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.domain.param.ForwardAGVTaskParam;
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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.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.News;
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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.enums.DevpType.DevpRequestType;
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import com.zy.core.enums.DevpType.DevpStateType;
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import com.zy.core.enums.DevpType.DevpTrayType;
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import com.zy.core.enums.DevpType.DevpWorkType;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.LedSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.LedCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.BarcodeThread;
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import com.zy.core.thread.LedThread;
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import com.zy.core.thread.SiemensDevpThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.text.DecimalFormat;
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import java.text.SimpleDateFormat;
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import java.util.*;
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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 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 WrkMastStaMapper wrkMastStaMapper;
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@Autowired
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private BasRgvService basRgvService;
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@Autowired
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private BasRgvMapMapper basRgvMapMapper;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private BasRgvMapService basRgvMapService;
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@Value("${wms.url}")
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private String wmsUrl;
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public Integer wrkNo = 10000;
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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(Integer mark) {
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String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
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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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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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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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// 判断是否满足入库条件
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if (staProtocol.stateType == DevpStateType.AUTO //自动
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&& staProtocol.workType == DevpWorkType.BUSY //忙碌
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&& staProtocol.requestType == DevpRequestType.IN //可入
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&& staProtocol.trayType == DevpTrayType.FULL // 满板
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&& staProtocol.isPakMk()) {
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String barcode = staProtocol.getBarcode();
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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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int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
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if (wrkNo1 != 0){
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News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
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if (ledThread != null) {
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News.error(methodName + ":扫码失败，请重试");
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号="+ wrkMast.getWrkNo()));
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}
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continue;
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}
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staProtocol.setWorkNo(wrkMast.getWrkNo());
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staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
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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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log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
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ledThread.errorReset();
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log.info("组托请求后LED错误清除");
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if (!result) {
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News.error(methodName + ":更新plc站点信息失败");
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log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
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// throw new CoolException("更新plc站点信息失败");
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continue;
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}
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}
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WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
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.eq("barcode", barcode)
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.in("io_type", 107,103,57));
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if (!Cools.isEmpty(checkPick)) {
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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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staProtocol.setWorkNo(dto.getWorkNo());
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staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
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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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log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
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ledThread.errorReset();
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log.error("组托请求后LED错误清除");
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if (!result) {
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News.error(methodName + ":更新plc站点信息失败");
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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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// if (ledThread != null) {
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String errorMsg = jsonObject.getString("msg");
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if (!Cools.isEmpty(errorMsg)) {
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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}
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// }
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// News.error(methodName + ":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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// News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成");
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}
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/**
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* wms入库
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* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
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*/
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public synchronized void generateStoreWrkFile0(Integer mark) {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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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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// 入出库模式判断
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if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_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.workType == DevpWorkType.BUSY){
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continue;
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}
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if (staProtocol.stateType == DevpStateType.AUTO
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&& staProtocol.requestType == DevpRequestType.IN
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&& staProtocol.trayType == DevpTrayType.FULL
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&& (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
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&& staProtocol.isPakMk()) {
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News.warnNoLog(""+mark+" - 0"+" - 开始执行");
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
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if (wrkMast == null) {
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continue;
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}
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// 命令下发区 --------------------------------------------------------------------------
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(wrkMast.getWrkNo());
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staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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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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log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
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if (result) {
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// 更新工作主档
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wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
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wrkMast.setModiTime(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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News.error(""+mark+" - 1"+" - 更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
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}
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} else {
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News.error(""+mark+" - 2"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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}
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}else {
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News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.stateType+"、可入信号：" + staProtocol.requestType
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+"、空板信号："+ staProtocol.trayType+"、工作号：" + staProtocol.getWorkNo()
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+"、锁定标记"+ staProtocol.isPakMk());
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}
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}
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}
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// News.infoNoLog(""+mark+" - 0"+" - wms入库 ===》执行完成");
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}
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/**
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* 拣料、并板、盘点再入库
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*/
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public synchronized void stnToCrnStnPick(Integer mark) {
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历拣料入库口
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for (DevpSlave.Sta pickSta : devp.getPickSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.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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// News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
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if("NG".endsWith(barcode) || "NoRead".equals(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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// 获取拣料入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(pickSta.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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// // 入出库模式判断
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// if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
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if (staProtocol.stateType == DevpStateType.AUTO
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&& staProtocol.workType == DevpWorkType.BUSY
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&& staProtocol.requestType == DevpRequestType.IN
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&& staProtocol.isPakMk()) {
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WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
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// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
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if (wrkMast == null) {
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// 无拣料数据
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continue;
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}
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if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
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|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
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continue;
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}
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// 获取目标站
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Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
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.eq("type_no", wrkMast.getIoType() - 50)
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.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
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.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
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StaDesc staDesc = staDescService.selectOne(wrapper);
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if (Cools.isEmpty(staDesc)) {
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News.error(""+mark+" - 2"+" - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
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staProtocol.setWorkNo(wrkNo++);
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staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
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//LED
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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// led 异常显示
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if (ledThread != null) {
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String errorMsg = "此为拣料、并板、盘点再入库.请放在"+pickSta.getBackSta().shortValue()+"站点";
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MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
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}
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continue;
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}
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try {
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// 保存工作明细档历史档
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if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
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throw new CoolException("保存工作明细档历史档失败");
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}
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// 保存工作主档历史档
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if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
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throw new CoolException("保存工作主档历史档失败");
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}
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Date now = new Date();
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// 堆垛机站点(目标站)
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Integer staNo = staDesc.getCrnStn();
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// 更新工作档数据状态
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wrkMast.setIoTime(now);
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wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
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wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
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wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
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wrkMast.setStaNo(staNo); // 目标站
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wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
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wrkMast.setSourceLocNo(""); // 源库位清空
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wrkMast.setModiTime(now);
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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throw new CoolException("更新工作档数据状态失败");
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}
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// 更新明细档io_time (历史档关联使用）
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wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
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// 修改库位状态 Q.拣料/盘点/并板再入库
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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locMast.setLocSts("Q");
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locMast.setModiTime(new Date());
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if (!locMastService.updateById(locMast)) {
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throw new CoolException("修改库位状态失败");
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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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continue;
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}
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(wrkMast.getWrkNo());
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staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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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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log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
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if (!result) {
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News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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}
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}else {
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News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.stateType+"、可入信号：" + staProtocol.workType
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+"、空板信号："+ staProtocol.trayType);
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}
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}
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}
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// News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成");
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}
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//盘点再入库
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public synchronized void stnToCrnStnPick2(){
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历拣料入库口
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for (DevpSlave.Sta pickSta : devp.getPickSta()) {
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// 获取拣料入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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if (staProtocol.stateType == DevpStateType.AUTO
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&& staProtocol.workType == DevpWorkType.BUSY
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&& staProtocol.requestType == DevpRequestType.IN
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&& staProtocol.trayType == DevpTrayType.FULL
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// && staProtocol.getWorkNo() > 0
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&& staProtocol.isPakMk()){
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.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：{}", pickSta.getBarcode(), barcode);
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if("00000000".equals(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
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staProtocol.setWorkNo(wrkNo++);
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staProtocol.setStaNo(pickSta.getBackSta().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// led 异常显示
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
if (ledThread != null) {
|
String errorMsg = "扫码失败，请重试";
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
continue;
|
}
|
} else {
|
staProtocol.setWorkNo(wrkNo++);
|
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
|
if (ledThread != null) {
|
String errorMsg = "扫码失败，请重试";
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
continue;
|
}
|
|
WrkMast wrkMast = wrkMastMapper.selectPickStep2(barcode);
|
if (wrkMast == null) {
|
// 无盘点数据
|
continue;
|
}
|
|
// 出库确认信号位
|
// if ((Cools.isEmpty(wrkMast.getInvWh()) || wrkMast.getInvWh().equals("N")) && wrkMast.getIoType() != 107) {
|
// continue;
|
// }
|
// if ( wrkMast.getIoType() != 107 || Cools.isEmpty(wrkMast.getStaNo())
|
// || Cools.isEmpty(wrkMast.getSourceStaNo())) {
|
// continue;
|
// }
|
|
// 获取库位号
|
try {
|
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", wrkMast.getSourceLocNo()));
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
SearchLocParam param = new SearchLocParam();
|
param.setBarcode(barcode);
|
param.setIoType(107);
|
param.setSourceStaNo(pickSta.getStaNo()); //作业站点
|
if (!Cools.isEmpty(locMast)){
|
param.setLocType1(locMast.getLocType1());
|
}else {
|
param.setLocType1(locTypeDto.getLocType1());
|
}
|
|
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(dto.getWorkNo());
|
staProtocol.setStaNo((short)161);
|
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());
|
}
|
log.info("任务号"+wrkMast.getWrkNo()+"盘点再入库任务下发成功===>>" + staProtocol);
|
|
ledThread.errorReset();
|
log.error("盘点后led错误删除");
|
|
} catch (Exception e) {
|
log.error("盘点再入库失败===>>" + e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
} else {
|
staProtocol.setWorkNo(wrkNo++);
|
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
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();
|
}
|
|
}
|
|
}
|
|
}
|
}
|
|
/**
|
* 堆垛机站出库到出库站
|
*/
|
public synchronized void crnStnToOutStn(Integer mark) {
|
|
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.stateType == DevpStateType.AUTO && staProtocol.workType == DevpWorkType.BUSY && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
continue;
|
}
|
// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
|
// 移动中
|
continue;
|
}
|
// 判断堆垛机状态等待确认
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
|
&& crnProtocol.statusType == CrnStatusType.WAITING
|
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
|
log.info("堆垛机出库完成 - 开始执行");
|
|
// 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))) {
|
log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发失败");
|
continue;
|
}else {
|
log.info(staProtocol.getWorkNo()+","+staProtocol.getStaNo()+"输送线出库命令下发成功");
|
}
|
|
// 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
|
log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
|
crnThread.setResetFlag(true);
|
} else {
|
News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
}else {
|
News.errorNoLog(""+mark+" - 6"+" - 堆垛机信息不符合入库条件！！！"
|
+" 堆垛机状态："+crnProtocol.modeType+"==自动AUTO：" + CrnModeType.AUTO
|
+"、堆垛机任务号："+crnProtocol.getTaskNo()+"==工作档任务号：" + wrkMast.getWrkNo().shortValue()
|
+"、状态枚举："+crnProtocol.statusType+"==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING
|
+"、货叉位置："+crnProtocol.forkPosType+"==HOME：0 // 货叉原位：" + CrnForkPosType.HOME);
|
}
|
|
// }
|
}
|
}
|
// News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成");
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecute(Integer mark) {
|
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
if (basCrnp == null) {
|
News.error(""+mark+" - 1"+" - {}号堆垛机尚未在数据库进行维护！", crn.getId());
|
continue;
|
}
|
|
// //堆垛机回原点任务中
|
// if(crnThread.isBackHpFlag()){
|
// 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) {
|
News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发");
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
//mark - 1 - ....
|
this.crnStnToLoc(crn, crnProtocol,mark); // 入库
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
//mark - 2 - ....
|
this.locToCrnStn(crn, crnProtocol,mark); // 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,mark); // 出库
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
this.crnStnToLoc(crn, crnProtocol,mark); // 入库
|
crnProtocol.setLastIo("O");
|
}
|
}
|
}
|
// 库位移转
|
//mark - 3 - ....
|
this.locToLoc(crn, crnProtocol,mark);
|
// this.crnRebackHp(crnProtocol, crnThread);
|
|
}
|
// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
|
}
|
|
/**
|
* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
|
*/
|
public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
|
// 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;
|
// }
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
|
return;
|
}
|
|
// 已经存在吊车执行任务时，则过滤3,12
|
if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
|
return;
|
}
|
|
//堆垛机有执行中任务，过滤3,4,11,12
|
if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
|
return;
|
}
|
|
//输送线没有入库任务，过滤2
|
if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
|
return;
|
}
|
News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo((short) 9999); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
|
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((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, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
|
}
|
crnThread.setBackHpFlag(true);
|
}
|
// }
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
*/
|
public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
|
News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库");
|
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) {
|
News.infoNoLog(""+mark+" - 1"+" - 1"+" - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol="+staProtocol);
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
News.error(""+mark+" - 1"+" - 2"+" - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
if ( staProtocol.stateType == DevpStateType.AUTO&& staProtocol.workType == DevpWorkType.BUSY&& staProtocol.getWorkNo() > 0 && staProtocol.requestType == DevpRequestType.IN
|
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
|
flag = true;
|
}
|
if (!flag) {
|
News.errorNoLog(""+mark+" - 1"+" - 3"+" - 堆垛机入库站信息(以下需要全true):"
|
+"自动信号"+staProtocol.stateType+"有物信号"+staProtocol.workType
|
+"工作号>0"+staProtocol.getWorkNo()+"可入信号"+staProtocol.requestType
|
+"能入信号（wms设置）.equals(\"Y\")"+staDetl.getCanining());
|
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) {
|
News.infoNoLog(""+mark+" - 1"+" - 4"+" - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
|
// 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) {
|
News.error(""+mark+" - 1"+" - 5"+" - 查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
News.error(""+mark+" - 1"+" - 6"+" - 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) {
|
// News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo());
|
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())) {
|
News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo());
|
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")) {
|
News.warnNoLog(""+mark+" - 1"+" - 9"+" - // 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！库位状态={}",shallowLoc.getLocSts());
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
News.error(""+mark+" - 1"+" - 10"+" - {}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) {
|
News.error(""+mark+" - 1"+" - 11"+" - 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")) {
|
News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
|
// 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,mark);
|
// 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")) {
|
News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q 库位状态={}",shallowLoc.getLocSts());
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
|
continue;
|
}
|
}
|
}
|
News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
|
,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
|
,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());
|
|
// 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
|
crnCommand.setTraySize(locMast.getLocType1());
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error(""+mark+" - 1"+" - 16"+" - 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) {
|
News.error(""+mark+" - 1"+" - 17"+" - 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());
|
}
|
}
|
}
|
News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发 ： 入库执行完毕");
|
}
|
|
/**
|
* 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,Integer mark) {
|
News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");
|
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) {
|
News.error(""+mark+" - 2"+" - 1"+" - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
|
News.error(""+mark+" - 2"+" - 2"+" - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
|
continue;
|
}
|
// 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) {
|
News.infoNoLog(""+mark+" - 2"+" - 3"+" - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol="+staProtocol);
|
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) {
|
// News.infoNoLog(""+mark+" - 2"+" - 4"+" - 入出库模式（此处出库方法，出库模式继续=="+devpThread.ioModeOf2F);
|
// continue;
|
// }
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
News.error(""+mark+" - 2"+" - 5"+" - 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.stateType == DevpStateType.AUTO && staProtocol.workType == DevpWorkType.IDLE && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
|
&& staProtocol.getWorkNo() == 0 && staProtocol.requestType == DevpRequestType.OUT) {
|
// 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())) {
|
News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo());
|
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")) {
|
News.warnNoLog(""+mark+" - 2"+" - 7"+" - // 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！库位状态={}",shallowLoc.getLocSts());
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
News.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) {
|
News.error(""+mark+" - 2"+" - 8"+" - 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")) {
|
News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D 库位状态={}",shallowLoc.getLocSts());
|
// 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,mark);
|
}
|
News.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")) {
|
News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S 库位状态={}",shallowLoc.getLocSts());
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D 工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
|
continue;
|
}
|
}
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
News.warnNoLog(""+mark+" - 2"+" - 12"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
|
,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
|
,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue());
|
|
// 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
|
crnCommand.setTraySize(sourceSta.getLocType1()); //库位类型
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error(""+mark+" - 2"+" - 13"+" - 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) {
|
News.error(""+mark+" - 2"+" - 14"+" - 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;
|
}
|
}
|
}
|
}
|
News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发 ： 出库执行完毕");
|
}
|
|
// /**
|
// * 出库 ===>> 库位到堆垛机站
|
// */
|
// 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
|
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
|
// 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.getLocNo(), 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) {
|
// continue;
|
// } else {
|
// staProtocol = staProtocol.clone();
|
// }
|
//
|
//// // 入出库模式判断
|
//// if (devpThread.ioMode != 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());
|
// 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;
|
// }
|
//
|
// // 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")) {
|
// // 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");
|
// wrkMastMapper.updateById(wrkMast);
|
// // 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)
|
// moveLocForDeepLoc(slave, shallowLoc);
|
// }
|
// log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
|
// continue;
|
// }
|
// }
|
//
|
// // 已经存在吊车执行任务时，则过滤
|
// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
// 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());
|
// }
|
// }
|
// }
|
// }
|
// }
|
|
/**
|
* 库位移转
|
*/
|
public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
|
// 获取工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
|
if (null == wrkMast) {
|
return;
|
}
|
News.warnNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：执行库位移转");
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (null == sourceSta) {
|
News.error(""+mark+" - 3"+" - 1"+" - 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) {
|
News.error(""+mark+" - 3"+" - 2"+" - 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;
|
}
|
if(sta.getLocType1() != sourceSta.getLocType1()){
|
News.error("移库目标库位类型与源库位类型不符");
|
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;
|
}
|
|
News.warnNoLog(""+mark+" - 3"+" - 3"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
|
,sourceSta.getRow1().shortValue(),sourceSta.getBay1().shortValue(),sourceSta.getLev1().shortValue()
|
,sta.getRow1().shortValue(),sta.getBay1().shortValue(),sta.getLev1().shortValue());
|
|
// 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
|
crnCommand.setTraySize(sourceSta.getLocType1()); //库位类型
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
News.error(""+mark+" - 3"+" - 4"+" - 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) {
|
News.error(""+mark+" - 3"+" - 5"+" - 【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());
|
}
|
}
|
News.infoNoLog(""+mark+" - 3"+" - 0"+" - 堆垛机入出库作业下发：库位移转完成");
|
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public synchronized void storeFinished(Integer mark) {
|
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作，任务号:"+crnProtocol.getTaskNo());
|
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
News.error(""+mark+" - 1"+" - 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 (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
|
wrkMast.setWrkSts(4L);
|
} else {
|
continue;
|
}
|
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
|
log.error(wrkMast.getWrkNo()+"任务修改状态4成功，复位堆垛机={}",crnThread.getCrnProtocol().getCrnNo());
|
News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
|
crnThread.setResetFlag(true);
|
}
|
}
|
|
|
}
|
// News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
public synchronized void recCrnErr(Integer mark) {
|
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) {
|
News.warnNoLog(""+mark+" - 1"+" - 开始执行：堆垛机异常信息记录 ： 有任务，有异常");
|
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)) {
|
News.error(""+mark+" - 2"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
News.error(""+mark+" - 3"+" - 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) {
|
News.warnNoLog(""+mark+" - 4"+" - 开始执行：堆垛机异常信息记录 ： 无任务，有异常");
|
// 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)) {
|
News.error(""+mark+" - 5"+" - 堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
News.error(""+mark+" - 6"+" - 堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
// News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
|
}
|
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public synchronized void storeEmptyPlt(Integer mark) {
|
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
LedThread ledThread = null;
|
if (!Cools.isEmpty(emptyInSta.getLed())) {
|
ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
|
}
|
|
if (staProtocol.workType == DevpWorkType.IDLE){
|
continue;
|
}
|
|
// 站点条件判断
|
if (staProtocol.stateType == DevpStateType.AUTO
|
&& staProtocol.workType == DevpWorkType.BUSY
|
&& staProtocol.requestType == DevpRequestType.IN
|
&& staProtocol.trayType == DevpTrayType.EMPTY
|
&& staProtocol.isPakMk()
|
&& ((staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700) || staProtocol.getSiteId() == 1025)
|
) {
|
News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");
|
|
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().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
|
if (!result) {
|
News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
|
throw new CoolException("更新plc站点信息失败");
|
}
|
|
if (ledThread != null) {
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(dto.getWorkNo());
|
ledCommand.setIoType(1);
|
ledCommand.setTitle("全板入库");
|
ledCommand.setLocNo(dto.getLocNo());
|
ledCommand.setStaNo(dto.getStaNo());
|
commands.add(ledCommand);
|
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
|
// ledThread.errorReset();
|
}
|
} else {
|
// staProtocol.setWorkNo(wrkNo++);
|
// staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
|
// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
// if (!result) {
|
// News.errorNoLog(""+mark+" - 2"+" - 更新plc站点信息失败");
|
// throw new CoolException("更新plc站点信息失败");
|
// }
|
//
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
// News.error(""+mark+" - 3"+" - 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();
|
}
|
|
} else {
|
News.errorNoLog(""+mark+" - 4"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.stateType+"、可入信号：" + staProtocol.workType
|
+"、空板信号："+ staProtocol.trayType+"、工作号：" + staProtocol.getWorkNo()
|
+"、锁定标记"+ staProtocol.isPakMk());
|
}
|
}
|
}
|
// News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成");
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public synchronized void ledExecute(Integer mark) {
|
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.workType == DevpWorkType.IDLE) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
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:
|
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;
|
default:
|
News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
|
break;
|
}
|
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
|
ledCommand.setStaNo(wrkMast.getStaNo());
|
ledCommand.setBarcode(wrkMast.getBarcode());
|
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
|
wrkDetls.forEach(wrkDetl -> {
|
Double total = 0.0;
|
EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
|
LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
|
if (Cools.isEmpty(locDetl)) {
|
total = wrkDetl.getAnfme();
|
} else {
|
total = locDetl.getAnfme();
|
}
|
if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
|
}
|
if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
|
}
|
if (wrkMast.getIoType() == 107) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(),total));
|
}
|
});
|
}
|
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 (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
|
News.error("{}号LED显示内容命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
}
|
}
|
|
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.isErr()) {
|
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) {
|
if (ledThread == null) {
|
continue;
|
}
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
}
|
}
|
}
|
|
/**
|
* 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,Integer mark) {
|
|
try {
|
News.warnNoLog(""+mark+"moveLocForDeepLoc"+" - 0"+" - 开始执行:因双深库位阻塞，对浅库位进行移转（立即执行版)");
|
List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
|
LocMast loc = null;
|
for (Integer row : rows) {
|
if (Utils.isDeepLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (loc != null) {
|
if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
|
LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
|
if (!shallowLoc1.getLocSts().equals("O")) {
|
loc = null;
|
}
|
}
|
}
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
if (null == loc) {
|
for (Integer row : rows) {
|
if (Utils.isShallowLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (null != loc) {//对应深库位非在库状态,不能移库
|
String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
|
LocMast deepLoc1 = locMastService.selectById(deepLoc);
|
if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
|
loc = null;
|
}
|
}
|
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
}
|
|
if (null == loc) {
|
News.error(""+mark+"moveLocForDeepLoc"+" - 1"+" - 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) {
|
News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 2"+" - 保存工作档失败");
|
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)) {
|
News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 3"+" - 保存工作档明细失败");
|
throw new CoolException("保存工作档明细失败");
|
}
|
}
|
}
|
// 修改源库位状态
|
if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
|
shallowLoc.setLocSts("R"); // R.出库预约
|
shallowLoc.setModiTime(new Date());
|
if (!locMastService.updateById(shallowLoc)) {
|
News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 4"+" - 更新源库位状态失败");
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 5"+" - 源库位出库失败");
|
throw new CoolException("源库位出库失败");
|
}
|
// 修改目标库位状态
|
if (loc.getLocSts().equals("O")) {
|
loc.setLocSts("S"); // S.入库预约
|
loc.setModiTime(new Date());
|
if (!locMastService.updateById(loc)) {
|
News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 6"+" - 更新目标库位状态失败");
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
News.errorNoLog(""+mark+"moveLocForDeepLoc"+" - 7"+" - 移转失败");
|
throw new CoolException("移转失败");
|
}
|
} catch (Exception e) {
|
News.error(""+mark+"moveLocForDeepLoc"+" - 8"+" - 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) {
|
News.error("堆垛机演示 ===>> 库位移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
/**
|
* 堆垛机命令下发后，异步修改工作档状态
|
*/
|
public synchronized void crnIoWrkMast() {
|
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;
|
}
|
Date now = new Date();
|
// 堆垛机正在运行
|
if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 获取工作档
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 入库
|
if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
|
News.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.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());
|
}
|
News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
|
}
|
// 出库、移库
|
if (wrkMast.getWrkSts() == 11) {
|
News.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
News.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
|
}
|
|
|
}
|
|
}
|
}
|
|
|
|
public synchronized void outOfDevp(Integer mark) {
|
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
|
if (wrkMasts.size()!=0){
|
News.warnNoLog(""+mark+" - 0"+" - 开始执行outOfDevp");
|
}
|
for (WrkMast wrkMast : wrkMasts) {
|
if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
|
wrkMast.setCtnNo("Y");
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error(""+mark+" - 1"+" - 修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
|
}
|
}
|
}
|
// News.infoNoLog(""+mark+" - 0"+" - outOfDevp执行完成");
|
}
|
|
public synchronized void forwardAGVInTasks() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta agvSta : devp.getAgvOutSta()) {
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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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StaProtocol staProtocol = devpThread.getStation().get(agvSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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if (!(staProtocol.stateType == DevpStateType.AUTO)){
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continue;
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}
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if (staProtocol.getWorkNo() == 0){
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continue;
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}
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WrkMast wrkMast1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getWorkNo()).eq("wrk_sts", 101));
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if(!Cools.isEmpty(wrkMast1)){
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continue;
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}
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//查询状态为2的任务
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//查询状态为2的任务
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
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.eq("wrk_no", staProtocol.getWorkNo())
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.in("io_type",101,110,103,104,107)
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.eq("wrk_sts", 15));
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if (Cools.isEmpty(wrkMast)) {
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log.error(agvSta.getStaNo()+"站,转发agv任务未找到对应任务,任务号："+staProtocol.getWorkNo());
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continue;
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}
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ForwardAGVTaskParam forwardAGVTaskParam = new ForwardAGVTaskParam();
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getAgvTaskParam(forwardAGVTaskParam,wrkMast,staProtocol.getSiteId());
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String request = forwardAGVHttpRequest(forwardAGVTaskParam, "10.0.100.110:8182", "/rcms/services/rest/hikRpcService/genAgvSchedulingTask");
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if ("SUCCESS".equals(request)) {
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wrkMast.setWrkSts(101L);
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boolean update = wrkMastService.updateById(wrkMast);
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if (update){
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log.info("入库转发AGV任务完成,任务号:"+wrkMast.getWrkNo());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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}
|
}
|
|
|
|
}
|
}
|
|
}
|
|
private void getAgvTaskParam(ForwardAGVTaskParam agvTaskCreateParam,WrkMast param,Integer staNo){
|
String sourceSite = "";
|
if (staNo == 1040 || staNo == 1042) {
|
sourceSite = "a";
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} else if (staNo == 2010 || staNo == 2012) {
|
sourceSite = "b";
|
} else if(staNo == 3010 || staNo ==3012) {
|
sourceSite = "c";
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} else if(staNo == 2000 || staNo ==2002) {
|
sourceSite = "d";
|
}
|
List<ForwardAGVTaskParam.PositionCodePaths> agvTaskParamList = Arrays.asList(
|
//起始位
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new ForwardAGVTaskParam.PositionCodePaths(staNo.toString(),"05"),
|
//目标位
|
new ForwardAGVTaskParam.PositionCodePaths(sourceSite,"04")
|
);
|
Date date = new Date();
|
DecimalFormat df = new DecimalFormat("0000");
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String wrkNo = "Crn"+df.format(param.getWrkNo())+date.getTime()/1000;
|
agvTaskCreateParam.setReqCode(wrkNo);
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agvTaskCreateParam.setReqTime(new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new Date()));
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agvTaskCreateParam.setTaskTyp("GT4");
|
agvTaskCreateParam.setCtnrCode(param.getBarcode());
|
agvTaskCreateParam.setPositionCodePath(agvTaskParamList);
|
agvTaskCreateParam.setCtnrTyp("2");
|
agvTaskCreateParam.setPriority("1");
|
agvTaskCreateParam.setTaskCode(wrkNo);
|
|
}
|
|
private String forwardAGVHttpRequest(Object requestParam, String url, String path){
|
String response = "";
|
String success = "error";
|
try {
|
response = new HttpHandler.Builder()
|
.setUri(url)
|
// .setHttps(true)
|
.setPath(path)
|
.setJson(JSONObject.toJSONString(requestParam))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
|
String message = jsonObject.get("code").toString();
|
if(("0").equals(message) || ("请求编号已存在").contains(message)){
|
success = "SUCCESS";
|
}else {
|
success = message;
|
}
|
log.info("转发agv任务：请求体:"+JSONObject.toJSONString(requestParam)+",返回值:"+jsonObject);
|
}catch (Exception e){
|
|
}
|
return success;
|
}
|
|
|
|
|
|
}
|
