package com.zy.asrs.service.impl;
|
|
import com.alibaba.fastjson.JSON;
|
import com.alibaba.fastjson.JSONObject;
|
import com.core.common.Cools;
|
import com.core.exception.CoolException;
|
import com.zy.asrs.entity.*;
|
import com.zy.asrs.entity.param.WMSAndAGVInterfaceParam;
|
import com.zy.asrs.mapper.BasCrnErrorMapper;
|
import com.zy.asrs.mapper.TaskWrkMapper;
|
import com.zy.asrs.mapper.WaitPakinMapper;
|
import com.zy.asrs.mapper.WrkMastMapper;
|
import com.zy.asrs.service.*;
|
import com.zy.asrs.utils.CommandUtils;
|
import com.zy.asrs.utils.PostMesDataUtils;
|
import com.zy.asrs.utils.Utils;
|
import com.zy.common.service.CommonService;
|
import com.zy.common.utils.HttpHandler;
|
import com.zy.core.CrnThread;
|
import com.zy.core.DevpThread;
|
import com.zy.core.cache.SlaveConnection;
|
import com.zy.core.enums.*;
|
import com.zy.core.model.CrnSlave;
|
import com.zy.core.model.Task;
|
import com.zy.core.model.command.CrnCommand;
|
import com.zy.core.model.protocol.CrnProtocol;
|
import com.zy.core.model.protocol.StaProtocol;
|
import com.zy.core.properties.SlaveProperties;
|
import com.zy.core.thread.SiemensDevpThread;
|
import com.zy.system.entity.Config;
|
import com.zy.system.service.ConfigService;
|
import lombok.extern.slf4j.Slf4j;
|
import org.springframework.beans.factory.annotation.Autowired;
|
import org.springframework.beans.factory.annotation.Value;
|
import org.springframework.scheduling.annotation.Async;
|
import org.springframework.stereotype.Service;
|
import org.springframework.transaction.annotation.Transactional;
|
|
import java.util.Date;
|
import java.util.List;
|
|
/**
|
* 立体仓库WCS系统主流程业务
|
* Created by vincent on 2020/8/6
|
*/
|
@Slf4j
|
@Service("mainService")
|
@Transactional
|
public class MainServiceImpl {
|
|
public static final long COMMAND_TIMEOUT = 5 * 1000;
|
|
@Autowired
|
private SlaveProperties slaveProperties;
|
@Autowired
|
private WrkMastMapper wrkMastMapper;
|
@Autowired
|
private LocMastService locMastService;
|
@Autowired
|
private BasCrnpService basCrnpService;
|
@Autowired
|
private BasDevpService basDevpService;
|
@Autowired
|
private BasErrLogService basErrLogService;
|
@Autowired
|
private BasCrnErrorMapper basCrnErrorMapper;
|
@Autowired
|
private TaskWrkMapper taskWrkMapper;
|
@Autowired
|
private TaskWrkService taskWrkService;
|
@Autowired
|
private ConfigService configService;
|
|
@Value("${wms.url}")
|
private String wmsUrl;
|
@Value("${wms.movePath}")
|
private String movePath;
|
|
/**
|
* 堆垛机站出库到出库站
|
*/
|
@Async
|
public void crnStnToOutStn() {
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
// 遍历堆垛机出库站
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
|
// 获取堆垛机出库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
|
if (taskWrk == null) {
|
continue;
|
}
|
// 判断工作档条件
|
if (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
|
// 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, taskWrk.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
|
// 移动中
|
continue;
|
}
|
// 判断堆垛机状态等待确认
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(taskWrk.getWrkNo().shortValue())
|
&& crnProtocol.getTaskFinish() == 1
|
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 下发站点信息
|
staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
|
String targetPoint = taskWrk.getTargetPoint();
|
int i = Integer.parseInt(targetPoint);
|
staProtocol.setStaNo((short)i);
|
if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
continue;
|
}
|
|
// 更新工作档状态为14失败
|
taskWrk.setWrkSts(14);
|
if (taskWrkMapper.updateById(taskWrk) != 0) {
|
// 复位堆垛机
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", taskWrk.getWrkNo());
|
}
|
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecute(){
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
if (basCrnp == null) {
|
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")) {
|
this.crnStnToLoc(crn, crnProtocol); // 入库
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
this.locToCrnStn(crn, crnProtocol); // 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")) {
|
this.locToCrnStn(crn, crnProtocol); // 出库
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
this.crnStnToLoc(crn, crnProtocol); // 入库
|
crnProtocol.setLastIo("O");
|
}
|
}
|
}
|
// 库位移转
|
this.locToLoc(crn, crnProtocol);
|
|
}
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
*/
|
public 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
|
TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo().toString());
|
if(null == taskWrk) {
|
continue;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
|
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
|
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
|
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
Date now = new Date();
|
taskWrk.setWrkSts(3);
|
taskWrk.setModiTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
}
|
return;
|
}
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
|
*/
|
public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
|
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
|
List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), crnStn.getStaNo().toString());
|
for (TaskWrk taskWrk : taskWrks){
|
if (taskWrk == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
}
|
|
// 判断堆垛机出库站状态
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
|
&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
break;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
break;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
|
|
taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
|
|
List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
|
if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
|
continue;
|
}
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
|
TaskWrk hallowLocNoTask = taskWrkMapper.selectByStartPoint(shallowLocNo);
|
if (!Cools.isEmpty(hallowLocNoTask)){
|
if (!Cools.isEmpty(hallowLocNoTask.getTargetPoint())){
|
continue;
|
}
|
// new PostMesDataUtils().postMesData("移库任务分配库位",wmsUrl,movePath,hallowLocNoTask);
|
try {
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath(movePath)
|
.setJson(JSON.toJSONString(hallowLocNoTask))
|
.build()
|
.doPost();
|
System.out.println("response:"+response);
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
//解析
|
}
|
}catch (Exception e){
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/"+movePath, JSON.toJSONString(hallowLocNoTask), "请求移库任务分配库位");
|
}
|
continue;
|
}
|
}
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
|
crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
|
crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
|
crnCommand.setDestinationPosX(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 (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
taskWrk.setWrkSts(12);
|
taskWrk.setModiTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
break;
|
}
|
return;
|
}
|
}
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的移库工作档
|
List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
|
for (TaskWrk taskWrk : taskWrks){
|
if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("")) {
|
continue;
|
}
|
// 工作档状态判断
|
if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
|
continue;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
|
crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
|
crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
|
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
|
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
|
if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
taskWrk.setWrkSts(12);
|
taskWrk.setModiTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
break;
|
}
|
return;
|
}
|
}
|
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
@Async
|
public void storeFinished() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
|
// 获取入库待确认工作档
|
TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
|
if (taskWrk == 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());
|
continue;
|
}
|
// 入库 + 库位转移 ==> 4.入库完成
|
if (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
|
taskWrk.setWrkSts(4);
|
} else {
|
continue;
|
}
|
Date now = new Date();
|
taskWrk.setModiTime(now);
|
Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
|
// 修改成功后复位堆垛机
|
if (integerTaskWrk > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
}
|
}
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
@Async
|
public void recCrnErr(){
|
Date now = new Date();
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
if (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.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
|
String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):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.getAlarm1(), // 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.getAlarm1() == null || crnProtocol.getAlarm1() == 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.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
|
String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):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.getAlarm1(), // 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());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
//自动派发任务
|
public void autoDistribute() {
|
Config config = configService.selectByCode("autoDistribute");
|
if (config == null) {
|
return;
|
}
|
|
if (config.getValue().equals("false")) {//判断是否开启自动派发任务
|
return;
|
}
|
|
for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
|
try {
|
taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
|
} catch (CoolException e) {
|
e.printStackTrace();
|
}
|
}
|
}
|
|
|
}
|
