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.core.common.Cools;
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import com.core.common.SpringUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.Utils;
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import com.zy.common.model.*;
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import com.zy.common.model.enums.WrkChargeType;
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import com.zy.common.service.CommonService;
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import com.zy.common.service.erp.ErpService;
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import com.zy.common.utils.*;
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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.News;
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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.*;
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import com.zy.core.model.protocol.*;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.*;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.*;
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import java.util.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 BasShuttleErrLogService basShuttleErrLogService;
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@Autowired
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private BasShuttleErrService basShuttleErrService;
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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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@Autowired
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private ErpService erpService;
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@Autowired
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private OrderMapper orderMapper;
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@Autowired
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private OrderDetlMapper orderDetlMapper;
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@Autowired
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private RedisUtil redisUtil;
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public 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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// 尺寸检测异常
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boolean back = false;
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String errMsg = "异常：";
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if (staProtocol.isFrontErr()) {
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errMsg = errMsg+"前超限；";
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back = true;
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}
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if (staProtocol.isBackErr()) {
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errMsg = errMsg+"后超限";
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back = true;
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}
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if (staProtocol.isHighErr()) {
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errMsg = errMsg+"高超限";
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back = true;
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}
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if (staProtocol.isLeftErr()) {
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errMsg = errMsg+"左超限";
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back = true;
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}
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if (staProtocol.isRightErr()) {
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errMsg = errMsg+"右超限";
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back = true;
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}
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if (staProtocol.isWeightErr()) {
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errMsg = errMsg+"超重";
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back = true;
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}
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if (staProtocol.isBarcodeErr()) {
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errMsg = errMsg+"扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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// led 异常显示
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (ledThread != null) {
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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
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}
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continue;
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}
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && 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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// News.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)|| "00000000".equals(barcode)) {
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staProtocol.setWorkNo((short) 32002);
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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) 32002);
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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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// News.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
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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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News.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) 32002);
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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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@Deprecated
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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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// 尺寸检测异常
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boolean back = false;
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String errMsg = "";
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if (staProtocol.isFrontErr()) {
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errMsg = "前超限";
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back = true;
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}
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if (!back && staProtocol.isBackErr()) {
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errMsg = "后超限";
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back = true;
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}
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if (!back && staProtocol.isHighErr()) {
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errMsg = "高超限";
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back = true;
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}
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if (!back && staProtocol.isLeftErr()) {
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errMsg = "左超限";
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back = true;
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}
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if (!back && staProtocol.isRightErr()) {
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errMsg = "右超限";
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back = true;
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}
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if (!back && staProtocol.isWeightErr()) {
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errMsg = "超重";
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back = true;
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}
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if (!back && staProtocol.isBarcodeErr()) {
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errMsg = "扫码失败";
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back = true;
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}
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// 退回
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if (back) {
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News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
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staProtocol.setWorkNo((short) 32002);
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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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MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
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}
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.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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News.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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News.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
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*/
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public synchronized void stnToCrnStnPick(){
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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)
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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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continue;
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}
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} else {
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continue;
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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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// News.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) 32002);
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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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//
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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) 32002);
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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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//
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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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// News.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.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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// News.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");
|
}
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
News.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
|
}
|
|
} else if (code == 500){
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
} else {
|
staProtocol.setWorkNo((short) 32002);
|
staProtocol.setStaNo(pickSta.getBackSta().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
|
// led 异常显示
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
// String errorMsg = barcode + "托盘识别异常，请先进行组托！";
|
MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 从redis中重启任务
|
*/
|
public synchronized void restartTaskFromRedis() {
|
HashMap<Object, Object> map = redisUtil.getRedis();
|
for (Object key : map.keySet()) {
|
if (key.toString().contains("lift_wrk_no_")) {//提升机任务
|
LiftRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), LiftRedisCommand.class);
|
if (redisCommand == null) {
|
continue;
|
}
|
|
Short liftNo = redisCommand.getLiftNo();
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftNo.intValue());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (!liftProtocol.isIdle()) {
|
continue;
|
}
|
|
//提升机处于空闲状态，进行任务的恢复
|
liftProtocol.setTaskNo(redisCommand.getWrkNo());//将提升机线程分配任务号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//工作状态
|
liftProtocol.setLiftLock(true);//提升机锁定
|
|
}else {//四向穿梭车任务
|
ShuttleRedisCommand redisCommand = JSON.parseObject(map.get(key).toString(), ShuttleRedisCommand.class);
|
if (redisCommand == null) {
|
continue;
|
}
|
|
Short shuttleNo = redisCommand.getShuttleNo();
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo.intValue());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
//四向穿梭车处于空闲状态，进行任务的恢复
|
shuttleProtocol.setTaskNo(redisCommand.getWrkNo());//将四向穿梭车线程分配任务号
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.WORKING);//工作状态
|
}
|
}
|
|
}
|
|
/**
|
* 入库 ===>> 四向穿梭车入库作业下发
|
*/
|
public synchronized void shuttleIoInExecute() {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历入库站
|
for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
|
StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
|
StaProtocol staProtocol105 = devpThread.getStation().get(105);
|
staProtocol105.setWorkNo((short) 752);
|
staProtocol105.setStaNo((short) 100);
|
|
StaProtocol staProtocol106 = devpThread.getStation().get(106);
|
staProtocol106.setWorkNo((short) 753);
|
staProtocol106.setStaNo((short) 100);
|
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
Short workNo = staProtocol.getWorkNo();
|
|
// 判断是否满足入库条件
|
if (true || staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
|
WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
|
if (wrkMast != null) {
|
if (wrkMast.getWrkSts() == 4 || wrkMast.getWrkSts() == 8) {
|
ShuttleThread shuttleThread = null;
|
HashMap<String, Object> searchIdleShuttle = null;
|
if (wrkMast.getWrkSts() == 4) {
|
//寻找最近且空闲的四向穿梭车
|
searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
}else {
|
//状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
|
Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
|
}
|
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
|
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
|
|
//创建分配命令
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());//四向穿梭车号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());//任务号
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());//入出库模式
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
assignCommand.setSourceLocNo(currentLocNo);//源库位(小车当前位置)
|
|
String locNo = wrkMast.getLocNo();//当前工作档库位号
|
Integer lev = Integer.parseInt(locNo.substring(locNo.length() - 2, locNo.length()));//当前工作档库位层高
|
Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));//小车当前层高
|
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String liftLocNo = liftSlave.getLiftLocNo(currentLev);
|
|
if (wrkMast.getWrkSts() == 8 || Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
|
//同一层直接取货无需经过提升机
|
//直接计算车到提升机取货再到库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
|
if (wrkMast.getWrkSts() == 8) {
|
//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
|
BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
|
ShuttleCommand moveCommand = new ShuttleCommand();
|
moveCommand.setCommandWord((short) 1);
|
moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机内部二维码
|
moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//提升机口二维码
|
moveCommand.setStartToDistDistance(1300);
|
moveCommand.setMiddleToDistDistance(0);
|
moveCommand.setRunDirection(commands.get(0).getRunDirection());
|
moveCommand.setCommandEnd((short) 1);
|
commands.add(0, moveCommand);//将该指令添加到队头
|
}
|
assignCommand.setCommands(commands);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getLocNo());
|
wrkMast.setWrkSts(9L);//小车入库中
|
}else {
|
//不同层，将目标库位分配成提升机库位号
|
|
//小车移动到提升机口，计算路径
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//分配目标库位
|
shuttleProtocol.setLocNo(liftLocNo);
|
//目标库位
|
assignCommand.setLocNo(liftLocNo);
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(5L);//小车迁移状态
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}
|
}
|
|
}
|
}
|
|
}
|
|
//获取起点-终点指令。mapType：1=》无货地图，2=》有货地图
|
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String locNO,Integer mapType) {
|
//计算小车起点到中点所需命令
|
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, locNO, mapType);
|
List<ShuttleCommand> commands = new ArrayList<>();
|
if (calc == null) {
|
return null;
|
}
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
|
//将每一段路径分成command指令
|
for (ArrayList<NavigateNode> nodes : data) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 1);
|
|
//通过xy坐标小车二维码
|
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
|
command.setStartCodeNum(startCodeNum);
|
|
command.setMiddleCodeNum((short) 1);
|
|
//通过xy坐标小车二维码
|
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
|
command.setDistCodeNum(distCodeNum);
|
|
command.setStartToDistDistance(allDistance);
|
command.setMiddleToDistDistance(0);
|
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
|
command.setPalletLift((short) 1);
|
command.setForceMoveDistance(0);
|
command.setChargeSwitch((short) 2);
|
command.setIOControl((short) 0);
|
command.setRadarTmp((short) 0);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
}
|
return commands;
|
}
|
|
//获取起点-中点-终点指令
|
public synchronized List<ShuttleCommand> shuttleAssignCommand(String startLocNo, String middleLocNo, String locNO) {
|
//计算小车起点到中点所需命令
|
List<NavigateNode> calc = NavigateUtils.calc(startLocNo, middleLocNo, 1);//小车无货，走入库地图
|
List<ShuttleCommand> commands = new ArrayList<>();
|
if (calc == null) {
|
return null;
|
}
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data = NavigateUtils.getSectionPath(calc);
|
//将每一段路径分成command指令
|
for (ArrayList<NavigateNode> nodes : data) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 1);
|
|
//通过xy坐标小车二维码
|
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
|
command.setStartCodeNum(startCodeNum);
|
|
command.setMiddleCodeNum((short) 1);
|
|
//通过xy坐标小车二维码
|
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
|
command.setDistCodeNum(distCodeNum);
|
|
command.setStartToDistDistance(allDistance);
|
command.setMiddleToDistDistance(0);
|
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
|
command.setPalletLift((short) 1);
|
command.setForceMoveDistance(0);
|
command.setChargeSwitch((short) 2);
|
command.setIOControl((short) 0);
|
command.setRadarTmp((short) 0);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
}
|
|
//小车指令到达目标位置后，再发出一条顶升指令
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 2);
|
command.setPalletLift((short) 1);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
//计算小车中点到终点所需命令
|
List<NavigateNode> calc2 = NavigateUtils.calc(middleLocNo, locNO, 2);//小车有货，走出库地图(出库地图有专用货道)
|
if (calc2 == null) {
|
return null;
|
}
|
|
//获取分段路径
|
ArrayList<ArrayList<NavigateNode>> data2 = NavigateUtils.getSectionPath(calc2);
|
for (ArrayList<NavigateNode> nodes : data2) {
|
//开始路径
|
NavigateNode startPath = nodes.get(0);
|
//目标路径
|
NavigateNode endPath = nodes.get(nodes.size() - 1);
|
Integer allDistance = NavigateUtils.getCurrentPathAllDistance(nodes);//计算当前路径行走总距离
|
|
command = new ShuttleCommand();
|
command.setCommandWord((short) 1);
|
|
//通过xy坐标小车二维码
|
Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
|
command.setStartCodeNum(startCodeNum);
|
|
command.setMiddleCodeNum((short) 1);
|
|
//通过xy坐标小车二维码
|
Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
|
command.setDistCodeNum(distCodeNum);
|
|
command.setStartToDistDistance(allDistance);
|
command.setMiddleToDistDistance(0);
|
command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
|
command.setPalletLift((short) 1);
|
command.setForceMoveDistance(0);
|
command.setChargeSwitch((short) 2);
|
command.setIOControl((short) 0);
|
command.setRadarTmp((short) 0);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
}
|
|
//小车指令到达目标位置后，再发出一条托盘下降指令
|
command = new ShuttleCommand();
|
command.setCommandWord((short) 2);
|
command.setPalletLift((short) 2);
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
return commands;
|
}
|
|
/**
|
* 出库 ===>> 四向穿梭车出库作业下发
|
*/
|
public synchronized void shuttleIoOutExecute() {
|
for (WrkMast wrkMast : wrkMastMapper.selectBy2125()) {
|
//提取一条待出库任务
|
if (wrkMast != null) {
|
String outStaLocNo = null;//出库站点库位号
|
//获取出库站点
|
for (DevpSlave devpSlave : slaveProperties.getDevp()) {
|
for (DevpSlave.StaRack staOutRack : devpSlave.getRackOutStn()) {
|
if (staOutRack.getStaNo().equals(wrkMast.getStaNo())) {
|
//出库站点和工作档出库站点一致
|
outStaLocNo = CommonUtils.getLocNoFromRBL(staOutRack.getRow(), staOutRack.getBay(), staOutRack.getLev());
|
}
|
}
|
|
}
|
|
if (wrkMast.getWrkSts() == 21
|
|| wrkMast.getWrkSts() == 25
|
|| wrkMast.getWrkSts() == 31) {
|
ShuttleThread shuttleThread = null;
|
HashMap<String, Object> searchIdleShuttle = null;
|
if (wrkMast.getWrkSts() == 21) {
|
//寻找最近且空闲的四向穿梭车
|
searchIdleShuttle = this.searchIdleShuttle(wrkMast);
|
shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
|
}else if(wrkMast.getWrkSts() == 31 || wrkMast.getWrkSts() == 25) {
|
//继续完成之前小车未完成的任务
|
shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkMast.getShuttleNo());
|
}
|
|
if (shuttleThread == null) {
|
continue;
|
}
|
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
if (outStaLocNo == null) {
|
continue;
|
}
|
|
wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
|
//源库位(小车当前位置)
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
|
//小车当前层高
|
Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String liftLocNo = liftSlave.getLiftLocNo(currentLev);
|
|
//分配任务号
|
shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//分配源库位
|
shuttleProtocol.setSourceLocNo(currentLocNo);
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
//四向穿梭车号
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
//任务号
|
assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
|
//入出库模式
|
assignCommand.setTaskMode(ShuttleTaskModeType.PAK_OUT.id.shortValue());
|
assignCommand.setSourceLocNo(currentLocNo);
|
|
if (wrkMast.getWrkSts() == 21) {
|
//判断小车和库位是否在同一层
|
if (Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
|
//同一层(将小车移动到货物位置)
|
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getSourceLocNo());
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(26L);//小车搬运中
|
}else {
|
//不同层，将目标库位分配成提升机库位号(将小车移动到提升机位置)
|
|
//小车到提升机口指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
shuttleProtocol.setLocNo(liftLocNo);
|
//目标库位
|
assignCommand.setLocNo(liftLocNo);
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(22L);//小车迁移状态
|
}
|
} else if (wrkMast.getWrkSts() == 25) {
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
|
//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
|
BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
|
ShuttleCommand moveCommand = new ShuttleCommand();
|
moveCommand.setCommandWord((short) 1);//小车移动指令字
|
moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机二维码
|
moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
|
moveCommand.setStartToDistDistance(1300);
|
moveCommand.setMiddleToDistDistance(0);
|
moveCommand.setRunDirection(commands.get(0).getRunDirection());
|
moveCommand.setCommandEnd((short) 1);
|
commands.add(0, moveCommand);//将该指令添加到队头
|
|
//分配目标库位
|
shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
|
//目标库位
|
assignCommand.setLocNo(wrkMast.getSourceLocNo());
|
assignCommand.setCommands(commands);
|
wrkMast.setWrkSts(26L);//小车搬运中
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 搜索空闲且最近的四向穿梭车(以工作档目标库位为基点计算最近且空闲的车)
|
*/
|
public HashMap<String,Object> searchIdleShuttle(WrkMast wrkMast) {
|
HashMap<String, Object> map = new HashMap<>();
|
String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();//库位号
|
LocMast locMast = locMastService.queryByLoc(locNo);//找到库位记录
|
String lay = locNo.substring(locNo.length() - 2, locNo.length());//当前工作档库位层高
|
ShuttleThread recentShuttle = null;//当前距离最近的四向穿梭车线程
|
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
if (!shuttleProtocol.isIdle()) {
|
continue;
|
}
|
|
String shuttleLocNo = shuttleProtocol.getCurrentLocNo();//二维码对应库位号
|
String shuttleLocNoLay = shuttleLocNo.substring(shuttleLocNo.length() - 2, shuttleLocNo.length());//库位号对应层高
|
if (lay.equals(shuttleLocNoLay)) {
|
//当前四向穿梭车和工作档任务在同一层，则调配该车辆
|
map.put("sameLay", true);//同一层
|
map.put("result", shuttleThread);
|
return map;
|
}
|
|
//更新当前最近的四向穿梭车
|
if (recentShuttle == null) {
|
recentShuttle = shuttleThread;
|
}else {
|
ShuttleProtocol recentShuttleProtocol = recentShuttle.getShuttleProtocol();//目前最近穿梭车
|
String recentShuttleLocNo = recentShuttleProtocol.getCurrentLocNo();//二维码对应库位号
|
String recentShuttleLocNoLay = recentShuttleLocNo.substring(recentShuttleLocNo.length() - 2, recentShuttleLocNo.length());//库位号对应层高
|
|
int recentShuttleLocNoLayInt = Integer.parseInt(recentShuttleLocNoLay);
|
int layInt = Integer.parseInt(lay);
|
int shuttleLocNoLayInt = Integer.parseInt(shuttleLocNoLay);
|
int i = Math.abs(layInt - recentShuttleLocNoLayInt);//工作档楼层减最近穿梭车楼层，取绝对值
|
int j = Math.abs(layInt - shuttleLocNoLayInt);//工作档楼层减当前穿梭车楼层，取绝对值
|
if (i < j) {
|
//更新最近穿梭车
|
recentShuttle = shuttleThread;
|
} else if (i == j) {
|
//楼层相同情况
|
//找距离出库点最近的车
|
|
if (!(recentShuttleProtocol.isIdle() && shuttleProtocol.isIdle())) {
|
//只要有一辆车不是空闲则不进行调度
|
map.put("sameLay", false);//不同层
|
map.put("result", null);
|
return map;
|
}
|
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String recentLiftLocNo = liftSlave.getLiftLocNo(recentShuttleLocNoLayInt);
|
String shuttleLiftLocNo = liftSlave.getLiftLocNo(shuttleLocNoLayInt);
|
|
//当前最近四向穿梭车到提升机路径
|
List<NavigateNode> recentShuttlePath = NavigateUtils.calc(recentShuttleLocNo, recentLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//当前楼层四向穿梭车到提升机路径
|
List<NavigateNode> shuttlePath = NavigateUtils.calc(shuttleLocNo, shuttleLiftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//判断哪一个路径最短
|
if (shuttlePath.size() < recentShuttlePath.size()) {
|
//如果当前楼层的车路径更小，则更新最近穿梭车
|
recentShuttle = shuttleThread;
|
}
|
}
|
}
|
}
|
|
map.put("sameLay", false);//不同层
|
map.put("result", recentShuttle);
|
return map;
|
}
|
|
/**
|
* 四向穿梭车任务完成
|
*/
|
public synchronized void shuttleFinished() {
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//四向穿梭车状态为等待确认
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.WAITING.id //任务完成等待确认
|
&& shuttleProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
|
if (wrkMast != null) {
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 9:
|
wrkMast.setWrkSts(14L);
|
break;
|
case 5:
|
wrkMast.setWrkSts(6L);
|
break;
|
case 22:
|
wrkMast.setWrkSts(23L);
|
break;
|
case 26:
|
wrkMast.setWrkSts(27L);
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//标记复位
|
shuttleProtocol.setPakMk(true);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
}
|
|
}
|
|
//四向穿梭车状态为充电状态
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id //充电标识
|
&& shuttleProtocol.getTaskNo() != 0) {
|
//查询是否有充电任务
|
WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(shuttleProtocol.getTaskNo().intValue());
|
if (wrkCharge != null) {
|
switch (wrkCharge.getWrkSts().intValue()) {
|
case 52://四向穿梭车迁移到提升机口
|
wrkCharge.setWrkSts(53L);//迁移完成
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
break;
|
case 56:
|
if (shuttleProtocol.getBatteryPower() == 1000) {
|
wrkCharge.setWrkSts(60L);//充电完成
|
}
|
break;
|
default:
|
}
|
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
if (wrkCharge.getWrkSts() == 60) {
|
//设置四向穿梭车为空闲状态
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.IDLE);
|
}
|
//任务号清零
|
shuttleProtocol.setTaskNo((short) 0);
|
//源库位清零
|
shuttleProtocol.setSourceLocNo(null);
|
//目标库位清零
|
shuttleProtocol.setLocNo(null);
|
//标记复位
|
shuttleProtocol.setPakMk(true);
|
//任务指令清零
|
shuttleProtocol.setAssignCommand(null);
|
News.info("四向穿梭车已确认且任务完成状态,复位。四向穿梭车号={}", shuttleProtocol.getShuttleNo());
|
} else {
|
News.error("四向穿梭车已确认且任务完成状态,复位失败，但未找到工作档。四向穿梭车号={}，工作号={}", shuttleProtocol.getShuttleNo(), shuttleProtocol.getTaskNo());
|
}
|
}
|
}
|
|
}
|
}
|
|
/**
|
* 提升机任务
|
*/
|
public synchronized void liftIoExecute() {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
continue;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//判断提升机是否处于空闲状态
|
if (!liftProtocol.isIdle()) {
|
continue;
|
}
|
|
//搜索是否有待处理的任务
|
WrkMast wrkMast = wrkMastMapper.selectLiftStep623();
|
if (wrkMast == null) {
|
continue;
|
}
|
|
//给提升机分配任务
|
liftProtocol.setLiftLock(true);//锁定提升机
|
liftProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setShuttleNo(wrkMast.getShuttleNo().shortValue());//设置四向穿梭车号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
//找到四向穿梭车的线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, liftProtocol.getShuttleNo().intValue());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//命令list
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
|
//当前穿梭车库位号
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
//当前穿梭车楼层
|
int currentLocNoLey = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
|
|
//工作档目标库位号
|
String wrkMastLocNo = wrkMast.getIoType() == 101 ? wrkMast.getSourceLocNo() : wrkMast.getLocNo();
|
//工作档目标库位楼层
|
int wrkMastLocNoLey = Integer.parseInt(wrkMastLocNo.substring(wrkMastLocNo.length() - 2, wrkMastLocNo.length()));
|
|
//提升机当前楼层
|
int liftLev = liftProtocol.getLev().intValue();
|
if (liftLev != currentLocNoLey) {
|
//不同楼层
|
LiftCommand command1 = new LiftCommand();
|
command1.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command1.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command1.setRun((short) 1);//升降
|
command1.setDistPosition((short) currentLocNoLey);//目标楼层(穿梭车所在楼层)
|
command1.setLiftLock(true);//锁定提升机
|
|
commands.add(command1);//将命令添加进list
|
}
|
|
//输送线将四向穿梭车移动进来
|
LiftCommand command2 = new LiftCommand();
|
command2.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command2.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command2.setRun((short) 6);//输送线运作
|
command2.setLiftLock(true);//锁定提升机
|
|
commands.add(command2);//将命令添加进list
|
|
//提升机前往目标楼层
|
LiftCommand command3 = new LiftCommand();
|
command3.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command3.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command3.setRun((short) 1);//升降
|
command3.setDistPosition((short) wrkMastLocNoLey);//工作档目标楼层
|
command3.setLiftLock(true);//锁定提升机
|
|
commands.add(command3);//将命令添加进list
|
|
//提升机到达指定楼层，输送线将四向穿梭车移出去
|
//输送线将四向穿梭车移动出去
|
LiftCommand command4 = new LiftCommand();
|
command4.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command4.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command4.setRun((short) 3);//输送线运作
|
command4.setLiftLock(true);//锁定提升机
|
|
commands.add(command4);//将命令添加进list
|
|
if (wrkMast.getIoType() == 101) {
|
//出库任务
|
wrkMast.setWrkSts(24L);//移动任务
|
}else {
|
//入库任务
|
wrkMast.setWrkSts(7L);//移动任务
|
}
|
//所需命令组合完毕，更新数据库，提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(liftProtocol.getTaskNo());
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
}
|
|
/**
|
* 提升机任务完成
|
*/
|
public synchronized void liftFinished() {
|
for (LiftSlave liftSlave : slaveProperties.getLift()) {
|
//获取提升机信息
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
continue;
|
}
|
|
//提升机为等待确认
|
if (liftProtocol.getProtocolStatus() == LiftProtocolStatusType.WAITING.id && liftProtocol.getTaskNo() != 0) {
|
//将任务档标记为完成
|
WrkMast wrkMast = wrkMastMapper.selectByWorkNo724(liftProtocol.getTaskNo().intValue());
|
if (wrkMast != null) {
|
switch (wrkMast.getWrkSts().intValue()) {
|
case 7:
|
wrkMast.setWrkSts(8L);
|
break;
|
case 24:
|
wrkMast.setWrkSts(25L);
|
break;
|
default:
|
}
|
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
//标记复位
|
liftProtocol.setPakMk(true);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
//提升机解锁
|
liftProtocol.setLiftLock(false);
|
News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
|
} else {
|
News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
|
}
|
}
|
|
//查询是否有充电任务
|
WrkCharge wrkCharge = wrkChargeMapper.selectByWorkNo(liftProtocol.getTaskNo().intValue());
|
if (wrkCharge != null) {
|
switch (wrkCharge.getWrkSts().intValue()) {
|
case 54://提升机搬运中
|
wrkCharge.setWrkSts(55L);//提升机搬运完成
|
break;
|
default:
|
}
|
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//设置提升机为空闲状态
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.IDLE);
|
//任务号清零
|
liftProtocol.setTaskNo((short) 0);
|
//标记复位
|
liftProtocol.setPakMk(true);
|
//任务指令清零
|
liftProtocol.setAssignCommand(null);
|
//提升机解锁
|
liftProtocol.setLiftLock(false);
|
News.info("提升机已确认且任务完成状态,复位。提升机号={}", liftProtocol.getLiftNo());
|
} else {
|
News.error("提升机已确认且任务完成状态,复位失败，但未找到工作档。提升机号={}，工作号={}", liftProtocol.getLiftNo(), liftProtocol.getTaskNo());
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 当前库位组是否存在空闲小车
|
*/
|
public Integer hasCar(String locNo) {
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(ste.getId());
|
if (Cools.isEmpty(steProtocol, basSte)) { continue; }
|
if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
|
&& basSte.getBay() == Utils.getBay(locNo)
|
&& basSte.getLev() == Utils.getLev(locNo)) {
|
return ste.getId();
|
}
|
}
|
return null;
|
}
|
|
/**
|
* 当前库位组是否存在其他小车
|
*/
|
public Integer existOtherSte(String locNo, Integer steNo) {
|
Integer otherSteNo = null;
|
for (SteSlave ste : slaveProperties.getSte()) {
|
if (ste.getId().equals(steNo)) { continue; }
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isEnable()) {
|
BasSte basSte = basSteService.selectById(ste.getId());
|
if (basSte != null) {
|
if ((Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(basSte.getRow(), true))
|
&& basSte.getBay() == Utils.getBay(locNo)
|
&& basSte.getLev() == Utils.getLev(locNo))
|
||
|
(Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
|
&& steProtocol.getBay() == Utils.getBay(locNo)
|
&& steProtocol.getLev() == Utils.getLev(locNo))
|
) {
|
otherSteNo = ste.getId();
|
break;
|
}
|
}
|
}
|
}
|
return otherSteNo;
|
}
|
|
/**
|
* 当前库位组是否存在空闲小车
|
*/
|
public Integer hasCarOfIdle(String locNo) {
|
for (SteSlave ste : slaveProperties.getSte()) {
|
// 获取堆垛机信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (steProtocol.isIdle()) {
|
if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
|
&& steProtocol.getBay() == Utils.getBay(locNo)
|
&& steProtocol.getLev() == Utils.getLev(locNo)) {
|
return steProtocol.getSteNo().intValue();
|
}
|
}
|
}
|
return null;
|
}
|
|
/**
|
* 查找当前库位最适合的穿梭车来作业
|
*/
|
public SteThread queryIdleCar(WrkMast wrkMast) {
|
List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
|
int val = 0;
|
SteThread result = null;
|
for (BasSte basSte : basStes) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (!steProtocol.isIdle()) { continue; }
|
// if (steProtocol.getRow() == 1) { continue; }
|
String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
|
// 如果在同一个库位组
|
if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
|
&& steProtocol.getBay().intValue() == Utils.getBay(locNo)
|
&& steProtocol.getLev().intValue() == Utils.getLev(locNo)) {
|
return steThread;
|
}
|
LocMast locMast = locMastService.selectById(locNo);
|
int lev = locMast.getLev1();
|
int bay = locMast.getBay1();
|
int levAbs = Math.abs(lev - steProtocol.getLev());
|
int bayAbs = Math.abs(bay - steProtocol.getBay());
|
if (val == 0) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
} else {
|
if ((levAbs + bayAbs) < val) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
}
|
}
|
}
|
return result;
|
}
|
|
public SteThread queryIdleCar(CrnProtocol crnProtocol) {
|
List<BasSte> basStes = basSteService.selectList(new EntityWrapper<>());
|
int val = 0;
|
SteThread result = null;
|
for (BasSte basSte : basStes) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, basSte.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { continue; }
|
if (!steProtocol.isIdle()) { continue; }
|
if (steProtocol.getRow() == 1) { continue;}
|
int lev = crnProtocol.getLevel();
|
int bay = crnProtocol.getBay();
|
int levAbs = Math.abs(lev - steProtocol.getLev());
|
int bayAbs = Math.abs(bay - steProtocol.getBay());
|
if (val == 0) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
} else {
|
if ((levAbs + bayAbs) < val) {
|
val = levAbs + bayAbs;
|
result = steThread;
|
}
|
}
|
}
|
return result;
|
}
|
|
/**
|
* 让小车行走至待机位
|
*/
|
public void letCarBeWaiting(WrkMast wrkMast, Integer steNo, String locNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 如果处于待机位
|
if (steProtocol.locaType.equals(SteLocaType.A_WAITING) || steProtocol.locaType.equals(SteLocaType.B_WAITING)) {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setWrkSts(3L);
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
} else {
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式: 行走至待机位
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
|
public void letCarBeWaiting(WrkCharge wrkCharge, Integer steNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
|
if (!basSteService.updatePakMk(steNo, "Y")) {
|
News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
|
/**
|
* 让小车从 远点 ====>> 移动到近点
|
* 等待堆垛机搬运
|
*/
|
public void letCarBeReady(WrkMast wrkMast, Integer steNo, String locNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkMast.setSteNo(steNo);
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 让小车从 远点 ====>> 移动到近点
|
* 等待堆垛机搬运
|
*/
|
public void letCarBeReady(WrkCharge wrkCharge, Integer steNo) {
|
// 获取穿梭车信息
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (steProtocol == null) { return; }
|
if (steProtocol.isIdle()) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol)); // 任务模式: 去近点 等待堆垛机叉取
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 绑定穿梭车
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 异常信息记录
|
*/
|
public void recErr() {
|
try {
|
this.recShuttleErr();
|
} catch (Exception e) {
|
News.error("recErr fail", e);
|
}
|
}
|
|
/**
|
* 四向穿梭车异常信息记录
|
*/
|
private void recShuttleErr() {
|
Date now = new Date();
|
for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
|
// 获取堆垛机信息
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
|
if (shuttleThread == null) {
|
continue;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
if (shuttleProtocol.getTaskNo() != 0) {
|
//有任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
|
String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
|
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
|
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
|
shuttleSlave.getId(), // 四向穿梭车
|
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) shuttleProtocol.getStatusErrorCode(), // 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 (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (shuttleProtocol.getStatusErrorCode() == null || shuttleProtocol.getStatusErrorCode() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basShuttleErrLogService.updateById(latest)) {
|
News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}else {
|
//无任务
|
BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
|
// 有异常
|
if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
|
BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
|
String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
|
BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
|
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
|
shuttleSlave.getId(), // 四向穿梭车
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int)shuttleProtocol.getStatusErrorCode(), // 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 (!basShuttleErrLogService.insert(basShuttleErrLog)) {
|
News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.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 (!basShuttleErrLogService.updateById(latest)) {
|
News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
}
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public void storeEmptyPlt(){
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 站点条件判断
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& staProtocol.isEmptyMk()
|
&& (staProtocol.getWorkNo() == 0 || (staProtocol.getWorkNo() >= 9990 || staProtocol.getWorkNo() <= 9999))
|
&& staProtocol.isPakMk()) {
|
|
// 获取条码扫描仪信息
|
String barcode = null;
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
|
if (barcodeThread != null) {
|
String barcode0 = barcodeThread.getBarcode();
|
if(!Cools.isEmpty(barcode0)) {
|
// News.info("{}号条码扫描器检测条码信息：{}", emptyInSta.getBarcode(), barcode0);
|
if(!"NG".endsWith(barcode0) && !"NoRead".equals(barcode0) && !"empty".equals(barcode0)) {
|
barcode = barcode0;
|
}
|
}
|
}
|
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
if (!Cools.isEmpty(barcode)) {
|
param.setBarcode(barcode);
|
}
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
// param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
Integer code = jsonObject.getInteger("code");
|
if (code.equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
staProtocol.setStaNo(dto.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
} else {
|
if (ledThread != null) {
|
String errorMsg = jsonObject.getString("msg");
|
if (!Cools.isEmpty(errorMsg)) {
|
MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errorMsg));
|
}
|
}
|
News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public void ledExecute() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> wrkMasts = new ArrayList<>();
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
|
wrkMasts.add(wrkMast);
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(wrkMast.getWrkNo());
|
ledCommand.setIoType(wrkMast.getIoType());
|
// 出库模式
|
switch (wrkMast.getIoType()) {
|
case 101:
|
ledCommand.setTitle("全板出库");
|
break;
|
case 103:
|
ledCommand.setTitle("拣料出库");
|
break;
|
case 104:
|
ledCommand.setTitle("并板出库");
|
break;
|
case 107:
|
ledCommand.setTitle("盘点出库");
|
break;
|
case 110:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
|
break;
|
}
|
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
|
ledCommand.setLocNo(wrkMast.getLocNo());
|
ledCommand.setStaNo(wrkMast.getStaNo());
|
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs())));
|
}
|
commands.add(ledCommand);
|
}
|
Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
|
// 获取LED线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// 相同工作号集合则过滤
|
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
|
continue;
|
}
|
// 命令下发 -------------------------------------------------------------------------------
|
if (!commands.isEmpty()) {
|
if (led.getId()>3){
|
if (!MessageQueue.offer(SlaveType.Led, led.getId()-3, new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId()-3, led.getIp(), led.getPort());
|
continue;
|
}else {
|
ledThread.setLedMk(false);
|
}
|
}else {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
}else {
|
ledThread.setLedMk(false);
|
}
|
}
|
}
|
|
try {
|
// 修改主档led标记
|
for (WrkMast wrkMast : wrkMasts) {
|
wrkMast.setOveMk("Y");
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("更新工作档失败");
|
}
|
}
|
|
// 更新线程当前工作号集合
|
ledThread.setWorkNos(workNos);
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
public void ledReset() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) {
|
continue;
|
}
|
if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
|
News.error(" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
} else {
|
|
}
|
}
|
}
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) { continue; }
|
if (staProtocol.getWorkNo() != 0) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
}
|
}
|
}
|
|
/**
|
* 四向穿梭车电量检测 ===>> 发起充电
|
*/
|
public synchronized void loopShuttleCharge() {
|
for (DevpSlave devpSlave : slaveProperties.getDevp()) {
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
|
for (ShuttleSlave shuttle : slaveProperties.getShuttle()) {
|
//获取四向穿梭车线程
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttle.getId());
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
continue;
|
}
|
|
//判断当前小车是否满足需要充电要求
|
if (!shuttleProtocol.isRequireCharge()) {
|
continue;
|
}
|
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
|
if (wrkCharge != null) {//已有充电任务
|
continue;
|
}
|
|
ShuttleChargeType shuttleCharge = null;
|
String locNo;
|
for (ShuttleChargeType chargeType : ShuttleChargeType.values()) {
|
switch (chargeType.id) {
|
case 1:
|
if (devpThread.charge0 == false) {
|
ShuttleChargeType first = ShuttleChargeType.FIRST;
|
locNo = first.locNo;
|
if (wrkChargeService.selectWorkingOfCharge(first.id) == null) {
|
shuttleCharge = first;
|
}
|
}
|
break;
|
default:
|
}
|
}
|
|
if (shuttleCharge == null) {
|
continue;
|
}
|
|
String chargeLocNo = shuttleCharge.locNo;
|
wrkCharge = new WrkCharge();
|
wrkCharge.setShuttleNo(shuttle.getId());
|
wrkCharge.setCharge(shuttleCharge.id);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
|
wrkCharge.setWrkSts(51L); // 21.准备充电
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setLocNo(chargeLocNo);
|
wrkCharge.setMemo("charge");
|
wrkCharge.setAppeTime(new Date());
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("保存{}号四向穿梭车充电任务失败!!!", shuttle.getId());
|
continue;
|
}
|
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);//充电中
|
News.info("保存{}号四向穿梭车充电任务成功!!!", shuttle.getId());
|
}
|
}
|
|
|
}
|
|
/**
|
* 执行四向穿梭车充电任务
|
*/
|
public synchronized void executeShuttleCharge() {
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
|
if (wrkCharge == null) {
|
return;
|
}
|
|
|
ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, wrkCharge.getShuttleNo());
|
if (shuttleThread == null) {
|
return;
|
}
|
ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
|
if (shuttleProtocol == null) {
|
return;
|
}
|
|
//当前穿梭车库位号
|
String currentLocNo = shuttleProtocol.getCurrentLocNo();
|
//小车当前层高
|
Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
|
//获取提升机
|
LiftSlave liftSlave = slaveProperties.getLift().get(0);
|
//提升机库位号
|
String liftLocNo = liftSlave.getLiftLocNo(currentLev);
|
//充电库位号
|
String chargeLocNo = wrkCharge.getLocNo();
|
//充电库位层高
|
Integer chargeLocNoLev = Integer.parseInt(chargeLocNo.substring(chargeLocNo.length() - 2, chargeLocNo.length()));
|
|
if (wrkCharge.getWrkSts() == 51 || wrkCharge.getWrkSts() == 55) {
|
if (currentLev == chargeLocNoLev) {
|
//同一层无需经过提升机
|
//直接计算车到充电库位
|
//获取小车到充电库位路径指令
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, chargeLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//进行充电中
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode((short) 9);//充电
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);//充电任务
|
|
//创建充电指令
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 5);//充电
|
command.setShuttleNo(shuttleProtocol.getShuttleNo());
|
command.setChargeSwitch((short) 1);//开始充电
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
//指令集分配
|
assignCommand.setCommands(commands);
|
|
wrkCharge.setWrkSts(56L);//充电中状态
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}else {
|
//不同层，将目标库位分配成提升机库位号
|
|
//小车移动到提升机口，计算路径
|
List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, ShuttleTaskModeType.PAK_IN.id);
|
//分配目标库位
|
shuttleProtocol.setLocNo(liftLocNo);
|
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode((short) 9);//充电
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);//充电任务
|
//目标库位
|
assignCommand.setLocNo(liftLocNo);
|
//源库位
|
assignCommand.setSourceLocNo(currentLocNo);
|
assignCommand.setCommands(commands);
|
wrkCharge.setWrkSts(52L);//小车迁移状态
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
}
|
|
}else if(wrkCharge.getWrkSts() == 53){
|
//小车已经达到提升机口
|
LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, liftSlave.getId());
|
if (liftThread == null) {
|
return;
|
}
|
LiftProtocol liftProtocol = liftThread.getLiftProtocol();
|
if (liftProtocol == null) {
|
return;
|
}
|
|
//判断提升机是否处于空闲状态
|
if (!liftProtocol.isIdle()) {
|
return;
|
}
|
|
//给提升机分配任务
|
liftProtocol.setLiftLock(true);//锁定提升机
|
liftProtocol.setTaskNo(wrkCharge.getWrkNo().shortValue());//设置任务号
|
liftProtocol.setShuttleNo(wrkCharge.getShuttleNo().shortValue());//设置四向穿梭车号
|
liftProtocol.setProtocolStatus(LiftProtocolStatusType.WORKING);//设置提升机状态为工作中
|
|
//命令list
|
ArrayList<LiftCommand> commands = new ArrayList<>();
|
|
//提升机当前楼层
|
int liftLev = liftProtocol.getLev().intValue();
|
if (liftLev != currentLev) {
|
//穿梭车和提升机处于不同楼层
|
LiftCommand command1 = new LiftCommand();
|
command1.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command1.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command1.setRun((short) 1);//升降
|
command1.setDistPosition(currentLev.shortValue());//目标楼层(穿梭车所在楼层)
|
command1.setLiftLock(true);//锁定提升机
|
commands.add(command1);//将命令添加进list
|
}
|
|
//输送线将四向穿梭车移动进来
|
LiftCommand command2 = new LiftCommand();
|
command2.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command2.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command2.setRun((short) 6);//输送线运作
|
command2.setLiftLock(true);//锁定提升机
|
|
commands.add(command2);//将命令添加进list
|
|
//提升机前往目标楼层
|
LiftCommand command3 = new LiftCommand();
|
command3.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command3.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command3.setRun((short) 1);//升降
|
command3.setDistPosition(chargeLocNoLev.shortValue());//充电库位目标楼层
|
command3.setLiftLock(true);//锁定提升机
|
|
commands.add(command3);//将命令添加进list
|
|
//提升机到达指定楼层，输送线将四向穿梭车移出去
|
//输送线将四向穿梭车移动出去
|
LiftCommand command4 = new LiftCommand();
|
command4.setLiftNo(liftProtocol.getLiftNo());//提升机号
|
command4.setTaskNo(liftProtocol.getTaskNo());//任务号
|
command4.setRun((short) 3);//输送线运作
|
command4.setLiftLock(true);//锁定提升机
|
|
commands.add(command4);//将命令添加进list
|
|
wrkCharge.setWrkSts(54L);//提升机搬运中
|
//所需命令组合完毕，更新数据库，提交到线程去工作
|
LiftAssignCommand assignCommand = new LiftAssignCommand();
|
assignCommand.setCommands(commands);
|
assignCommand.setLiftNo(liftProtocol.getLiftNo());
|
assignCommand.setTaskNo(liftProtocol.getTaskNo());
|
if (wrkChargeMapper.updateById(wrkCharge) > 0) {
|
//下发任务
|
MessageQueue.offer(SlaveType.Lift, liftProtocol.getLiftNo().intValue(), new Task(3, assignCommand));
|
}
|
|
} else if (wrkCharge.getWrkSts() == 56) {
|
//充电中
|
//判断小车是否充满电量，满电1000或电压54V以上
|
if (shuttleProtocol.getBatteryPower() >= 1000 || shuttleProtocol.getCurrentVoltage() >= 540) {
|
//充满，断开充电
|
List<ShuttleCommand> commands = new ArrayList<>();
|
ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
|
assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
|
assignCommand.setTaskMode((short) 0);
|
assignCommand.setTaskNo(wrkCharge.getWrkNo().shortValue());
|
assignCommand.setCharge(true);
|
|
//创建充电指令
|
ShuttleCommand command = new ShuttleCommand();
|
command.setCommandWord((short) 5);//充电
|
command.setShuttleNo(shuttleProtocol.getShuttleNo());
|
command.setChargeSwitch((short) 2);//断开充电
|
command.setCommandEnd((short) 1);
|
commands.add(command);
|
|
//指令集分配
|
assignCommand.setCommands(commands);
|
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING_WAITING);
|
//下发任务
|
MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
|
}
|
|
if (shuttleProtocol.getProtocolStatus() == ShuttleProtocolStatusType.CHARGING_WAITING.id) {
|
shuttleProtocol.setProtocolStatus(ShuttleProtocolStatusType.CHARGING);
|
}
|
}
|
|
}
|
|
/**
|
* 轮询充电桩是否有空闲小车
|
*/
|
@Deprecated
|
public synchronized void queryChargeLocOfComplete() {
|
// 与充电任务不同步进行
|
if (null != wrkChargeService.selectWorking(null, WrkChargeType.charge)) { return; }
|
if (null != wrkChargeService.selectWorking(null, WrkChargeType.reset)) { return; }
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
// 检索充电桩
|
for (SteChargeType value : SteChargeType.values()) {
|
Integer steNo = basSteService.hasCarOfLocNo(value.locNo);
|
if (steNo != null) {
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(steNo);
|
if (Cools.isEmpty(steProtocol, basSte)) {
|
continue;
|
}
|
if (steProtocol.getCharge() < 99) {
|
continue;
|
}
|
if (steProtocol.getMode() == 0) {
|
continue;
|
}
|
if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
|
continue;
|
}
|
// // 1号充电桩
|
// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
|
// continue;
|
// }
|
// // 2号充电桩
|
// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
|
// continue;
|
// }
|
// // 3号充电桩
|
// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
|
// continue;
|
// }
|
// // 小车是否处于充电状态
|
// if (steProtocol.getChargeStatus() == 1) {
|
// continue;
|
// }
|
// case 1 : 自动充电开 馈电 ×
|
// case 2 : 自动充电开 满电 ✔
|
// case 3 : 自动充电关 馈电 ✔
|
// case 4 : 自动充电关 满电 ✔
|
if (basSte.getAutoCharge().equals("Y")
|
&& steProtocol.getCharge() < Float.parseFloat(basSte.getChargeLine())) {
|
continue;
|
}
|
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(steNo, WrkChargeType.reset);
|
|
if (wrkCharge == null) {
|
// 开始穿梭车复位任务
|
wrkCharge = new WrkCharge();
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(6));
|
wrkCharge.setWrkSts(41L); // 41.小车准备复位
|
wrkCharge.setCrnNo(2); // 固定2号堆垛机
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setSourceLocNo(value.locNo);
|
wrkCharge.setLocNo(basSte.getIdleLoc());
|
wrkCharge.setMemo("reset");
|
wrkCharge.setAppeTime(new Date());
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("保存{}号穿梭车复位任务失败!!!", steNo);
|
} else {
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 小车从充电桩 至 待机库位
|
*/
|
@Deprecated
|
public synchronized void steFromChargeToIdleLoc() {
|
WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.reset);
|
if (wrkCharge == null) { return; }
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(wrkCharge.getSteNo());
|
if (Cools.isEmpty(steProtocol, basSte)) {
|
return;
|
}
|
// 搬运至固定通道
|
if (wrkCharge.getWrkSts() == 41L) {
|
// 搬小车至小车走向通道
|
List<String> channel = slaveProperties.getChannel();
|
for (String channelLocNo : channel) {
|
Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
|
if (null != otherSte) {
|
News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
|
} else {
|
// 固定堆垛机
|
int crnNo = 1;
|
if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
|
return;
|
}
|
|
LocMast channelLoc = locMastService.selectById(channelLocNo);
|
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { continue; }
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnNo); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), false), channelLoc.getBay1(), channelLoc.getLev1());
|
// 修改工作档状态 41.小车准备复位 => 42.吊车搬运
|
Date now = new Date();
|
wrkCharge.setWrkSts(42L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改复位任务状态 41.小车准备复位 => 42.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
break;
|
}
|
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 43L) {
|
// 小车行驶通道
|
if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
steCommand.setTaskMode(SteTaskModeType.BACK_ORIGIN); // 去左端
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 43.小车到达 ===> 44.小车走行
|
wrkCharge.setWrkSts(44L);
|
Date now = new Date();
|
wrkCharge.setCrnEndTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改复位任务状态 43.小车到达 ===> 44.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
} else if (wrkCharge.getWrkSts() == 45L) {
|
if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
|
return;
|
}
|
|
LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());
|
|
Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());
|
if (null != otherSte) {
|
News.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), idleLoc.getLocNo(), otherSte);
|
} else {
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) { return; }
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(idleLoc.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(idleLoc.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(idleLoc.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(idleLoc.getLocNo(), true), idleLoc.getBay1(), idleLoc.getLev1());
|
// 修改工作档状态 45.小车待搬 => 46.放至待机位
|
Date now = new Date();
|
wrkCharge.setWrkSts(46L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改工作档状态 45.小车待搬 => 46.放至待机位 失败！！，工作号={}", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
|
}
|
}
|
}
|
|
public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
|
public synchronized void demo() {
|
if (Cools.isEmpty(crn2DemoLocs)) {
|
crn2DemoLocs = locMastService.getDemoNextLoc(2);
|
}
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
if (!crn.getDemo()) {
|
continue;
|
}
|
// 必须为演示状态
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
|
// filter
|
if (wrkChargeService.selectCount(new EntityWrapper<WrkCharge>()
|
.eq("crn_no", crn.getId()).between("wrk_sts", 31, 36)) > 0) {
|
continue;
|
}
|
|
SteThread steThread = queryIdleCar(crnProtocol);
|
if (Cools.isEmpty(steThread)) {
|
News.warn("没有空闲的小车进行演示功能");
|
continue;
|
}
|
int steNo = steThread.getSlave().getId();
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
BasSte basSte = basSteService.selectById(steNo);
|
if (Cools.isEmpty(steProtocol, basSte)) { continue; }
|
|
// 只有当穿梭车空闲 并且 无任务时才继续执行
|
if (steProtocol.isIdle()) {
|
|
String locNo = null;
|
Iterator<String> iterator = crn2DemoLocs.iterator();
|
while (iterator.hasNext()) {
|
String next = iterator.next();
|
if (!Cools.isEmpty(this.hasCar(next))) { continue; }
|
String lastLoc = crn2LastLoc;
|
if (!Cools.isEmpty(lastLoc)) {
|
if (!lastLoc.substring(2, 7).equals(next.substring(2, 7))
|
|| !Utils.getGroupRow(lastLoc, true).equals(Utils.getGroupRow(next, true))) {
|
locNo = next;
|
iterator.remove();
|
break;
|
} else {
|
iterator.remove();
|
}
|
} else {
|
locNo = next;
|
iterator.remove();
|
break;
|
}
|
|
}
|
if (!Cools.isEmpty(locNo)) {
|
crn2LastLoc = locNo;
|
}
|
|
News.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);
|
|
String sourceLocNo = Utils.getLocNo(steProtocol.getRow(), steProtocol.getBay(), steProtocol.getLev());
|
|
WrkCharge wrkCharge = new WrkCharge();
|
wrkCharge.setCrnNo(crn.getId());
|
wrkCharge.setSteNo(steNo);
|
wrkCharge.setWrkNo(commonService.getChargeWorkNo(5));
|
wrkCharge.setWrkSts(31L); // 31.生成演示ID
|
wrkCharge.setIoPri((double) 10);
|
wrkCharge.setSourceLocNo(sourceLocNo);
|
wrkCharge.setLocNo(locNo);
|
wrkCharge.setMemo("demo");
|
if (!wrkChargeService.insert(wrkCharge)) {
|
News.error("生成演示任务失败，堆垛机号：{}，小车：{}，源库位：{}，目标库位：{}", crn.getId(), steNo, sourceLocNo, locNo);
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 演示取货
|
*/
|
private void steMoveDemo(CrnSlave slave, CrnProtocol crnProtocol) {
|
// 获取工作档信息
|
WrkCharge wrkCharge = wrkChargeService.selectOne(new EntityWrapper<WrkCharge>().eq("crn_no", slave.getId())
|
.in("wrk_sts", 31, 33, 35));
|
if (null == wrkCharge) {
|
return;
|
}
|
SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkCharge.getSteNo());
|
SteProtocol steProtocol = steThread.getSteProtocol();
|
if (null == steProtocol) { return; }
|
if (steProtocol.isIdle()) {
|
// 31.生成演示ID
|
if (wrkCharge.getWrkSts() == 31L) {
|
this.letCarBeReady(wrkCharge, steProtocol.getSteNo().intValue());
|
wrkCharge.setWrkSts(32L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务{}工作档 31.生成演示ID ==>> 32.小车走行 失败!", wrkCharge.getWrkNo());
|
}
|
// 33.小车待搬
|
} else if (wrkCharge.getWrkSts() == 33L) {
|
LocMast locMast = locMastService.selectById(wrkCharge.getLocNo());
|
// 堆垛机命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
|
crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
|
crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getGroupRow(locMast.getLocNo(), true).shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
|
News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改穿梭车运行中排列层
|
steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo(), true), locMast.getBay1(), locMast.getLev1());
|
// 修改工作档状态 33.小车待搬 => 34.吊车搬运
|
Date now = new Date();
|
wrkCharge.setWrkSts(34L);
|
wrkCharge.setCrnStrTime(now);
|
wrkCharge.setModiTime(now);
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务{}工作档 33.小车待搬 => 34.吊车搬运 失败!", wrkCharge.getWrkNo());
|
}
|
}
|
// 35.小车就绪
|
} else if (wrkCharge.getWrkSts() == 35L) {
|
|
int steNo = steProtocol.getSteNo().intValue();
|
if (!basSteService.updatePakMk(steNo, "Y")) {
|
News.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
SteCommand steCommand = new SteCommand();
|
steCommand.setSteNo(steNo); // 穿梭车编号
|
steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
|
SteTaskModeType originByLoc = SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue());
|
if (originByLoc.equals(SteTaskModeType.GO_ORIGIN)) {
|
originByLoc = SteTaskModeType.BACK_ORIGIN;
|
} else if (originByLoc.equals(SteTaskModeType.BACK_ORIGIN)) {
|
originByLoc = SteTaskModeType.GO_ORIGIN;
|
} else {
|
return;
|
}
|
steCommand.setTaskMode(originByLoc);
|
|
steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
|
steCommand.setBay(steProtocol.getBay());
|
steCommand.setLev(steProtocol.getLev());
|
|
if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
|
News.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
|
} else {
|
// 修改工作档状态 35.小车就绪 => 36.小车走行
|
wrkCharge.setWrkSts(36L);
|
wrkCharge.setModiTime(new Date());
|
if (!wrkChargeService.updateById(wrkCharge)) {
|
News.error("修改演示任务{}工作档 35.小车就绪 => 36.小车走行 失败!", wrkCharge.getWrkNo());
|
}
|
}
|
}
|
}
|
|
}
|
/**
|
* 出入库模式切换
|
*/
|
public synchronized void outAndIn() {
|
try {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
for (DevpSlave.Sta inSta : devp.getInSta()) {
|
Thread.sleep(500);
|
boolean a=true,b=true;
|
List<WrkMast> wrkMasts = wrkMastMapper.selectAll(inSta.getStaNo());
|
if (Cools.isEmpty(wrkMasts)){
|
b=false;
|
}else {
|
for (WrkMast wrkMast:wrkMasts){
|
if (wrkMast.getSourceStaNo() > wrkMast.getStaNo()){
|
a=false;
|
break;
|
}
|
}
|
}
|
switch (inSta.getStaNo()) {
|
case 102://1F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 11));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 12));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 10));
|
}
|
break;
|
case 202://2F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 21));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 22));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 20));
|
}
|
break;
|
case 302://3F
|
if (a && b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 31));
|
}else if (b){
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 32));
|
}else {
|
MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, 30));
|
}
|
break;
|
}
|
}
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
|
}
|
