEmpty(dto.getRgvNo()) || dto.getRgvNo() <= 0) {
|
staProtocol.setStaNo(dto.getStaNo());
|
} else {//如果存在RGV编号，说明需要RGV接驳，先下发任务到RGV源站
|
staProtocol.setStaNo(dto.getRgvSstaNo());
|
}
|
|
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 {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
|
if (ledThread != null) {
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！"));
|
}
|
}
|
|
} 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
|
*/
|
public synchronized 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.getInWmsSta()) {
|
// 获取入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// // 入出库模式判断
|
// if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
|
// continue;
|
// }
|
|
// 判断是否满足入库条件
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
|
&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
|
&& staProtocol.isPakMk()) {
|
// 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());
|
Integer staNo = wrkMast.getStaNo();
|
if (wrkMast.getSourceStaNo()==145){
|
staNo = 147;
|
}
|
staProtocol.setStaNo(staNo);
|
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) {
|
log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
|
}
|
} else {
|
log.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.getPickSta()) {
|
// // 获取条码扫描仪信息
|
// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
|
// if (barcodeThread == null) {
|
// continue;
|
// }
|
// String barcode = barcodeThread.getBarcode();
|
// if(!Cools.isEmpty(barcode)) {
|
// log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
|
// if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
|
// continue;
|
// }
|
// } else {
|
// continue;
|
// }
|
|
// 获取拣料入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// // 入出库模式判断
|
// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
|
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
|
// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
|
if (wrkMast == null) {
|
// 无拣料数据
|
continue;
|
}
|
if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
|
|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
|
continue;
|
}
|
|
// 获取库位号
|
try {
|
SearchLocParam param = new SearchLocParam();
|
param.setBarcode(wrkMast.getBarcode());
|
param.setIoType(wrkMast.getIoType());
|
param.setSourceStaNo(pickSta.getStaNo()); //作业站点
|
param.setLocType1((short)1);
|
String response = "";
|
log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
|
try {
|
response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin2/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.setTimeout(15, TimeUnit.SECONDS)
|
.build()
|
.doPost();
|
} catch(Exception e){
|
log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
|
log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
|
e.printStackTrace();
|
continue;
|
}
|
log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
|
log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
|
if(response.equals("")) {
|
continue;
|
}
|
JSONObject jsonObject = JSON.parseObject(response);
|
// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
Integer code = jsonObject.getInteger("code");
|
if (code == 200) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
|
log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
|
} else {
|
log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
|
try {
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(wrkMast.getWrkNo());
|
staProtocol.setStaNo(dto.getStaNo());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// ledThread.errorReset();
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
|
}
|
log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
|
} catch (Exception e) {
|
log.error("盘点再入库失败===>>" + e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
} else {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
log.error("stnToCrnStnPick2===>>fail", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
}
|
|
}
|
}
|
|
/**
|
* 拣料、并板、盘点再入库 拆垛位置
|
*/
|
public synchronized void stnToCrnStnPick2() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历拣料入库口
|
for (DevpSlave.Sta pickSta : devp.getPickSta2()) {
|
|
// 获取拣料入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
|
if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
|
continue;
|
}
|
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
|
|
if (wrkMast == null) {
|
continue;
|
}
|
if (staProtocol.isEmptyMk()){
|
log.error("站点号"+staProtocol.getSiteId()+"空板信号异常！");
|
continue;
|
}
|
if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
|
|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
|
continue;
|
}
|
|
String barcode = wrkMast.getBarcode();
|
if(!Cools.isEmpty(barcode)) {
|
if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
|
continue;
|
}
|
} else {
|
continue;
|
}
|
|
// 获取库位号
|
try {
|
SearchLocParam param = new SearchLocParam();
|
param.setBarcode(barcode);
|
param.setIoType(wrkMast.getIoType());
|
param.setSourceStaNo(pickSta.getStaNo()); //作业站点
|
param.setLocType1((short)1);
|
String response = "";
|
log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
|
try {
|
response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin2/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.setTimeout(15, TimeUnit.SECONDS)
|
.build()
|
.doPost();
|
} catch(Exception e){
|
log.error("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
|
log.error("stnToCrnStnPick2===>>盘点查库位入库接口失败", e);
|
e.printStackTrace();
|
continue;
|
}
|
log.info("入库作业站"+pickSta.getStaNo()+"盘点再入库任务请求WMS===>>参数：" + param);
|
log.info("入库作业站"+pickSta.getStaNo()+"下发盘点再入库任务请求WMS返回结果===>>" + response);
|
if(response.equals("")) {
|
continue;
|
}
|
JSONObject jsonObject = JSON.parseObject(response);
|
// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
Integer code = jsonObject.getInteger("code");
|
if (code == 200) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
if (Cools.isEmpty(dto) || Cools.isEmpty(dto.getStaNo())) {
|
log.error("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位失败===>>" + jsonObject.toJSONString());
|
} else {
|
log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库查询库位成功===>>" + jsonObject.toJSONString());
|
try {
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(wrkMast.getWrkNo());
|
staProtocol.setStaNo(dto.getStaNo());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// ledThread.errorReset();
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
|
}
|
log.info("任务号"+wrkMast.getWrkNo()+"盘点/拣料再入库任务下发成功===>>" + staProtocol);
|
} catch (Exception e) {
|
log.error("盘点再入库失败===>>" + e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
} else {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin2/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
log.error("stnToCrnStnPick2===>>fail", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
// // 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", wrkMast.getCrnNo()); // 堆垛机号
|
// StaDesc staDesc = staDescService.selectOne(wrapper);
|
// if (Cools.isEmpty(staDesc)) {
|
// log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
|
// continue;
|
// }
|
//
|
// try {
|
// // 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("保存工作主档历史档失败");
|
// }
|
//
|
// Date now = new Date();
|
// // 堆垛机站点(目标站)
|
// Integer staNo = staDesc.getCrnStn();
|
// // 更新工作档数据状态
|
// wrkMast.setIoTime(now);
|
// 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(wrkMast.getStaNo()); // 源站
|
// wrkMast.setStaNo(staNo); // 目标站
|
// wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
|
// wrkMast.setSourceLocNo(""); // 源库位清空
|
// wrkMast.setModiTime(now);
|
// if (wrkMastMapper.updateById(wrkMast) == 0) {
|
// throw new CoolException("更新工作档数据状态失败");
|
// }
|
// // 更新明细档io_time (历史档关联使用）
|
// wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
|
// // 修改库位状态 Q.拣料/盘点/并板再入库
|
// LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
// locMast.setLocSts("Q");
|
// locMast.setModiTime(new Date());
|
// if (!locMastService.updateById(locMast)) {
|
// throw new CoolException("修改库位状态失败");
|
// }
|
// } catch (Exception e) {
|
// e.printStackTrace();
|
// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
// continue;
|
// }
|
//
|
// // 更新站点信息 且 下发plc命令
|
// staProtocol.setWorkNo(wrkMast.getWrkNo());
|
// staProtocol.setStaNo(wrkMast.getStaNo());
|
// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
// if (!result) {
|
// log.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 拆垛位置
|
*/
|
public synchronized void storeEmptyPlt4() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历叠盘入库口
|
for (DevpSlave.Sta pickSta : devp.getEmptyInSta2()) {
|
|
// 获取入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
BasDevp basDevp = basDevpService.selectById(staProtocol.getSiteId());
|
if (Cools.isEmpty(basDevp) || basDevp.getReportSign()!=1){
|
continue;
|
}
|
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isPakMk() && staProtocol.getWorkNo()==0 && !staProtocol.isOutEnable() && staProtocol.isInEnable()) {
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep4(staProtocol.getSiteId(),"3");
|
if (wrkMast == null) {
|
WrkMast wrkMast1 = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"3");
|
if (Cools.isEmpty(wrkMast1) && staProtocol.isEmptyMk()){
|
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
|
if (Cools.isEmpty(wrkMastSta)){
|
WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
|
wrkMastSta1.setType(2);
|
wrkMastSta1.setWrkType(1);
|
wrkMastStaMapper.insert(wrkMastSta1);
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 堆垛机站出库到出库站
|
*/
|
public synchronized void crnStnToOutStn() {
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
// 遍历堆垛机出库站
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
|
switch (crnSlave.getId()){
|
case 1:
|
case 2:
|
crnStnToOutStnOne(crnStn);
|
continue;
|
case 3:
|
case 4:
|
case 5:
|
crnStnToOutStnTwo(crnStn,1);
|
continue;
|
case 6:
|
case 7:
|
crnStnToOutStnThree(crnStn);
|
continue;
|
default:
|
break;
|
}
|
}
|
}
|
}
|
/**
|
* 堆垛机站出库到出库站
|
*/
|
public synchronized boolean crnStnToOutStnOne(CrnSlave.CrnStn crnStn ) {
|
try{
|
// 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) {
|
return false;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
|
if (wrkMast == null) {
|
return false;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
return false;
|
}
|
// 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
|
return false;
|
}
|
|
WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
|
if (!Cools.isEmpty(wrkMastCrn) && wrkMastCrn.getWrkSts().equals(12L)){
|
wrkMast = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNo().intValue());
|
} else {
|
return false;
|
}
|
// 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 --------------------------------------------------------------------------
|
StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
|
if (staProtocolOther == null) {
|
return false;
|
} else {
|
staProtocolOther = staProtocolOther.clone();
|
}
|
if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && (staProtocolOther.getWorkNo() == 0 || staProtocolOther.getStaNo() == null)) {
|
// WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());
|
|
|
WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
|
WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
|
WrkMast wrkMast1 = null;
|
WrkMast wrkMast2 = null;
|
if (Utils.getRow(wrkMastOne.getSourceLocNo()) == wrkMast.getCrnNo()*4){
|
wrkMast1 = wrkMastTwo;
|
wrkMast2 = wrkMastOne;
|
}else {
|
wrkMast2 = wrkMastTwo;
|
wrkMast1 = wrkMastOne;
|
}
|
|
// 下发站点信息
|
staProtocolOther.setWorkNo(Cools.isEmpty(wrkMast1.getWorkNoOther())? wrkMast1.getWrkNo():wrkMast1.getWorkNoOther());
|
staProtocolOther.setStaNo(wrkMast1.getStaNo());
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocolOther))) {
|
return false;
|
}
|
|
// 下发站点信息
|
staProtocol.setWorkNo(Cools.isEmpty(wrkMast2.getWorkNoOther())? wrkMast2.getWrkNo():wrkMast2.getWorkNoOther());
|
// staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
|
staProtocol.setStaNo(wrkMast2.getStaNo());
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
return false;
|
}
|
boolean sign = true;
|
|
// 更新工作档状态为14失败
|
wrkMastCrn.setWrkSts(14L);
|
if (wrkMastCrnMapper.updateById(wrkMastCrn) != 0) {
|
} else {
|
sign = false;
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
// 更新工作档状态为14失败
|
wrkMastOne.setWrkSts(14L);
|
wrkMastOne.setCrnEndTime(new Date());
|
if (wrkMastMapper.updateById(wrkMastOne) != 0) {
|
} else {
|
sign = false;
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
// 更新工作档状态为14失败
|
wrkMastTwo.setWrkSts(14L);
|
wrkMastTwo.setCrnEndTime(new Date());
|
if (wrkMastMapper.updateById(wrkMastTwo) != 0) {
|
} else {
|
sign = false;
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
if (sign){
|
// 复位堆垛机
|
crnThread.setResetFlag(true);
|
return true;
|
}
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
|
}
|
return false;
|
}
|
public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {
|
try{
|
Date now = new Date();
|
// 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) {
|
return false;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
|
if (wrkMast == null) {
|
return false;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
return false;
|
}
|
// 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 (conStation==1){
|
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
|
// 移动中
|
return false;
|
}
|
// 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
|
&& crnProtocol.getLoaded()==0) {
|
List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
|
if (wrkMastSplitTwinList.size()!=1){
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
|
}
|
for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
|
if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
|
return false;
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
// 下发站点信息
|
staProtocol.setWorkNo(wrkMast.getWrkNo());
|
staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
return false;
|
}
|
// 更新工作档状态为14失败
|
wrkMast.setWrkSts(14L);
|
wrkMast.setCrnEndTime(now);
|
if (wrkMastMapper.updateById(wrkMast) != 0) {
|
wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
|
wrkMastSplitTwin.setUpdateTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
return true;
|
}else {
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3);
|
}
|
} else {
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}else if (conStation==2){
|
if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING || crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
|
// 移动中
|
return false;
|
}
|
// 判断堆垛机状态等待确认
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue())
|
&& crnProtocol.statusTypeTwo == CrnStatusType.WAITING
|
&& crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME
|
&& crnProtocol.getLoadedTwo()==0) {
|
List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
|
if (wrkMastSplitTwinList.size()!=1){
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
|
}
|
for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
|
if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",conStation,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
|
return false;
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
// 下发站点信息
|
staProtocol.setWorkNo(wrkMast.getWrkNo());
|
staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
return false;
|
}
|
// 更新工作档状态为14失败
|
wrkMast.setWrkSts(14L);
|
wrkMast.setCrnEndTime(now);
|
if (wrkMastMapper.updateById(wrkMast) != 0) {
|
wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
|
wrkMastSplitTwin.setUpdateTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
|
// 堆垛机复位
|
crnThread.setResetFlagTwo(true);
|
return true;
|
}else {
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",conStation,2,3);
|
}
|
} else {
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
|
}
|
return false;
|
}
|
public synchronized boolean crnStnToOutStnThree(CrnSlave.CrnStn crnStn ) {
|
try{
|
// 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) {
|
return false;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
|
if (wrkMast == null) {
|
return false;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
return false;
|
}
|
// 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
|
return false;
|
}
|
// 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());
|
staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
return false;
|
}
|
|
// 更新工作档状态为14失败
|
wrkMast.setWrkSts(14L);
|
wrkMast.setCrnEndTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) != 0) {
|
// 复位堆垛机
|
crnThread.setResetFlag(true);
|
return true;
|
} else {
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
|
}
|
return false;
|
}
|
|
/**
|
* 堆垛机站出库到出库站
|
*/
|
public synchronized void crnStnToOutStnTwo() {
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
// 遍历堆垛机出库站
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
|
switch (crnSlave.getId()){
|
case 3:
|
case 4:
|
case 5:
|
crnStnToOutStnTwo(crnStn,2);
|
continue;
|
default:
|
break;
|
}
|
}
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecute() {
|
try{
|
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) {
|
log.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
|
&& crnProtocol.getLoaded() == 0
|
&& crnProtocol.getForkPos() == 0) {
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
switch (crn.getId()){
|
case 1:
|
case 2:
|
this.crnStnToLoc1Single(crn, crnProtocol); // 入库
|
break;
|
case 3:
|
case 4:
|
case 5:
|
continue;
|
default:
|
this.crnStnToLoc1(crn, crnProtocol,1); // 入库
|
}
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
switch (crn.getId()){
|
case 1:
|
case 2:
|
this.locToCrnStn1Single(crn, crnProtocol); // 出库
|
break;
|
case 3:
|
case 4:
|
case 5:
|
continue;
|
default:
|
this.locToCrnStn1(crn, crnProtocol,1); // 出库
|
}
|
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")) {
|
switch (crn.getId()){
|
case 1:
|
case 2:
|
this.locToCrnStn1Single(crn, crnProtocol); // 出库
|
break;
|
case 3:
|
case 4:
|
case 5:
|
continue;
|
default:
|
this.locToCrnStn1(crn, crnProtocol,1); // 出库
|
}
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
switch (crn.getId()){
|
case 1:
|
case 2:
|
this.crnStnToLoc1Single(crn, crnProtocol); // 入库
|
break;
|
case 3:
|
case 4:
|
case 5:
|
continue;
|
default:
|
this.crnStnToLoc1(crn, crnProtocol,1); // 入库
|
}
|
crnProtocol.setLastIo("O");
|
}
|
}
|
}
|
// 库位移转
|
this.locToLoc(crn, crnProtocol);
|
// this.crnRebackHp(crnProtocol, crnThread);
|
|
}
|
}catch (Exception e){
|
log.error("堆垛机出入库下发报错"+e);
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecuteTwo() {
|
try{
|
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) {
|
log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
|
continue;
|
}
|
|
|
int[] sign = new int[]{0,0};
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 只有当堆垛机工位空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE
|
&& crnProtocol.getTaskNo() == 0
|
&& crnProtocol.getLoaded() == 0
|
&& crnProtocol.getForkPos() == 0) {
|
/*
|
* 任务拆分特殊处理
|
* */
|
if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
|
&& crnProtocol.getTaskNoTwo() == 0
|
&& crnProtocol.getLoadedTwo() == 0
|
&& crnProtocol.getForkPosTwo() == 0){
|
sign[0] = 1;
|
sign[1] = 1;
|
}
|
}
|
}
|
|
if (sign[0]==1){
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
switch (crn.getId()){
|
case 3:
|
case 4:
|
case 5:
|
this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库
|
break;
|
default:
|
continue;
|
}
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
switch (crn.getId()){
|
case 3:
|
case 4:
|
case 5:
|
this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库
|
break;
|
default:
|
continue;
|
}
|
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")) {
|
switch (crn.getId()){
|
case 3:
|
case 4:
|
case 5:
|
this.locToCrnStn1Big(crn, crnProtocol, sign[1]); // 出库
|
break;
|
default:
|
continue;
|
}
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
switch (crn.getId()){
|
case 3:
|
case 4:
|
case 5:
|
this.crnStnToLoc1Big(crn, crnProtocol, sign[1]); // 入库
|
break;
|
default:
|
continue;
|
}
|
crnProtocol.setLastIo("O");
|
}
|
}
|
}
|
|
// 库位移转
|
this.locToLoc(crn, crnProtocol);
|
// this.crnRebackHp(crnProtocol, crnThread);
|
|
}
|
}catch (Exception e){
|
log.error("堆垛机出入库下发报错"+e);
|
}
|
}
|
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
*/
|
public synchronized void 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) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
|
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
|
flag = true;
|
}
|
if (!flag) {
|
continue;
|
}
|
// 获取工作状态为2（设备上走）的入库工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
|
if (null == wrkMast) {
|
// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
|
continue;
|
}
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (locMast == null) {
|
log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.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;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
}
|
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// 此标记避免多次执行移库任务
|
if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
|
wrkMast.setUpdMk("Y");
|
wrkMast.setIoPri(14D);
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
// 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
|
// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
|
}
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 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))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
|
// long startTime = System.currentTimeMillis();
|
// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
|
//
|
// if (true) {
|
// break;
|
// }
|
//
|
// try{
|
// Thread.sleep(500);
|
// }catch(Exception ignore){}
|
// }
|
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
* 2024-06-05
|
*/
|
public synchronized void crnStnToLoc1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
|
Integer crnStation1 = crnStation;//记录
|
for(WrkMast wrkMast : wrkMasts){
|
if (wrkMast == null) {
|
continue;
|
}
|
|
crnStation=crnStation1;//刷新
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
|
if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
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) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
|
&& 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) {
|
log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.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;
|
}
|
|
//工位
|
if (crnStation == 1){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
break;
|
}
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
|
break;
|
}
|
}else if(crnStation == 2){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
|
break;
|
}
|
}else {
|
break;
|
}
|
|
if (locMast.getBay1()==81){
|
crnStation=2;
|
}
|
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper<WrkMastSplitTwin>().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) {
|
break;
|
// return;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
}
|
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// 此标记避免多次执行移库任务
|
if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
|
wrkMast.setUpdMk("Y");
|
wrkMast.setIoPri(14D);
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
// 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
|
// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
|
}
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 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.SEPARATE_TAKE); // 任务模式: 单取货
|
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((short)0); // 目标库位排
|
crnCommand.setDestinationPosY((short)0); // 目标库位列
|
crnCommand.setDestinationPosZ((short)0); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
|
log.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 2.设备上走 => 3.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
|
wrkMastSplitTwin.setWrkSts(1);
|
wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
|
wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
|
wrkMastSplitTwin.setStartRow(crnStn.getRow());
|
wrkMastSplitTwin.setStartBay(crnStn.getBay());
|
wrkMastSplitTwin.setStartLev(crnStn.getLev());
|
wrkMastSplitTwin.setEndRow(locMast.getRow1());
|
wrkMastSplitTwin.setEndBay(locMast.getBay1());
|
wrkMastSplitTwin.setEndLev(locMast.getLev1());
|
wrkMastSplitTwin.setWrkType(1);
|
wrkMastSplitTwin.setIoType(1);
|
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
|
if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
|
log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
|
}
|
break;
|
}
|
}
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
* 2024-01-15 煜星小料箱
|
*/
|
public synchronized void crnStnToLoc1Single(CrnSlave slave, CrnProtocol crnProtocol) {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
|
for(WrkMast wrkMast : wrkMasts){
|
if (wrkMast == null) {
|
continue;
|
}
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
|
if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
boolean flag = false;
|
boolean flagOther = 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();
|
}
|
StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
|
if (staProtocolOther == null) {
|
continue;
|
} else {
|
staProtocolOther = staProtocolOther.clone();
|
}
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
|
&& staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
|
flag = true;
|
}
|
|
if (staProtocol.getWorkNo().equals(staProtocolOther.getWorkNo())){
|
continue;
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
|
if (staDetlOther == null) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
|
continue;
|
}
|
if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && staProtocolOther.getWorkNo() > 0 && staProtocolOther.isInEnable()
|
&& staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
|
flagOther = true;
|
}
|
if (!flag || !flagOther) {
|
continue;
|
}
|
|
//查询堆垛机任务
|
WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());
|
if (Cools.isEmpty(wrkMastCrn)){
|
continue;
|
}
|
|
WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
|
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(Utils.getRow(wrkMastCrn.getLocNo())%4>2? wrkMastCrn.getLocNoTwo():wrkMastCrn.getLocNoOne());
|
if (locMast == null) {
|
log.error("查询库存无数据--库位号{}", wrkMastCrn.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", locMast.getLocNo(), locMast.getLocSts());
|
continue;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 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))) {
|
log.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 2.设备上走 => 3.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
wrkMastOther.setWrkSts(3L);
|
wrkMastOther.setCrnStrTime(now);
|
wrkMastOther.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMastOther) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMastOther.getWrkNo());
|
}
|
|
wrkMastCrn.setWrkSts(3L);
|
wrkMastCrn.setModiTime(now);
|
if (wrkMastCrnMapper.updateById(wrkMastCrn) == 0) {
|
log.error("修改堆垛机工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMastCrn.getWrkNo());
|
}
|
}
|
}
|
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
* 2024-01-15 优化双工位
|
*/
|
public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
|
for(WrkMast wrkMast : wrkMasts){
|
if (wrkMast == null) {
|
continue;
|
}
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
|
if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
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) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo().equals(wrkMast.getWrkNo())
|
&& 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) {
|
log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.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;
|
}
|
|
//工位
|
if (crnStation == 1){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
break;
|
}
|
}else if(crnStation == 2){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
|
break;
|
}
|
}else {
|
break;
|
}
|
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
}
|
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// 此标记避免多次执行移库任务
|
if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
|
wrkMast.setUpdMk("Y");
|
wrkMast.setIoPri(14D);
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
// 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
|
// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
|
}
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 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(crnStation==1? 2:5, crnCommand))) {
|
log.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 2.设备上走 => 3.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
|
*/
|
public synchronized void 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.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
|
for (WrkMast wrkMast : wrkMasts) {
|
if (wrkMast == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", 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")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
// continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// // 入出库模式判断
|
// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
|
if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
|
continue;
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
// 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;
|
break;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
if (waitWrkMast.getWrkSts() == 11) {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
} else {
|
|
}
|
}
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
// 此标记避免多次执行移库任务
|
// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
|
// || Cools.isEmpty(waitWrkMast)) {
|
if (Cools.isEmpty(waitWrkMast)) {
|
wrkMast.setUpdMk("Y");
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
}
|
log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
// 1.堆垛机开始移动
|
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))) {
|
log.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 => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
* 2024-01-15 优化双工位
|
*/
|
public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
|
for (WrkMast wrkMast : wrkMasts) {
|
if (wrkMast == null) {
|
continue;
|
}
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
|
if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
//退库模式跳过118、119出库任务
|
if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
|
RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
|
if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
|
continue;
|
}
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
// continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// // 入出库模式判断
|
// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
|
if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
|
continue;
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
// 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 --------------------------------------------------------------------------
|
|
|
//工位
|
if (crnStation == 1){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
// continue;
|
break;
|
}
|
}else if(crnStation == 2){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
|
// continue;
|
break;
|
}
|
}else {
|
break;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
if (waitWrkMast.getWrkSts() == 11) {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
} else {
|
|
}
|
}
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
// 此标记避免多次执行移库任务
|
// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
|
// || Cools.isEmpty(waitWrkMast)) {
|
if (Cools.isEmpty(waitWrkMast)) {
|
wrkMast.setUpdMk("Y");
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
}
|
log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
// 1.堆垛机开始移动
|
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(crnStation==1? 2:5, crnCommand))) {
|
log.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 => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
break;
|
}
|
}
|
}
|
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
* 2024-01-15 煜星小料箱
|
*/
|
public synchronized void locToCrnStn1Single(CrnSlave slave, CrnProtocol crnProtocol) {
|
List<WrkMastCrn> wrkMastCrnList = wrkMastCrnMapper.selectList(new EntityWrapper<WrkMastCrn>()
|
.eq("crn_no", crnProtocol.getCrnNo()).eq("wrk_sts", 11L));
|
for (WrkMastCrn wrkMastCrn : wrkMastCrnList) {
|
if (wrkMastCrn == null) {
|
continue;
|
}
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
|
if(crnStn1.getStaNo().equals(wrkMastCrn.getSourceStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
// 工作档状态判断
|
if (wrkMastCrn.getIoType() < 100 || wrkMastCrn.getSourceStaNo() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMastCrn.getWrkNo(), wrkMastCrn.getSourceLocNo(), wrkMastCrn.getIoType());
|
continue;
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMastCrn.getSourceLocNo());
|
if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMastCrn.getSourceLocNo(), sourceSta.getLocSts());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
// continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
|
if (staProtocolOther == null) {
|
continue;
|
} else {
|
staProtocolOther = staProtocolOther.clone();
|
}
|
|
// // 入出库模式判断
|
// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
|
// if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
|
// continue;
|
// }
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
// continue;
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
|
if (staDetlOther == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
|
break;
|
// 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()) {
|
if (staProtocolOther.isAutoing() && !staProtocolOther.isLoading() && staDetlOther.getCanouting() != null && staDetlOther.getCanouting().equals("Y")
|
&& staProtocolOther.getWorkNo() == 0 && staProtocolOther.isOutEnable()){
|
// 命令下发区 --------------------------------------------------------------------------
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
// continue;
|
break;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMastCrn.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, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
wrkMastCrn.setWrkSts(12L);
|
wrkMastCrn.setModiTime(now);
|
if (wrkMastCrnMapper.updateById(wrkMastCrn) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMastCrn.getWrkNo());
|
}
|
|
WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
|
wrkMastOne.setWrkSts(12L);
|
wrkMastOne.setCrnStrTime(now);
|
wrkMastOne.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMastOne) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMastOne.getWrkNo());
|
}
|
|
WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
|
wrkMastTwo.setWrkSts(12L);
|
wrkMastTwo.setCrnStrTime(now);
|
wrkMastTwo.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMastTwo) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMastTwo.getWrkNo());
|
}
|
break;
|
}
|
}
|
}
|
}
|
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
* 2024-06-05 煜星大料箱
|
*/
|
public synchronized void locToCrnStn1Big(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
|
Integer crnStation1 = crnStation;
|
for (WrkMast wrkMast : wrkMasts) {
|
if (wrkMast == null) {
|
continue;
|
}
|
|
crnStation = crnStation1;
|
|
CrnSlave.CrnStn crnStn = null;
|
for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
|
if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
|
crnStn = crnStn1;
|
break;
|
}
|
}
|
if(Cools.isEmpty(crnStn)){
|
continue;
|
}
|
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
//退库模式跳过118、119出库任务
|
if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
|
RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
|
if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
|
continue;
|
}
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getSourceLocNo(), sourceSta.getLocSts());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
// continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// // 入出库模式判断
|
// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
|
if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
|
continue;
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
// 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 --------------------------------------------------------------------------
|
|
|
//工位
|
if (crnStation == 1){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
// continue;
|
break;
|
}
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
|
// continue;
|
break;
|
}
|
}else if(crnStation == 2){
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
|
// continue;
|
break;
|
}
|
}else {
|
break;
|
}
|
|
if (sourceSta.getBay1().shortValue()==81){
|
crnStation = 2;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
if (waitWrkMast.getWrkSts() == 11) {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
} else {
|
|
}
|
}
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
// 此标记避免多次执行移库任务
|
// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
|
// || Cools.isEmpty(waitWrkMast)) {
|
if (Cools.isEmpty(waitWrkMast)) {
|
wrkMast.setUpdMk("Y");
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
}
|
log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastSplitTwinMapper.selectCount(new EntityWrapper<WrkMastSplitTwin>().eq("wrk_no", wrkMast.getWrkNo().longValue())) != 0) {
|
break;
|
// return;
|
}
|
|
if (true){
|
// 1.堆垛机开始移动
|
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.SEPARATE_TAKE); // 任务模式: 单取货
|
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((short)0); // 目标库位排
|
crnCommand.setDestinationPosY((short)0); // 目标库位列
|
crnCommand.setDestinationPosZ((short)0); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
|
log.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 => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
|
wrkMastSplitTwin.setWrkSts(1);
|
wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
|
wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
|
wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
|
wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
|
wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
|
wrkMastSplitTwin.setEndRow(crnStn.getRow());
|
wrkMastSplitTwin.setEndBay(crnStn.getBay());
|
wrkMastSplitTwin.setEndLev(crnStn.getLev());
|
wrkMastSplitTwin.setWrkType(1);
|
wrkMastSplitTwin.setIoType(2);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
|
if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
|
log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
|
}
|
break;
|
}
|
}
|
// else {
|
// // 1.堆垛机开始移动
|
// CrnCommandParam crnCommandParam = new CrnCommandParam();
|
// 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.SEPARATE_TAKE); // 任务模式: 单取货
|
// 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((short)0); // 目标库位排
|
// crnCommand.setDestinationPosY((short)0); // 目标库位列
|
// crnCommand.setDestinationPosZ((short)0); // 目标库位层
|
// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
|
// log.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 => 12.吊车出库中
|
// Date now = new Date();
|
// wrkMast.setWrkSts(12L);
|
// wrkMast.setCrnStrTime(now);
|
// wrkMast.setModiTime(now);
|
// WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
|
// wrkMastSplitTwin.setWrkSts(1);
|
// wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
|
// wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
|
// wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
|
// wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
|
// wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
|
// wrkMastSplitTwin.setEndRow(crnStn.getRow());
|
// wrkMastSplitTwin.setEndBay(crnStn.getBay());
|
// wrkMastSplitTwin.setEndLev(crnStn.getLev());
|
// wrkMastSplitTwin.setWrkType(1);
|
// wrkMastSplitTwin.setIoType(2);
|
// if (wrkMastMapper.updateById(wrkMast) == 0) {
|
// log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
// }
|
//
|
// if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
|
// log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
|
// }
|
// break;
|
// }
|
// }
|
}
|
}
|
|
}
|
|
/**
|
* 库位移转
|
*/
|
public synchronized 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 sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (null == sourceSta) {
|
log.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 (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
|
return;
|
}
|
// 获取目标库位信息
|
LocMast sta = locMastService.selectById(wrkMast.getLocNo());
|
if (null == sta) {
|
log.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;
|
}
|
|
// 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(sta.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.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 => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
|
public synchronized void storeFinished() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
switch (crn.getId()){
|
case 1:
|
case 2:
|
storeFinishedExecuteOne(crn);
|
continue;
|
case 3:
|
case 4:
|
case 5:
|
storeFinishedExecuteTwo(crn);
|
continue;
|
case 6:
|
case 7:
|
storeFinishedExecuteThree(crn);
|
continue;
|
default:
|
continue;
|
}
|
}
|
}
|
public synchronized boolean storeFinishedExecuteOne(CrnSlave crn) {
|
try{
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
return false;
|
}
|
if (crnProtocol.modeType != CrnModeType.AUTO){
|
return false;
|
}
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
if (crnProtocol.getTaskNo() == 32222) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
// 获取入库待确认工作档
|
WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
|
if (wrkMastCrn == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
return false;
|
}
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
return false;
|
}
|
|
// 获取入库待确认工作档
|
WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
|
if (wrkMastOther == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
return false;
|
}
|
// 入库 + 库位转移 ==> 4.入库完成
|
if (wrkMastCrn.getWrkSts() == 3 || (wrkMastCrn.getWrkSts() == 12 && wrkMastCrn.getIoType() == 11)) {
|
wrkMastCrn.setWrkSts(4L);
|
} else {
|
return false;
|
}
|
Date now = new Date();
|
wrkMastCrn.setModiTime(now);
|
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setWrkSts(4L);
|
wrkMast.setModiTime(now);
|
|
wrkMastOther.setCrnEndTime(now);
|
wrkMastOther.setWrkSts(4L);
|
wrkMastOther.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastCrnMapper.updateById(wrkMastCrn) > 0 && wrkMastMapper.updateById(wrkMast) > 0 && wrkMastMapper.updateById(wrkMastOther) > 0 ) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
return true;
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
|
}
|
return false;
|
}
|
public synchronized boolean storeFinishedExecuteTwo(CrnSlave crn) {
|
try{
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
return false;
|
}
|
if (crnProtocol.modeType != CrnModeType.AUTO){
|
return false;
|
}
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
if (crnProtocol.getTaskNo() == 32222) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
return true;
|
} else {
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
return false;
|
}
|
// 入库 + 库位转移 ==> 4.入库完成
|
if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
|
wrkMast.setWrkSts(4L);
|
} else {
|
return false;
|
}
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 堆垛机复位
|
List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3);
|
if (wrkMastSplitTwinList.size()!=1){
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,2,3);
|
}
|
for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
|
if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
|
return false;
|
}
|
wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
|
wrkMastSplitTwin.setUpdateTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 修改成功后复位堆垛机
|
if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
return true;
|
}else {
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
|
}
|
}else {
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",1,2,3);
|
}
|
}
|
return false;
|
}
|
}else if (crnProtocol.statusType == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNo() != 0 && crnProtocol.getLoaded()==1){
|
if (crnProtocol.getTaskNo() == 32222) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
return true;
|
} else {
|
List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1);
|
if (wrkMastSplitTwinList.size()!=1){
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,1,1);
|
}
|
for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
|
Date now = new Date();
|
wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
|
wrkMastSplitTwin.setUpdateTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
return true;
|
}else {
|
log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
|
}
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
|
}
|
return false;
|
}
|
public synchronized boolean storeFinishedExecuteThree(CrnSlave crn) {
|
try{
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
return false;
|
}
|
if (crnProtocol.modeType != CrnModeType.AUTO){
|
return false;
|
}
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
if (crnProtocol.getTaskNo() == 32222) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
return false;
|
}
|
// 入库 + 库位转移 ==> 4.入库完成
|
if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
|
wrkMast.setWrkSts(4L);
|
} else {
|
return false;
|
}
|
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);
|
return true;
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
|
}
|
return false;
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public synchronized void storeFinishedTwo() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
switch (crn.getId()){
|
case 3:
|
case 4:
|
case 5:
|
storeFinishedTwoExecute(crn);
|
continue;
|
default:
|
continue;
|
}
|
}
|
}
|
|
public synchronized boolean storeFinishedTwoExecute(CrnSlave crn) {
|
try{
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
return false;
|
}
|
if (crnProtocol.modeType != CrnModeType.AUTO){
|
return false;
|
}
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) {
|
if (crnProtocol.getTaskNoTwo() == 32222) {
|
// 堆垛机复位
|
crnThread.setResetFlagTwo(true);
|
} else {
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().intValue());
|
if (wrkMast == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNoTwo());
|
return false;
|
}
|
// 入库 + 库位转移 ==> 4.入库完成
|
if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
|
wrkMast.setWrkSts(4L);
|
} else {
|
return false;
|
}
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 堆垛机复位
|
List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3);
|
if (wrkMastSplitTwinList.size()!=1){
|
log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,2,3);
|
}
|
for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
|
if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
|
log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
|
return false;
|
}
|
wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
|
wrkMastSplitTwin.setUpdateTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 修改成功后复位堆垛机
|
if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
|
// 堆垛机复位
|
crnThread.setResetFlagTwo(true);
|
return true;
|
}else {
|
log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
|
}
|
}else {
|
log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",2,2,3);
|
}
|
}
|
return false;
|
}
|
}else if (crnProtocol.statusTypeTwo == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNoTwo() != 0 && crnProtocol.getLoadedTwo()==1){
|
if (crnProtocol.getTaskNoTwo() == 32222) {
|
// 堆垛机复位
|
crnThread.setResetFlagTwo(true);
|
} else {
|
List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1);
|
if (wrkMastSplitTwinList.size()!=1){
|
log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,1,1);
|
}
|
for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
|
Date now = new Date();
|
wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
|
wrkMastSplitTwin.setUpdateTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
|
// 堆垛机复位
|
crnThread.setResetFlagTwo(true);
|
return true;
|
}else {
|
log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
|
}
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
|
}
|
return false;
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public synchronized void recErr() {
|
try {
|
this.recCrnErr();
|
this.recRgvErr();
|
} catch (Exception e) {
|
log.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* RGV异常信息记录
|
*/
|
public synchronized void recRgvErr() {
|
Date now = new Date();
|
for (RgvSlave rgv : slaveProperties.getRgv()) {
|
// 获取RGV信息
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
continue;
|
}
|
if (true) {
|
// 有任务
|
if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
|
Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue();
|
BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo);
|
// 有异常
|
if (latest == null) {
|
if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(taskNo);
|
if (wrkMast == null) {
|
continue;
|
}
|
BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
|
String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
|
BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
|
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
|
rgv.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) rgvProtocol.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 (!basRgvErrLogService.insert(basRgvErrLog)) {
|
log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (rgvProtocol.getAlarm() == null || rgvProtocol.getAlarm() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basRgvErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId());
|
// 有异常
|
if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) {
|
BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
|
String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
|
BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
|
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
|
rgv.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) rgvProtocol.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 (!basRgvErrLogService.insert(basRgvErrLog)) {
|
log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.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 (!basRgvErrLogService.updateById(latest)) {
|
log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
public synchronized void recCrnErr() {
|
Date now = new Date();
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
if (true) {
|
// if (crnProtocol.getModeType() != CrnModeType.STOP) {
|
// 有任务
|
if (crnProtocol.getTaskNo() != 0) {
|
BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
(int) crnProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasErrLog latest = basErrLogService.findLatest(crn.getId());
|
// 有异常
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
null, // 编号
|
null, // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
null, // 工作状态
|
null, // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int) crnProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"无任务异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public synchronized void storeEmptyPlt() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
if (devp.getId()==1) continue;
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) 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() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
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);
|
if (jsonObject.getInteger("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());
|
staProtocol.setStaNo(dto.getStaNo());
|
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 {
|
log.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();
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public synchronized void storeEmptyPltSingle() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSingleSta()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) 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() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/pair/station/single/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("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());
|
staProtocol.setStaNo(dto.getStaNo());
|
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 {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
}
|
}
|
}
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public synchronized void storeEmptyPltLarge() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInLargeSta()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) 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() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
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);
|
if (jsonObject.getInteger("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());
|
staProtocol.setStaNo(dto.getStaNo());
|
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 {
|
log.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();
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 入库 ===>> 空栈板初始化入库,1楼叠盘机叠盘
|
*/
|
public synchronized void storeEmptyPlt2() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
if (devp.getId()==2) continue;
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) 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() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
|
try {
|
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
|
if (Cools.isEmpty(wrkMastSta)){
|
WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
|
wrkMastSta1.setType(2);
|
wrkMastSta1.setWrkType(1);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
|
wrkMastStaMapper.insert(wrkMastSta1);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public synchronized void storeEmptyPlt3() {
|
try{
|
RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
|
if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
|
return;
|
}
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (rgvProtocol == null) {
|
continue;
|
}
|
BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
|
if (basRgv == null) {
|
log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
|
continue;
|
}
|
|
// 只有当RGV空闲、自动,工位二有物//rgv可用
|
if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
|
&& rgvProtocol.getModeType() == RgvModeType.AUTO
|
&& rgvProtocol.getStatusType1() == RgvStatusType.IDLE
|
&& rgvProtocol.getStatusType2() == RgvStatusType.IDLE
|
&& rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
|
// && (rgvProtocol.getLoaded2()==2 || rgvProtocol.getLoaded2()==3 ) ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘
|
&& rgvProtocol.getLoaded2()==3 ////0 无物；1 一层无物二层有物 ；2一层有物二层无物 （只能满放）；3 1、2层都有物 4：（）只允许拆盘
|
) {
|
try {
|
WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep3(122);
|
if (!Cools.isEmpty(wrkMast1)){
|
continue;
|
}
|
// 获取空板入库站信息
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
param.setSourceStaNo(122);
|
param.setLocType1((short)1);
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/empty/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
// 更新站点信息 且 下发plc命令
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(dto.getWorkNo());
|
if (!Cools.isEmpty(wrkMast) && wrkMast.getIoType()==10 && wrkMast.getWrkSts()==2){
|
WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
|
if (Cools.isEmpty(wrkMastSta)){
|
WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),wrkMast.getStaNo());
|
wrkMastSta1.setWrkNo(wrkMast.getWrkNo().longValue());
|
wrkMastSta1.setType(2);
|
wrkMastSta1.setWrkType(6);//工作类型 1:取（叠盘） 2：拆盘 3：取放 5：满取 6：满放
|
wrkMastStaMapper.insert(wrkMastSta1);
|
}
|
}
|
} else {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/empty/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("3933行执行小车放空板任务下发失败");
|
log.error("3933行"+e);
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public synchronized 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; }
|
if (null == wrkMast) {
|
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 1:
|
case 202:
|
ledCommand.setTitle("全板入库");
|
break;
|
case 10:
|
ledCommand.setTitle("空板入库");
|
break;
|
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;
|
case 212:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
log.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());
|
// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
|
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
|
}
|
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() == 7) {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), 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 synchronized 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()) {
|
if (led.getId() == 7) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
} else {
|
|
}
|
} else {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
} else {
|
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（入库版)
|
* tip：同步
|
*/
|
@Transactional
|
public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast) {
|
LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
Date now = new Date();
|
// 保存工作档
|
WrkMast wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(now);
|
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(15D);
|
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.setCtnNo("Y"); // 入库阻塞库位移转标记
|
wrkMast.setAppeTime(now);
|
wrkMast.setModiTime(now);
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
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.setWrkNo(workNo);
|
wrkDetl.setIoTime(now);
|
wrkDetl.setAnfme(locDetl.getAnfme());
|
VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
wrkDetl.setAppeTime(now);
|
wrkDetl.setModiTime(now);
|
if (!wrkDetlService.insert(wrkDetl)) {
|
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("S"); // S.入库预约，入库阻塞库位移转
|
shallowLoc.setModiTime(now);
|
if (!locMastService.updateById(shallowLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
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)) {
|
// throw new CoolException("更新目标库位状态失败");
|
// }
|
// } else {
|
// throw new CoolException("移转失败");
|
// }
|
wrkMast.setLocNo(shallowLoc.getLocNo());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("修改阻塞入库任务失败");
|
}
|
}
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（立即执行版)
|
* tip：同步
|
*/
|
private synchronized 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) {
|
log.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(13D);
|
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) {
|
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.setWrkNo(workNo);
|
wrkDetl.setIoTime(new Date());
|
wrkDetl.setAnfme(locDetl.getAnfme());
|
VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
wrkDetl.setAppeTime(new Date());
|
wrkDetl.setModiTime(new Date());
|
if (!wrkDetlService.insert(wrkDetl)) {
|
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)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
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)) {
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
throw new CoolException("移转失败");
|
}
|
} catch (Exception e) {
|
log.error("双深库位阻塞，对浅库位进行移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
/**
|
* 堆垛机演示 ===>> 库位移转
|
*/
|
public synchronized void crnDemoOfLocMove1() {
|
try {
|
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) {
|
// 获取移库工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
|
if (null != wrkMast) {
|
continue;
|
}
|
|
LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
|
LocMast loc = locMastService.queryDemoLoc(crn.getId());
|
if (null == sourceLoc || null == loc) {
|
continue;
|
}
|
|
String sourceLocNo = sourceLoc.getLocNo();
|
String locNo = loc.getLocNo();
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
// 保存工作档
|
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(13D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(sourceLocNo); // 源库位
|
wrkMast.setLocNo(locNo); // 目标库位
|
wrkMast.setFullPlt("N"); // 满板：Y
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
|
// for (LocDetl locDetl : locDetls) {
|
// WrkDetl wrkDetl = new WrkDetl();
|
// wrkDetl.setWrkNo(workNo);
|
// wrkDetl.setIoTime(new Date());
|
// wrkDetl.setAnfme(locDetl.getAnfme());
|
// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
// wrkDetl.setAppeTime(new Date());
|
// wrkDetl.setModiTime(new Date());
|
// if (!wrkDetlService.insert(wrkDetl)) {
|
// throw new CoolException("保存工作档明细失败");
|
// }
|
// }
|
// 修改源库位状态
|
if (sourceLoc.getLocSts().equals("D")) {
|
sourceLoc.setLocSts("R"); // R.出库预约
|
sourceLoc.setModiTime(new Date());
|
if (!locMastService.updateById(sourceLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
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)) {
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
throw new CoolException("移转失败");
|
}
|
|
}
|
}
|
} catch (Exception e) {
|
log.error("堆垛机演示 ===>> 库位移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
/**
|
* 入出库 ===>> 小车作业下发
|
*/
|
public synchronized boolean steIoExecute(Integer sign) {
|
return false;
|
}
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecuteTwoExecute(Integer i) {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
try{
|
switch (crn.getId()){
|
case 3:
|
case 4:
|
case 5:
|
crnWrkMastSplitTwinExecute(crn,i);
|
continue;
|
default:
|
continue;
|
}
|
}catch (Exception e){
|
log.error("堆垛机出入库执行任务下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
|
}
|
}
|
}
|
|
|
public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn,Integer i){
|
try{
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
return false;
|
}
|
BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
if (basCrnp == null) {
|
log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
|
return false;
|
}
|
|
|
int[] sign = new int[]{0,0};
|
// 只有当堆垛机自动时才继续执行
|
if (crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 只有当堆垛机工位1取货或者有物 并且 工位2无任务时才继续执行
|
switch (i){
|
case 1:
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE
|
&& crnProtocol.getTaskNo() == 0
|
&& crnProtocol.getLoaded() == 0
|
&& crnProtocol.getForkPos() == 0) {
|
sign[0] = 1;
|
sign[1] = 1;
|
}
|
break;
|
case 2:
|
if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
|
&& crnProtocol.getTaskNo() == 0
|
&& crnProtocol.getLoaded() == 1
|
&& crnProtocol.getForkPos() == 0) {
|
sign[0] = 2;
|
sign[1] = 1;
|
}
|
break;
|
case 3:
|
if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
|
&& crnProtocol.getTaskNoTwo() == 0
|
&& crnProtocol.getLoadedTwo() == 0
|
&& crnProtocol.getForkPosTwo() == 0){
|
sign[0] = 1;
|
sign[1] = 2;
|
}
|
break;
|
case 4:
|
if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
|
&& crnProtocol.getTaskNoTwo() == 0
|
&& crnProtocol.getLoadedTwo() == 1
|
&& crnProtocol.getForkPosTwo() == 0){
|
sign[0] = 2;
|
sign[1] = 2;
|
}
|
break;
|
default:
|
}
|
}
|
|
if (sign[0]!=0){
|
List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0);
|
if (wrkMastSplitTwinList.size()>1){
|
log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
|
return false;
|
}
|
for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
|
boolean ack = sign[0] == 1 ? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
|
if (ack){
|
wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkType()==1? 1:3);
|
wrkMastSplitTwinService.updateById(wrkMastSplitTwin);
|
}else {
|
log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack);
|
}
|
}
|
}
|
}catch (Exception e){
|
log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
|
}
|
return false;
|
}
|
|
/*
|
* 堆垛机取货至工位任务
|
* */
|
public synchronized boolean crnExecuteTakeFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnNo); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
|
crnCommand.setSourcePosX(wrkMastSplitTwin.getStartRow().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(wrkMastSplitTwin.getStartBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(wrkMastSplitTwin.getStartLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX((short)0); // 目标库位排
|
crnCommand.setDestinationPosY((short)0); // 目标库位列
|
crnCommand.setDestinationPosZ((short)0); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/*
|
* 堆垛机放货货至出库站点任务
|
* */
|
public synchronized boolean crnExecutePutFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnNo); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
|
crnCommand.setSourcePosX((short)0); // 源库位排
|
crnCommand.setSourcePosY((short)0); // 源库位列
|
crnCommand.setSourcePosZ((short)0); // 源库位层
|
crnCommand.setDestinationPosX(wrkMastSplitTwin.getEndRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
|
return false;
|
} else {
|
return true;
|
}
|
}catch (Exception e){
|
return false;
|
}
|
}
|
|
/**
|
* Jar任务创建
|
*/
|
public synchronized void jarGenerateWrkMastSta() {
|
for (JarSlave jarSlave : slaveProperties.getJar()) {
|
try{
|
Integer count = basJarMastService.getJarMastByJarIdCount(jarSlave.getId().longValue());
|
if (count>=7){
|
continue;
|
}
|
BasJarMast jarMastByJarIdMax = basJarMastService.getJarMastByJarIdMax(jarSlave.getId().longValue());
|
if (jarMastByJarIdMax.getJarLocDigit()==7){
|
continue;
|
}
|
jarGenerateWrkMastStaExecute(jarSlave);
|
}catch (Exception e){
|
log.error(jarSlave.getId()+"号小车复位线程报错！"+e);
|
}
|
}
|
}
|
|
/**
|
* Jar任务创建 执行
|
*/
|
public synchronized boolean jarGenerateWrkMastStaExecute(JarSlave jarSlave) {
|
try{
|
// 获取堆垛机信息
|
JarThread jarThread = (JarThread) SlaveConnection.get(SlaveType.Jar, jarSlave.getId());
|
JarProtocol jarProtocol = jarThread.getJarProtocol();
|
if (jarProtocol == null) {
|
return false;
|
}
|
if (jarProtocol.modeType != JarModeType.AUTO){
|
return false;
|
}
|
// 状态：等待确认 并且 任务完成位 = 1
|
|
} catch (Exception e){
|
// log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
|
}
|
return false;
|
}
|
|
|
/**
|
* Jar任务执行
|
*/
|
public synchronized void jarExecuteWrkMastSta() {
|
try{
|
|
}catch (Exception e){
|
log.error("小车复位线程报错！"+e);
|
}
|
}
|
|
/**
|
* Jar完成
|
*/
|
public synchronized void jarCompleteWrkMastSta() {
|
try{
|
|
}catch (Exception e){
|
log.error("小车复位线程报错！"+e);
|
}
|
}
|
|
/*
|
* 小车取空板至工位任务 满取
|
* */
|
public synchronized boolean jarRgvTake1(Integer rgvId,WrkMastSta wrkMastSta){
|
try{
|
// 命令下发区 --------------------------------------------------------------------------
|
RgvCommand rgvCommand = new RgvCommand();
|
rgvCommand.setRgvNo(rgvId); // RGV编号
|
rgvCommand.setAckFinish2((short) 0); // 工位2任务完成确认位
|
rgvCommand.setTaskNo2(wrkMastSta.getWrkNo().shortValue()); // 工位2工作号
|
rgvCommand.setTaskMode2(RgvTaskModeType.FETCH_5); // 工位2任务模式: 满取
|
rgvCommand.setSourceStaNo2(wrkMastSta.getStaStart().shortValue()); //工位2起点
|
rgvCommand.setCommand((short) 2); //工位2任务确认
|
if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, rgvCommand))) {
|
//step=2,工位1、2写任务； step=4，工位1写任务； step=5，工位2写任务
|
log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
|
return false;
|
} else {
|
return true;
|
}
|
} catch (Exception e){
|
return false;
|
}
|
}
|
/*
|
* Rgv 移动
|
* */
|
public synchronized boolean jarRgvTake2(Integer rgvId,BasJarMast basJarMast){
|
return false;
|
}
|
/*
|
* 小车取空板至工位任务 满取
|
* */
|
public synchronized boolean jarRgvTake3(Integer rgvId,BasJarMast basJarMast){
|
return false;
|
}
|
/*
|
* 小车取空板至工位任务 满取
|
* */
|
public synchronized boolean jarRgvTake4(Integer rgvId,BasJarMast basJarMast){
|
return false;
|
}
|
/*
|
* 小车取空板至工位任务 满取
|
* */
|
public synchronized boolean jarRgvTake5(Integer rgvId,BasJarMast basJarMast){
|
return false;
|
}
|
/*
|
* 小车取空板至工位任务 满取
|
* */
|
public synchronized boolean jarRgvTake6(Integer rgvId,BasJarMast basJarMast){
|
return false;
|
}
|
/*
|
* 小车取空板至工位任务 满取
|
* */
|
public synchronized boolean jarRgvTake7(Integer rgvId,BasJarMast basJarMast){
|
return false;
|
}
|
/*
|
* 穿梭板移动
|
* */
|
public synchronized boolean jarRgvTake8(Integer rgvId,BasJarMast basJarMast){
|
return false;
|
}
|
}
|
