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.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.BasCrnErrorMapper;
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import com.zy.asrs.mapper.WrkChargeMapper;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.Utils;
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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.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.*;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.LedCommand;
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import com.zy.core.model.command.SteCommand;
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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.model.protocol.SteProtocol;
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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 com.zy.core.thread.SteThread;
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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.scheduling.annotation.Async;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.*;
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import java.util.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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@Value("${wms.url}")
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private String wmsUrl;
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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 LocMastService locMastService;
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@Autowired
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private LocDetlService locDetlService;
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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 BasErrLogService basErrLogService;
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@Autowired
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private BasSteErrLogService basSteErrLogService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private BasSteService basSteService;
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@Autowired
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private WrkChargeService wrkChargeService;
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@Autowired
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private BasSteErrService basSteErrService;
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@Autowired
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private CommonService commonService;
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@Autowired
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private WrkChargeMapper wrkChargeMapper;
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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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@Async
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public void generateStoreWrkFile() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
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&& staProtocol.isPakMk()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if(!Cools.isEmpty(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
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staProtocol.setWorkNo((short) 9995);
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staProtocol.setStaNo(inSta.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
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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String errorMsg = "扫码失败，请重试";
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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}
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continue;
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}
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} else {
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staProtocol.setWorkNo((short) 9995);
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staProtocol.setStaNo(inSta.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
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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String errorMsg = "扫码失败，请重试";
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
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}
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continue;
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}
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// 过滤盘点/拣料/并板任务
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if (null != wrkMastMapper.selectPickStepByBarcode(barcode)) {
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast != null) {
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log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
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continue;
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}
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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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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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// plc 处理
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barcodeThread.setBarcode("");
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staProtocol.setWorkNo(dto.getWorkNo().shortValue());
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staProtocol.setStaNo(dto.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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if (!result) {
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throw new CoolException("更新plc站点信息失败");
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}
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} else if (code == 500){
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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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log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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} else if (code == 700) {
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staProtocol.setWorkNo((short) 9995);
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staProtocol.setStaNo(inSta.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
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if (ledThread != null) {
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String errorMsg = barcode + "托盘识别异常，请先进行组托！";
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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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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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}
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/**
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* 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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@Async
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public void generateStoreWrkFile0() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
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&& staProtocol.isPakMk()) {
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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) { continue; }
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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().shortValue());
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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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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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log.error("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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log.error("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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}
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}
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}
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}
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/**
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* 拣料、并板、盘点再入库 【第1阶段】
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*/
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public synchronized void stnToCrnStnPick0(){
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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.getPickOutSta()) {
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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.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& staProtocol.getWorkNo() > 0
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&& staProtocol.isPakMk()) {
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WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
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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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short staNo;
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switch (wrkMast.getSourceStaNo()) {
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case 104:
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case 108:
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staNo = 103;
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break;
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case 204:
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case 208:
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staNo = 203;
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break;
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default:
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log.error("{}任务再入库失败，系统数据异常！", wrkMast.getWrkNo());
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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((short) 9994);
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staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
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staProtocol.setStaNo(staNo);
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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log.error("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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}
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}
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}
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}
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/**
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* 拣料、并板、盘点再入库【第2阶段】
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*/
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public synchronized void stnToCrnStnPick1(){
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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.getPickInSta()) {
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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.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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// 0 - 9990 或者 9996
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&& ((staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) || staProtocol.getWorkNo() == 9996)
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&& staProtocol.getStaNo().equals(staProtocol.getSiteId().shortValue())
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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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WrkMast wrkMast = null;
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if (staProtocol.getWorkNo() > 0 && staProtocol.getWorkNo() < 9990) {
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wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo());
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if (null == wrkMast) {
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log.error("{}任务号错误，暂无拣料任务！", staProtocol.getWorkNo());
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}
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}
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if (staProtocol.getWorkNo() == 9996) {
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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("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
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staProtocol.setWorkNo((short) 9995);
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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
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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if (ledThread != null) {
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String errorMsg = "扫码失败，请重试";
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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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} else {
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staProtocol.setWorkNo((short) 9995);
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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
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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if (ledThread != null) {
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String errorMsg = "扫码失败，请重试";
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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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wrkMast = wrkMastMapper.selectPickStepByBarcode(barcode);
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if (null == wrkMast) {
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log.error("{}条码错误，暂无拣料任务！", barcode);
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}
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}
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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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try {
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// 访问 WMS 获取入库库位
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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SearchLocParam param = new SearchLocParam();
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param.setWrkNo(wrkMast.getWrkNo());
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param.setIoType(wrkMast.getIoType());
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param.setSourceStaNo(pickSta.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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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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Integer code = jsonObject.getInteger("code");
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if (code.equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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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", dto.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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// log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
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// continue;
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// }
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// // 堆垛机站点(目标站)
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// Integer staNo = staDesc.getCrnStn();
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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(wrkMast.getWrkNo() + "保存工作主档历史档失败");
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}
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String sourceLocNo = wrkMast.getSourceLocNo().trim();
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// 更新工作档数据状态
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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(pickSta.getStaNo()); // 源站
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wrkMast.setStaNo(dto.getStaNo()); // 目标站
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wrkMast.setCrnNo(dto.getCrnNo());
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wrkMast.setLocNo(dto.getLocNo()); // 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(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
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}
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if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
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throw new CoolException(wrkMast.getWrkNo() + "更新工作档数据状态失败");
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}
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// 修改源库位状态 O.空库位
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LocMast locMast = locMastService.selectById(sourceLocNo);
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locMast.setLocSts("O");
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locMast.setModiTime(new Date());
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if (!locMastService.updateById(locMast)) {
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throw new CoolException(wrkMast.getWrkNo() + "修改源库位状态 O.空库位");
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}
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// 修改目标库位状态 Q.拣料/盘点/并板再入库
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locMast = locMastService.selectById(wrkMast.getLocNo());
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locMast.setLocSts("Q");
|
locMast.setModiTime(new Date());
|
if (!locMastService.updateById(locMast)) {
|
throw new CoolException(wrkMast.getWrkNo() + "修改目标库位状态 Q.拣料/盘点/并板再入库");
|
}
|
// 库存明细转移
|
if (!locDetlService.updateLocNo(wrkMast.getLocNo(), sourceLocNo)) {
|
throw new CoolException(wrkMast.getWrkNo() + "任务库存明细转移失败！！！");
|
}
|
|
// 条码设备处理
|
barcodeThread.setBarcode("");
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
|
}
|
|
} else if (code == 500){
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
} else {
|
staProtocol.setWorkNo((short) 9995);
|
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
// continue;
|
}
|
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 堆垛机站出库到出库站
|
*/
|
@Async
|
public void crnStnToOutStn() {
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
// 遍历堆垛机出库站
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
|
// 获取堆垛机出库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
continue;
|
}
|
// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
|
// 移动中
|
continue;
|
}
|
// 判断堆垛机状态等待确认
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
|
&& crnProtocol.statusType == CrnStatusType.WAITING
|
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 下发站点信息
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
continue;
|
}
|
|
// 更新工作档状态为 17.出库完成
|
wrkMast.setWrkSts(17L);
|
wrkMast.setCrnEndTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) != 0) {
|
// 复位堆垛机
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("更新工作档的工作状态为 17.出库完成 失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
}
|
|
}
|
}
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecute(){
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
if (basCrnp == null) {
|
log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
|
continue;
|
}
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
// 入库
|
if (this.crnStnToLoc(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
// 出库
|
if (this.locToCrnStn(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("I");
|
}
|
}
|
// 如果最近一次是出库模式
|
else if (crnProtocol.getLastIo().equals("O")) {
|
if (basCrnp.getOutEnable().equals("Y")) {
|
// 出库
|
if (this.locToCrnStn(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
// 入库
|
if (this.crnStnToLoc(crn, crnProtocol)) {
|
}
|
crnProtocol.setLastIo("O");
|
}
|
}
|
// 库位移转
|
this.locToLoc(crn, crnProtocol);
|
// 演示任务
|
this.steMoveDemo(crn, crnProtocol);
|
}
|
}
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
*/
|
public boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
|
boolean flag = false;
|
// 获取堆垛机入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
// 获取工作状态为 2,3,4,5,6 的入库工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
|
if(null == wrkMast) {
|
// log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
|
continue;
|
}
|
if (wrkMast.getWrkSts() < 3) {
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
|
&& staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
|
flag = true;
|
}
|
if (!flag) {
|
continue;
|
}
|
}
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (locMast == null) {
|
log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
|
continue;
|
}
|
|
// 过滤
|
WrkMast pakoutWrkMast = wrkMastMapper.selectPakout(slave.getId(), null);
|
if (null != pakoutWrkMast) {
|
if ((pakoutWrkMast.getIoType() == 103 || pakoutWrkMast.getIoType() == 104 || pakoutWrkMast.getIoType() == 107)
|
&& pakoutWrkMast.getWrkSts() == 17
|
&& basDevpService.selectByWrkNo(pakoutWrkMast.getWrkNo()) != null
|
) {
|
|
} else {
|
log.error("{}入库任务无法作业，因存在出库中任务!", wrkMast.getWrkNo());
|
continue;
|
}
|
}
|
|
// 置顶任务
|
wrkMast.setIoPri((double) 9999);
|
wrkMastMapper.updateById(wrkMast);
|
|
// 目标库位 ===>> 最外层库位
|
if (locMastService.isOutMost(wrkMast.getLocNo())) {
|
// 判断小车是否在最外层库位，如果是则搬走，如果不是，则直接堆垛机入库
|
Integer steNo = this.hasCar(wrkMast.getLocNo());
|
// 有小车
|
if (steNo != null) {
|
// 小车行走到堆垛机待搬移点
|
if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
|
this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
|
}
|
}
|
// 小车搬走
|
if (wrkMast.getWrkSts() == 3L) {
|
this.carMoveOut(wrkMast, steNo, crnProtocol);
|
}
|
// 没有小车
|
} else {
|
|
// 当前入库库位组没有小车 堆垛机则去站点取货入库
|
// case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
|
// case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
|
if ((wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) || wrkMast.getWrkSts() == 6L) {
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 堆垛机入库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
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 7.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(7L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
|
}
|
return true;
|
}
|
}
|
|
}
|
|
// 目标库位 ===>> 非最外层库位
|
} else {
|
// 判断小车是否在当前组库位，如果是则将穿梭车移至最外层，等待堆垛机放货；如果不是，则堆垛机寻找穿梭车，并放置当前组最外层
|
Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
|
// 有小车
|
if (steNo != null) {
|
// 小车行走到堆垛机待搬移点
|
if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
|
this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
|
}
|
}
|
// 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中
|
if (wrkMast.getWrkSts() == 3L || wrkMast.getWrkSts() == 6L) {
|
// 小车处于空闲
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
// 堆垛机入库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 3.小车待搬 ===>> 7.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(7L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
return true;
|
}
|
}
|
}
|
// 没有小车
|
} else {
|
if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
|
// 寻找当前堆垛机对应的小车
|
SteThread steThread = queryIdleCar(wrkMast);
|
if (steThread != null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
|
// 让小车等待搬运待续
|
this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
|
}
|
}
|
}
|
// 堆垛机搬运小车
|
if (wrkMast.getWrkSts() == 3L) {
|
this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
|
}
|
}
|
}
|
|
}
|
return false;
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
*/
|
public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的出库工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
|
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
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
// 判断堆垛机出库站状态
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
|
&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 过滤
|
if (null != wrkMastMapper.selectPakin(slave.getId(), null)) {
|
log.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo());
|
continue;
|
}
|
|
// 置顶任务
|
wrkMast.setIoPri((double) 9999);
|
wrkMastMapper.updateById(wrkMast);
|
|
// 最外层库位，直接堆垛机出库
|
if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 堆垛机出库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
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 => 16.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(16L);
|
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 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
return true;
|
}
|
// 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
|
} else {
|
// 当前组库位是否有穿梭车
|
Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
|
// 有小车
|
if (steNo != null) {
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
|
// 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 14.小车搬出库
|
Date now = new Date();
|
wrkMast.setWrkSts(14L);
|
wrkMast.setSteNo(steNo);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
if (wrkMast.getWrkSts() == 15L) {
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 堆垛机出库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1()).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 15.等待吊车 => 16.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(16L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
return true;
|
}
|
}
|
|
// 没有小车
|
} else {
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
// 寻找最近的小车
|
SteThread steThread = queryIdleCar(wrkMast);
|
if (steThread != null) {
|
// 没有其他任务
|
if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
|
// 让小车等待搬运待续
|
this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
|
}
|
}
|
}
|
// 堆垛机搬运小车
|
if (wrkMast.getWrkSts() == 12L) {
|
this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
|
}
|
}
|
}
|
|
}
|
}
|
return false;
|
}
|
|
/**
|
* 库位移转
|
*/
|
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
// 获取工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
|
if (null == wrkMast) {
|
return;
|
}
|
// 获取源库位信息
|
LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (null == sourceLoc) {
|
log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
|
return;
|
}
|
// 源库位 库位状态判断
|
if (!sourceLoc.getLocSts().equals("R") && !sourceLoc.getLocSts().equals("S")) {
|
return;
|
}
|
// 获取目标库位信息
|
LocMast loc = locMastService.selectById(wrkMast.getLocNo());
|
if (null == loc) {
|
log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
|
return;
|
}
|
// 获取堆垛机信息 并 判断是否可入出
|
BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
|
if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
|
return;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
return;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
return;
|
}
|
|
// 置顶任务
|
wrkMast.setIoPri((double) 9999);
|
wrkMastMapper.updateById(wrkMast);
|
|
// 源库位 ===>> 最外层库位
|
if (locMastService.isOutMost(wrkMast.getSourceLocNo())) {
|
// 目标库位 ===>> 最外层库位
|
if (locMastService.isOutMost(wrkMast.getLocNo())) {
|
// todo:luxiaotao 判断目标库位是否存在小车，如果存在，则搬走小车
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(loc.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
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 => 16.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(16L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
} else {
|
Integer steNo = this.hasCarOfIdle(wrkMast.getLocNo());
|
// 有小车
|
if (steNo != null) {
|
// 小车行走到堆垛机待搬移点
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
// 标记移库当前流程
|
wrkMast.setMk("I");
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
|
}
|
// 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中
|
if (wrkMast.getWrkSts() == 6L) {
|
// 小车处于空闲
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
return;
|
}
|
// 堆垛机入库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
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 6.小车待入 ===>> 7.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(7L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
} else {
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
// 寻找当前堆垛机对应的小车
|
SteThread steThread = queryIdleCar(wrkMast);
|
if (steThread != null) {
|
// 标记移库当前流程
|
wrkMast.setMk("I");
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// 让小车等待搬运待续
|
this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
|
}
|
}
|
// 堆垛机搬运小车
|
if (wrkMast.getWrkSts() == 3L) {
|
this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
|
}
|
}
|
}
|
|
} else {
|
|
// 当前组库位是否有穿梭车
|
Integer steNo = this.hasCarOfIdle(wrkMast.getSourceLocNo());
|
// 有小车
|
if (steNo != null) {
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
|
// 给穿梭车下发命令 让其将货物挪至堆垛机搬运点
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 14.小车搬出库
|
Date now = new Date();
|
wrkMast.setWrkSts(14L);
|
wrkMast.setSteNo(steNo);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
if (wrkMast.getWrkSts() == 15L) {
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
return;
|
}
|
|
// 目标库位 ===>> 最外层库位
|
if (locMastService.isOutMost(wrkMast.getLocNo())) {
|
// 堆垛机出库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
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 15.等待吊车 => 16.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(16L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// wrkMastMapper.setSteEmpty(wrkMast.getWrkNo());
|
}
|
} else {
|
|
// 把货搬到临时存放货位 todo:luxiaotao
|
|
|
// 小车行走到堆垛机待搬移点
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
|
}
|
// 堆垛机将货放至小车上 6.小车待入 ===>> 7.吊车入库中
|
if (wrkMast.getWrkSts() == 6L) {
|
// 小车处于空闲
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
return;
|
}
|
// 堆垛机入库 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceLoc.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(loc.getRow1()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(loc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(loc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
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 6.小车待入 ===>> 7.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(7L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
|
}
|
} else {
|
if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
|
// 寻找最近的小车
|
SteThread steThread = queryIdleCar(wrkMast);
|
if (steThread != null) {
|
// 标记移库当前流程
|
wrkMast.setMk("O");
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// 让小车等待搬运待续
|
this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
|
}
|
}
|
// 堆垛机搬运小车
|
if (wrkMast.getWrkSts() == 12L) {
|
this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
|
}
|
}
|
}
|
}
|
|
/**
|
* 当前库位组是否存在空闲小车
|
*/
|
public Integer hasCar(String locNo) {
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
|
return steProtocol.getSteNo().intValue();
|
}
|
}
|
return null;
|
}
|
|
/**
|
* 当前库位组是否存在空闲小车
|
*/
|
public Integer hasCarOfIdle(String locNo) {
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
|
return steProtocol.getSteNo().intValue();
|
}
|
}
|
}
|
return null;
|
}
|
|
/**
|
* 查找当前库位最适合的穿梭车来作业
|
*/
|
public SteThread queryIdleCar(WrkMast wrkMast) {
|
Integer crnNo = wrkMast.getCrnNo();
|
BasSte basSte = basSteService.findByCrnNo(crnNo);
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol != null) {
|
if (steProtocol.isIdle()) {
|
return steThread;
|
}
|
}
|
return null;
|
}
|
|
/**
|
* 让小车从 远点 ====>> 待机
|
* 等待堆垛机搬运
|
*/
|
public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
|
if (!basSteService.updatePakMk(steNo, "Y")) {
|
log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow())); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
|
/**
|
* 让小车从 远点 ====>> 移动到近点
|
* 等待堆垛机搬运
|
*/
|
public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 让小车从 远点 ====>> 移动到近点
|
* 等待堆垛机搬运
|
*/
|
public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机搬入小车
|
*/
|
public void carMoveIn(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
// 堆垛机空闲
|
if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
|
LocMast locMast;
|
// 入库搬
|
if (wrkMast.getWrkSts() <= 10) {
|
locMast = locMastService.selectById(wrkMast.getLocNo());
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 3.小车待搬 => 4.迁入小车
|
Date now = new Date();
|
wrkMast.setWrkSts(4L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 3.小车待搬 => 4.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
// 出库搬
|
} else {
|
locMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 12.小车待搬 => 13.迁入小车
|
Date now = new Date();
|
wrkMast.setWrkSts(13L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 12.小车待搬 => 13.迁入小车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 入库 ===>> 堆垛机搬出小车
|
*/
|
public void carMoveOut(WrkMast wrkMast, Integer steNo, CrnProtocol crnProtocol) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
// 穿梭车空闲
|
if (steProtocol.isIdle()) {
|
// 堆垛机空闲
|
if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
|
|
BasSte basSte = basSteService.selectById(steNo);
|
if (basSte == null) {
|
log.error("{}号穿梭车在数据库不存在！！！", steNo);
|
return;
|
}
|
String idleLocNo = basSte.getIdleLoc();
|
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo)); // 目标库位列
|
crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo)); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
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 {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(idleLocNo), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));
|
// 修改工作档状态 3.小车待搬 => 5.迁出小车
|
Date now = new Date();
|
wrkMast.setWrkSts(5L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 3.小车待搬 => 5.迁出小车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
@Async
|
@Transactional
|
public void storeFinished() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectCrnWaiting(crnProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
|
// 充电任务
|
WrkCharge wrkCharge = wrkChargeService.selectById(crnProtocol.getTaskNo());
|
if (wrkCharge == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
continue;
|
} else {
|
// 小车搬至指定库位完成
|
if (wrkCharge.getWrkSts() == 23) {
|
// 23.吊车搬运 ===>> 24.小车到达
|
wrkCharge.setWrkSts(24L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改充电任务状态 23.吊车搬运 ===>> 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
if (!steThread.confirmPos()) {
|
log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 34) {
|
// 34.吊车搬运 ===>> 35.小车就绪
|
wrkCharge.setWrkSts(35L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改充电任务状态 34.吊车搬运 ===>> 35.小车就绪 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
if (!steThread.confirmPos()) {
|
log.error("{}号穿梭车重新定位失败！作业充电任务号：{}", wrkCharge.getSteNo(), wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
if (wrkMast == null) { continue; }
|
if (wrkMast.getIoType() != 11) {
|
// 入库 ==>> 货物搬入库
|
if (wrkMast.getWrkSts() == 7){
|
// 判断是否需要小车入库
|
if (locMastService.isOutMost(wrkMast.getLocNo())) {
|
// ==> 9.入库完成
|
wrkMast.setWrkSts(9L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
} else {
|
// 给穿梭车下发命令
|
Integer steNo = wrkMast.getSteNo();
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 7.吊车入库中 => 8.小车搬入库
|
wrkMast.setWrkSts(8L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
// 入库 ===>> 迁入小车 完成
|
} else if (wrkMast.getWrkSts() == 4) {
|
// 4.迁入小车 ==> 6.小车待入
|
wrkMast.setWrkSts(6L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
|
if (!steThread.confirmPos()) {
|
log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 穿梭车去待机位
|
BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(9999); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取
|
// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
// steCommand.setBay(steProtocol.getBay());
|
// steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
|
log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
|
}
|
} else {
|
log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// 入库 ===>> 迁出小车 完成
|
} else if (wrkMast.getWrkSts() == 5) {
|
// 5.迁出小车 ==> 6.小车待入
|
wrkMast.setWrkSts(6L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
|
if (!steThread.confirmPos()) {
|
log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 穿梭车去待机位
|
BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(9999); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取
|
// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
// steCommand.setBay(steProtocol.getBay());
|
// steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
|
log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
|
}
|
} else {
|
log.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// 出库 ===>> 迁入小车 完成
|
} else if (wrkMast.getWrkSts() == 13) {
|
// 给穿梭车下发命令
|
Integer steNo = wrkMast.getSteNo();
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
// 穿梭车重新定位排列层
|
if (!steThread.confirmPos()) {
|
log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 13.迁入小车 ==> 14.小车搬出库
|
wrkMast.setWrkSts(14L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
// 移库 ===>> 堆垛机搬至目标库位组 完成
|
}
|
// 库位移转
|
} else {
|
if (wrkMast.getWrkSts() == 16) {
|
Date now = new Date();
|
if (locMastService.isOutMost(wrkMast.getLocNo())) {
|
// 16.吊车出库中 ==> 9.入库完成
|
wrkMast.setWrkSts(9L);
|
wrkMast.setCrnEndTime(now);
|
} else {
|
// 16.吊车出库中 ==> 9.入库完成
|
wrkMast.setWrkSts(9L);
|
}
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("修改工作档状态 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
} else if (wrkMast.getWrkSts() == 4) {
|
// 4.迁入小车 ==> 6.小车待入
|
wrkMast.setWrkSts(6L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
// 穿梭车重新定位排列层
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
|
if (!steThread.confirmPos()) {
|
log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 穿梭车去待机位
|
BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(9999); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式: 去近点 等待堆垛机叉取
|
// steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
// steCommand.setBay(steProtocol.getBay());
|
// steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
|
log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
|
}
|
} else {
|
log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
// 入库 ===>> 迁出小车 完成
|
} else if (wrkMast.getWrkSts() == 7){
|
// 判断是否需要小车入库
|
if (locMastService.isOutMost(wrkMast.getLocNo())) {
|
// ==> 9.入库完成
|
wrkMast.setWrkSts(9L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("修改工作档状态 7.吊车入库中 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
} else {
|
// 给穿梭车下发命令
|
Integer steNo = wrkMast.getSteNo();
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findInByLoc(wrkMast.getLocNo())); // 任务模式: 搬入库
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 7.吊车入库中 => 8.小车搬入库
|
wrkMast.setWrkSts(8L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("修改工作档状态 7.吊车入库中 => 8.小车搬入库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
} else if (wrkMast.getWrkSts() == 13) {
|
// 给穿梭车下发命令
|
Integer steNo = wrkMast.getSteNo();
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
// 穿梭车重新定位排列层
|
if (!steThread.confirmPos()) {
|
log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式: 搬出库
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 13.迁入小车 ==> 14.小车搬出库
|
wrkMast.setWrkSts(14L);
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public synchronized void carGenerateStore() {
|
Date now = new Date();
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {
|
if (steProtocol.getTaskNo() == 9999) {
|
steThread.setResetFlag(true);
|
} else {
|
// 查询是否有待入库的任务
|
WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
// 充电任务
|
WrkCharge wrkCharge = wrkChargeService.selectById(steProtocol.getTaskNo());
|
if (wrkCharge == null) {
|
continue;
|
} else {
|
if (wrkCharge.getWrkSts() == 21) {
|
// 21.准备充电 ===>> 22.小车待搬
|
wrkCharge.setWrkSts(22L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改充电任务状态 21.准备充电 ===>> 22.小车待搬 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
} else if (wrkCharge.getWrkSts() == 25) {
|
// 25.小车去充电 ===>> 26.等待充电
|
wrkCharge.setWrkSts(26L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改充电任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
} else if (wrkCharge.getWrkSts() == 32) {
|
// 32.小车走行 ===>> 33.小车待搬
|
wrkCharge.setWrkSts(33L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改演示任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
} else if (wrkCharge.getWrkSts() == 36) {
|
// 36.小车走行 ===>> 37.演示完成
|
wrkCharge.setWrkSts(37L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改演示任务状态 36.小车走行 ===>> 37.演示完成 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
}
|
}
|
}
|
|
if (wrkMast == null) { continue; }
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 2:
|
// 修改工作档状态 2.设备上走 => 3.小车待搬
|
wrkMast.setWrkSts(3L);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
case 8:
|
// 修改工作档状态 8.小车搬入库 => 9.入库完成
|
wrkMast.setWrkSts(9L);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 8.小车搬入库 => 9.入库完成 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
case 11:
|
if (wrkMast.getIoType() != 11) {
|
// 修改工作档状态 11.生成出库ID => 12.小车待搬
|
wrkMast.setWrkSts(12L);
|
} else {
|
if (Cools.isEmpty(wrkMast.getMk())) {
|
log.error("移库工作档没有流程标记！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
if (wrkMast.getMk().equals("I")) {
|
String locNo = wrkMast.getLocNo();
|
if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
|
// 修改工作档状态 11.生成出库ID => 6.小车待入
|
wrkMast.setWrkSts(6L);
|
} else {
|
// 修改工作档状态 11.生成出库ID => 3.小车待搬
|
wrkMast.setWrkSts(3L);
|
}
|
} else if (wrkMast.getMk().equals("O")) {
|
// 修改工作档状态 11.生成出库ID => 12.小车待搬
|
wrkMast.setWrkSts(12L);
|
}
|
}
|
}
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.小车待搬 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
case 14:
|
// 修改工作档状态 14.小车搬出库 => 15.等待吊车
|
wrkMast.setWrkSts(15L);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 14.小车搬出库 => 15.等待吊车 失败！！，工作号={}", wrkMast.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recCrnErr();
|
this.recSteErr();
|
} catch (Exception e) {
|
log.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
private void recCrnErr(){
|
Date now = new Date();
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
// 有任务
|
if (crnProtocol.getTaskNo() != 0) {
|
BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError==null? "未知异常":crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
(int) crnProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasErrLog latest = basErrLogService.findLatest(crn.getId());
|
// 有异常
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError==null? "未知异常":crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
null, // 编号
|
null, // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
null, // 工作状态
|
null, // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int)crnProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"无任务异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 穿梭车异常信息记录
|
*/
|
private void recSteErr(){
|
Date now = new Date();
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) {
|
continue;
|
}
|
// 有任务
|
if (steProtocol.getTaskNo() != 0) {
|
BasSteErrLog latest = basSteErrLogService.findLatestByTaskNo(ste.getId(), steProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
|
WrkMast wrkMast = wrkMastMapper.selectById(steProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
|
String errName = steErr==null? "未知异常":steErr.getErrName();
|
BasSteErrLog basSteErrLog = new BasSteErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
ste.getId(), // 堆垛机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
(int) steProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常" // 备注
|
);
|
if (!basSteErrLogService.insert(basSteErrLog)) {
|
log.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (steProtocol.getAlarm() == null || !steProtocol.isAlarm()) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basSteErrLogService.updateById(latest)) {
|
log.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasSteErrLog latest = basSteErrLogService.findLatest(ste.getId());
|
// 有异常
|
if (steProtocol.getAlarm() != null && steProtocol.isAlarm()) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != steProtocol.getAlarm().intValue())) {
|
BasSteErr steErr = basSteErrService.selectById(steProtocol.getAlarm());
|
String errName = steErr==null? "未知异常":steErr.getErrName();
|
BasSteErrLog basSteErrLog = new BasSteErrLog(
|
null, // 编号
|
null, // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
null, // 工作状态
|
null, // 入出库类型
|
ste.getId(), // 堆垛机
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int)steProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"无任务异常" // 备注
|
);
|
if (!basSteErrLogService.insert(basSteErrLog)) {
|
log.error("穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", ste.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basSteErrLogService.updateById(latest)) {
|
log.error("穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", ste.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
@Async
|
public void storeEmptyPlt(){
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 站点条件判断
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& staProtocol.isEmptyMk()
|
&& (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
|
&& staProtocol.isPakMk()) {
|
|
// 获取条码扫描仪信息
|
String barcode = null;
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
|
if (barcodeThread != null) {
|
String barcode0 = barcodeThread.getBarcode();
|
if(!Cools.isEmpty(barcode0)) {
|
// log.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
|
if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
|
barcode = barcode0;
|
}
|
}
|
}
|
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
if (!Cools.isEmpty(barcode)) {
|
param.setBarcode(barcode);
|
}
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
staProtocol.setStaNo(dto.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
} else {
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
@Async
|
public void ledExecute() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> wrkMasts = new ArrayList<>();
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
|
wrkMasts.add(wrkMast);
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(wrkMast.getWrkNo());
|
ledCommand.setIoType(wrkMast.getIoType());
|
// 出库模式
|
switch (wrkMast.getIoType()) {
|
case 101:
|
ledCommand.setTitle("全板出库");
|
break;
|
case 103:
|
ledCommand.setTitle("拣料出库");
|
break;
|
case 104:
|
ledCommand.setTitle("并板出库");
|
break;
|
case 107:
|
ledCommand.setTitle("盘点出库");
|
break;
|
case 110:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
|
break;
|
}
|
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
|
ledCommand.setStaNo(wrkMast.getStaNo());
|
if (wrkMast.getIoType() != 110) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
wrkDetls.forEach(wrkDetl -> {
|
if (wrkMast.getIoType() == 101) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme()));
|
}
|
if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme()));
|
}
|
});
|
}
|
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))) {
|
log.error("{}号LED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
|
*/
|
@Async
|
public void ledReset() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) { continue; }
|
if (staProtocol.getWorkNo() != 0) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
|
// led显示默认内容
|
if (reset) {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
}
|
}
|
}
|
|
/**
|
* 小车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopSteCharge() {
|
for (SteSlave ste : slaveProperties.getSte()) {
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(ste.getId());
|
if (Cools.isEmpty(steProtocol, basSte)) { continue; }
|
try {
|
// 在线 空闲 无作业标记 不在充电
|
if (steProtocol.getMode() == 0
|
|| !steProtocol.statusType.equals(SteStatusType.IDLE)
|
|| basSte.getPakMk().equals("Y")
|
// || steProtocol.getChargeStatus() == 1
|
) {
|
continue;
|
}
|
if (!steProtocol.isEnable()) {
|
continue;
|
}
|
if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
|
continue;
|
}
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue());
|
|
if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
|
String idleLoc = basSte.getIdleLoc();
|
wrkCharge = new WrkCharge();
|
wrkCharge.setSteNo(ste.getId());
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
|
wrkCharge.setWrkSts(21L); // 21.准备充电
|
wrkCharge.setCrnNo(basSte.getCrnNo());
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setLocNo(idleLoc);
|
wrkCharge.setMemo("charge");
|
if (!wrkChargeService.insert(wrkCharge)) {
|
log.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
|
continue;
|
}
|
|
// 处于充电库位组
|
if (Utils.getGroupRow(idleLoc).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(idleLoc) && steProtocol.getLev() == Utils.getLev(idleLoc)) {
|
// 修改工作档状态 21.准备充电 => 24.小车到达
|
wrkCharge.setWrkSts(24L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改充电任务状态 21.准备充电 => 24.小车到达 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
} else {
|
this.letCarBeWaiting(wrkCharge, ste.getId());
|
}
|
|
} else {
|
// filter
|
if (wrkCharge == null || (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) {
|
continue;
|
}
|
|
// 22.小车待搬
|
if (wrkCharge.getWrkSts() == 22) {
|
// 搬小车至充电库位
|
LocMast locMast = locMastService.selectById(basSte.getIdleLoc());
|
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 22.小车待搬 => 23.吊车搬运
|
Date now = new Date();
|
wrkCharge.setWrkSts(23L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
|
} else if (wrkCharge.getWrkSts() == 24L) {
|
// 小车行驶至充电位
|
if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
|
if (steProtocol.getChargeStatus() == 1) { continue; }
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findChargeByLoc(steProtocol.getRow().intValue()));
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 24.小车到达 ===> 25.小车去充电
|
wrkCharge.setWrkSts(25L);
|
Date now = new Date();
|
wrkCharge.setCrnEndTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改充电任务状态 24.小车到达 ===> 25.小车去充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 26) {
|
if (steProtocol.getChargeStatus() == 0) { continue; }
|
// 给输送线下发充电任务
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo());
|
if (null != steChargeType) {
|
if (devpThread.charge(steChargeType.ssbm - 1, true)) {
|
// 修改工作档状态 26.等待充电 ===> 28.完成充电
|
wrkCharge.setWrkSts(28L);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改充电任务状态 26.等待充电 ===> 28.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
|
} else {
|
steThread.setResetFlag(true);
|
}
|
}
|
} else {
|
log.error("获取充电桩号失败，解析库位：{}", wrkCharge.getLocNo());
|
}
|
}
|
}
|
} catch (Exception e) {
|
log.error("fail", e);
|
}
|
}
|
}
|
|
|
public List<String> crn1DemoLocs = new ArrayList<String>(); public String crn1LastLoc = "";
|
public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
|
public List<String> crn3DemoLocs = new ArrayList<String>(); public String crn3LastLoc = "";
|
public synchronized void demo() {
|
if (Cools.isEmpty(crn1DemoLocs)) {
|
crn1DemoLocs = locMastService.getDemoNextLoc(1);
|
}
|
if (Cools.isEmpty(crn2DemoLocs)) {
|
crn2DemoLocs = locMastService.getDemoNextLoc(2);
|
}
|
if (Cools.isEmpty(crn3DemoLocs)) {
|
crn3DemoLocs = locMastService.getDemoNextLoc(3);
|
}
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
if (!crn.getDemo()) {
|
continue;
|
} // 必须为演示状态
|
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
|
// filter
|
if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
|
.eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
|
continue;
|
}
|
|
int steNo = crn.getId();
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(steNo);
|
if (Cools.isEmpty(steProtocol, basSte)) { continue; }
|
|
// 只有当穿梭车空闲 并且 无任务时才继续执行
|
if (steProtocol.isIdle()) {
|
|
String locNo = null;
|
Iterator<String> iterator = crn1DemoLocs.iterator();
|
if (crn.getId() == 1) {
|
iterator = crn1DemoLocs.iterator();
|
} else if (crn.getId() == 2) {
|
iterator = crn2DemoLocs.iterator();
|
} else if (crn.getId() == 3) {
|
iterator = crn3DemoLocs.iterator();
|
}
|
while (iterator.hasNext()) {
|
String next = iterator.next();
|
String lastLoc = "";
|
if (crn.getId() == 1) {
|
lastLoc = crn1LastLoc;
|
} else if (crn.getId() == 2) {
|
lastLoc = crn2LastLoc;
|
} else if (crn.getId() == 3) {
|
lastLoc = crn3LastLoc;
|
}
|
if (!Cools.isEmpty(lastLoc)) {
|
if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) {
|
locNo = next;
|
iterator.remove();
|
break;
|
} else {
|
iterator.remove();
|
}
|
} else {
|
locNo = next;
|
iterator.remove();
|
break;
|
}
|
|
}
|
if (!Cools.isEmpty(locNo)) {
|
if (crn.getId() == 1) {
|
crn1LastLoc = locNo;
|
} else if (crn.getId() == 2) {
|
crn2LastLoc = locNo;
|
} else if (crn.getId() == 3) {
|
crn3LastLoc = locNo;
|
}
|
}
|
|
log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);
|
|
String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());
|
|
WrkCharge wrkCharge = new WrkCharge();
|
wrkCharge.setCrnNo(crn.getId());
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
|
wrkCharge.setWrkSts(31L); // 31.生成演示ID
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setSourceLocNo(sourceLocNo);
|
wrkCharge.setLocNo(locNo);
|
wrkCharge.setMemo("demo");
|
if (!wrkChargeService.insert(wrkCharge)) {
|
log.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 演示取货
|
*/
|
private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
|
// 获取工作档信息
|
WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
|
.in("wrk_sts", 31, 33, 35));
|
if (null == wrkCharge) {
|
return;
|
}
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (null == steProtocol) { return; }
|
if (steProtocol.isIdle()) {
|
// 31.生成演示ID
|
if (wrkCharge.getWrkSts() == 31L) {
|
this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
|
wrkCharge.setWrkSts(32L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
|
}
|
// 33.小车待搬
|
} else if (wrkCharge.getWrkSts() == 33L) {
|
LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo()).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 33.小车待搬 => 34.吊车搬运
|
Date now = new Date();
|
wrkCharge.setWrkSts(34L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
|
}
|
}
|
// 35.小车就绪
|
} else if (wrkCharge.getWrkSts() == 35L) {
|
|
int steNo = steProtocol.getSteNo().intValue();
|
if (!basSteService.updatePakMk(steNo, "Y")) {
|
log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow());
|
if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
|
originByLoc = SteTaskModeType.BACK_ORIGIN;
|
} else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
|
originByLoc = SteTaskModeType.GO_ORIGIN;
|
} else {
|
return;
|
}
|
steCommand.setTaskMode(originByLoc);
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 35.小车就绪 => 36.小车走行
|
wrkCharge.setWrkSts(36L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
log.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
|
|
}
|
