package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.baomidou.mybatisplus.mapper.Wrapper;
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import com.core.common.Cools;
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import com.core.common.DateUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.BasCrnErrorMapper;
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import com.zy.asrs.mapper.WaitPakinMapper;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.Utils;
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import com.zy.asrs.utils.VersionUtils;
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import com.zy.common.model.LocTypeDto;
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import com.zy.common.model.MatDto;
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import com.zy.common.model.SearchLocParam;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.CollectionUtils;
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import com.zy.common.utils.HttpHandler;
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import com.zy.common.utils.News;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.RgvThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.*;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.command.LedCommand;
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import com.zy.core.model.command.RgvCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.RgvProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.BarcodeThread;
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import com.zy.core.thread.LedThread;
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import com.zy.core.thread.SiemensDevpThread;
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import com.zy.core.thread.ZyRgvThread;
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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.io.IOException;
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import java.util.*;
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import java.util.stream.Collectors;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Autowired
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private CommonService commonService;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkMastService wrkMastService;
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@Autowired
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private WrkDetlService wrkDetlService;
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@Autowired
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private WaitPakinMapper waitPakinMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private LocDetlService locDetlService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private EmptyBarrelInService emptyBarrelInService;
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@Autowired
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private WrkMastStaService wrkMastStaService;
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@Autowired
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private MatnrCodeService matnrCodeService;
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@Autowired
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private WaitPakinService waitPakinService;
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@Value("${wms.url}")
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private String wmsUrl;
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public int workNo = 9900;
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/**
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* 组托
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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public synchronized void generateStoreWrkFile() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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// 获取入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 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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if (!Cools.isEmpty(barcode)) {
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log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
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continue;
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}
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} else {
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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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// 判断是否满足入库条件
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if (staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk()
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&& (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
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&& staProtocol.isPakMk()) {
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if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
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log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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//条码为空或者不符合，退库到
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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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// staProtocol.setWorkNo((short)9999);
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// staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// if (!result) {
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// throw new CoolException("更新plc站点信息失败");
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// }
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continue;
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}
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// 判断重复工作档
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WrkMast wrkMast = new WrkMast();
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if (barcode.length() == 8) {
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wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast != null) {
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log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
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continue;
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}
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}
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// 获取入库通知档
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// List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
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// if (waitPakins.isEmpty()) {
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// log.error("无此入库条码数据。条码号={}", barcode);
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// continue;
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// }
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try {
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LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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SearchLocParam param = new SearchLocParam();
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param.setBarcode(barcode);
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param.setIoType(1);
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param.setSourceStaNo(inSta.getStaNo());
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param.setLocType1(locTypeDto.getLocType1());
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String response = new HttpHandler.Builder()
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.setUri(wmsUrl)
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.setPath("/rpc/pakin/loc/v1")
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.setJson(JSON.toJSONString(param))
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.build()
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.doPost();
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JSONObject jsonObject = JSON.parseObject(response);
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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if (jsonObject.getInteger("code").equals(200)) {
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StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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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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ledThread.errorReset();
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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(jsonObject.getInteger("code").equals(700)) {
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// staProtocol.setWorkNo((short) 9999);
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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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log.error(barcode + "托盘识别异常，请先进行组托！");
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// led 异常显示
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ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
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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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} else {
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log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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}
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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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}
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}
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}
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}
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}
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/**
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* wms入库
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* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
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*/
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public synchronized void generateStoreWrkFile0() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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// // 入出库模式判断
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if (inSta.getStaNo() == 101 && devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) {
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continue;
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}
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if (inSta.getStaNo() == 104 && devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) {
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continue;
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}
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
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&& staProtocol.isPakMk()) {
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
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if (wrkMast == null) {
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continue;
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}
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// 命令下发区 --------------------------------------------------------------------------
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
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staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (result) {
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// 更新工作主档
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wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
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wrkMast.setModiTime(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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log.error("更新工作档失败！！！ [工作号：{}]", wrkMast.getWrkNo());
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}
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} else {
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log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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}
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}
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}
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}
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}
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/**
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* 拣料、并板、盘点再入库
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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.getPickSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String barcode = barcodeThread.getBarcode();
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if (!Cools.isEmpty(barcode)) {
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log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
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if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
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continue;
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}
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}
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// 获取拣料入库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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if (staProtocol.isAutoing()
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&& staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& staProtocol.isPakMk()
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&& staProtocol.getWorkNo() == 9999) {
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// WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
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LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
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if (barcode.equals("") || barcode.equals("99999999")) {
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Integer led = pickSta.getLed();
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if (ledThread != null) {
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String errorMsg = "扫码异常，请重新入库！";
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MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, errorMsg));
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}
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// // 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo((short)9999);
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staProtocol.setStaNo((short)(staProtocol.getStaNo()-1));
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devpThread.setPakMk(staProtocol.getSiteId(), false);
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boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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if (!result) {
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log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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}
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continue;
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}
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// WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
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WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("barcode", barcode));
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if (wrkMast == null) {
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wrkMast = wrkMastMapper.selectPickStep(barcode);
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}
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if (wrkMast == null) {
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// 无拣料数据
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continue;
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}
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if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107)
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|| Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
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continue;
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}
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ledThread.errorReset();
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// 获取目标站
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Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
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.eq("type_no", wrkMast.getIoType() - 50)
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.eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
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.eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
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StaDesc staDesc = staDescService.selectOne(wrapper);
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if (Cools.isEmpty(staDesc)) {
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log.error("入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
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continue;
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}
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try {
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// 保存工作明细档历史档
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if (wrkMastMapper.saveWrkDetlLog(wrkMast.getWrkNo()) == 0) {
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throw new CoolException("保存工作明细档历史档失败");
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}
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// 保存工作主档历史档
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if (wrkMastMapper.saveWrkMastLog(wrkMast.getWrkNo()) == 0) {
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throw new CoolException("保存工作主档历史档失败");
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}
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Date now = new Date();
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// 堆垛机站点(目标站)
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Integer staNo = staDesc.getCrnStn();
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// 更新工作档数据状态
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wrkMast.setIoTime(now);
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wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
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wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
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Integer sourceStaNo = 0;
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switch (wrkMast.getStaNo()){
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case 100:
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sourceStaNo = 101;
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break;
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case 103:
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sourceStaNo = 104;
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break;
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}
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wrkMast.setSourceStaNo(sourceStaNo); // 源站
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// wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
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wrkMast.setStaNo(staNo); // 目标站
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wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
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wrkMast.setSourceLocNo(""); // 源库位清空
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wrkMast.setModiTime(now);
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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throw new CoolException("更新工作档数据状态失败");
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}
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// 更新明细档io_time (历史档关联使用）
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wrkDetlService.updateIoTime(wrkMast.getWrkNo(), now);
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// 修改库位状态 Q.拣料/盘点/并板再入库
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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locMast.setLocSts("Q");
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locMast.setModiTime(new Date());
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if (!locMastService.updateById(locMast)) {
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throw new CoolException("修改库位状态失败");
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}
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} catch (Exception e) {
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e.printStackTrace();
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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continue;
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}
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// 更新站点信息 且 下发plc命令
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staProtocol.setWorkNo(wrkMast.getWrkNo().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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log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
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}else {
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ledThread.errorReset();
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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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* 堆垛机站出库到出库站
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*/
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public synchronized void crnStnToOutStn() {
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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if (crnSlave.getId() ==5){
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continue;
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}
|
// 遍历堆垛机出库站
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
|
// 获取堆垛机出库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
continue;
|
}
|
// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
|
// 移动中
|
continue;
|
}
|
// 判断堆垛机状态等待确认
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
|
&& crnProtocol.statusType == CrnStatusType.WAITING
|
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
|
|
// 命令下发区 --------------------------------------------------------------------------
|
if (crnProtocol.getCrnNo() !=5){
|
// 下发站点信息
|
staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
|
continue;
|
}
|
}
|
|
|
if (crnStn.getStaNo() > 1013) {
|
// 更新工作档状态为13.RGV搬运中
|
wrkMast.setWrkSts(13L);
|
}else {
|
// 更新工作档状态为14
|
wrkMast.setWrkSts(14L);
|
}
|
wrkMast.setCrnEndTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) != 0) {
|
// 复位堆垛机
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
}
|
|
}
|
}
|
}
|
}
|
|
/**
|
* 入出库 ===>> 堆垛机入出库作业下发
|
*/
|
public synchronized void crnIoExecute() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
if (crn.getId() == 5){
|
continue;
|
}
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
if (basCrnp == null) {
|
log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
|
continue;
|
}
|
|
// //堆垛机回原点任务中
|
// if(crnThread.isBackHpFlag()){
|
// continue;
|
// }
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
|
&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
if (crn.getId() == 5){
|
continue;
|
}
|
this.crnStnToLoc(crn, crnProtocol); // 入库
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
this.locToCrnStn(crn, crnProtocol); // 出库
|
crnProtocol.setLastIo("I");
|
}
|
}
|
// 如果最近一次是出库模式
|
else if (crnProtocol.getLastIo().equals("O")) {
|
if (basCrnp.getOutEnable().equals("Y")) {
|
this.locToCrnStn(crn, crnProtocol); // 出库
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
if (crn.getId() == 5){
|
continue;
|
}
|
|
this.crnStnToLoc(crn, crnProtocol); // 入库
|
crnProtocol.setLastIo("O");
|
}
|
}
|
}
|
// 库位移转
|
this.locToLoc(crn, crnProtocol);
|
// this.crnRebackHp(crnProtocol, crnThread);
|
|
}
|
}
|
|
/**
|
* 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
|
*/
|
public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
|
// for (CrnSlave crn : slaveProperties.getCrn()) {
|
// // 获取堆垛机信息
|
// CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
// CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
// if (crnProtocol == null) {
|
// continue;
|
// }
|
// BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
|
// if (basCrnp == null) {
|
// log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
|
// continue;
|
// }
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
|
return;
|
}
|
|
// 已经存在吊车执行任务时，则过滤3,12
|
if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
|
return;
|
}
|
|
//堆垛机有执行中任务，过滤3,4,11,12
|
if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
|
return;
|
}
|
|
//输送线没有入库任务，过滤2
|
if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
|
return;
|
}
|
log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
|
crnCommand.setTaskNo((short) 9999); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 回原点
|
crnCommand.setSourcePosX((short) 0); // 源库位排
|
crnCommand.setSourcePosY((short) 0); // 源库位列
|
crnCommand.setSourcePosZ((short) 0); // 源库位层
|
crnCommand.setDestinationPosX((short) 0); // 目标库位排
|
crnCommand.setDestinationPosY((short) 0); // 目标库位列
|
crnCommand.setDestinationPosZ((short) 0); // 目标库位层
|
crnCommand.setLocType1((short) 0); // 货物类型
|
if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
|
}
|
crnThread.setBackHpFlag(true);
|
}
|
// }
|
}
|
|
/**
|
* 入库 ===>> 堆垛机站到库位
|
*/
|
public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
|
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
|
boolean flag = false;
|
// 获取堆垛机入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
|
&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
|
flag = true;
|
}
|
if (!flag) {
|
continue;
|
}
|
// 获取工作状态为2（设备上走）的入库工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
|
if (null == wrkMast) {
|
// log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
|
continue;
|
}
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (locMast == null) {
|
log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
continue;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
|
continue;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
}
|
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// 此标记避免多次执行移库任务
|
if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
|
wrkMast.setUpdMk("Y");
|
wrkMast.setIoPri(14D);
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
// 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
|
// moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
|
}
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
|
continue;
|
}
|
}
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
|
// long startTime = System.currentTimeMillis();
|
// while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
|
//
|
// if (true) {
|
// break;
|
// }
|
//
|
// try{
|
// Thread.sleep(500);
|
// }catch(Exception ignore){}
|
// }
|
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
* 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
|
*/
|
public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的出库工作档
|
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
|
// 获取工作状态为14的工作档
|
WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
|
if ( wrkMast1 !=null) {
|
continue;
|
}
|
for (WrkMast wrkMast : wrkMasts) {
|
if (wrkMast == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
// 获取源库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (!locMast.getLocSts().equals("R") && !locMast.getLocSts().equals("P")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
// continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
// continue;
|
}
|
// 判断堆垛机出库站状态
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
|
&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
// continue;
|
break;
|
}
|
|
// 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
|
LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null == waitWrkMast) {
|
log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
} else {
|
if (waitWrkMast.getWrkSts() == 11) {
|
waitWrkMast.setIoPri(15D);
|
waitWrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
}
|
continue;
|
} else {
|
|
}
|
}
|
} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
//2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
// 此标记避免多次执行移库任务
|
// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
|
// || Cools.isEmpty(waitWrkMast)) {
|
if (Cools.isEmpty(waitWrkMast)) {
|
wrkMast.setUpdMk("Y");
|
wrkMastMapper.updateById(wrkMast);
|
// 生成工作档,将浅库位移转到新的库位中
|
moveLocForDeepLoc(slave, shallowLoc);
|
}
|
log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
|
continue;
|
} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
|
WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
|
if (null != waitWrkMast && (waitWrkMast.getWrkSts() == 4 || waitWrkMast.getWrkSts() == 5)) {
|
continue;
|
}
|
}
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(locMast.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(locMast.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(locMast.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
// /**
|
// * 出库 ===>> 库位到堆垛机站
|
// */
|
// public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
|
// for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// // 获取工作状态为11（生成出库ID）的出库工作档
|
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
|
// if (wrkMast == null) {
|
// continue;
|
// }
|
// // 工作档状态判断
|
// if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
|
// log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
// continue;
|
// }
|
// // 获取源库位信息
|
// LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
// if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
|
// log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
|
// continue;
|
// }
|
// // 获取堆垛机出库站信息
|
// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
// if (staProtocol == null) {
|
// continue;
|
// } else {
|
// staProtocol = staProtocol.clone();
|
// }
|
//
|
//// // 入出库模式判断
|
//// if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
|
//
|
//
|
// // 查询站点详细信息
|
// BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
// if (staDetl == null) {
|
// log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
// continue;
|
// }
|
// // 判断堆垛机出库站状态
|
// if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
|
// && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
|
// // 命令下发区 --------------------------------------------------------------------------
|
//
|
// // 堆垛机控制过滤
|
// if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
// continue;
|
// }
|
//
|
// // 双深库位且浅库位有货，则需先对浅库位进行库位移转
|
// if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
|
// String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
|
// LocMast shallowLoc = locMastService.selectById(shallowLocNo);
|
// // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
|
// if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
|
// WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
|
// if (null == waitWrkMast) {
|
// log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
|
// } else {
|
// if(waitWrkMast.getWrkSts() == 11) {
|
// waitWrkMast.setIoPri(15D);
|
// waitWrkMast.setModiTime(new Date());
|
// if (wrkMastMapper.updateById(waitWrkMast) == 0) {
|
// log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
|
// }
|
// continue;
|
// } else {
|
//
|
// }
|
// }
|
// } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
|
// // 此标记避免多次执行移库任务
|
// if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
|
// wrkMast.setUpdMk("Y");
|
// wrkMastMapper.updateById(wrkMast);
|
// // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
|
// moveLocForDeepLoc(slave, shallowLoc);
|
// }
|
// log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
|
// continue;
|
// }
|
// }
|
//
|
// // 已经存在吊车执行任务时，则过滤
|
// if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
// return;
|
// }
|
//
|
// // 1.堆垛机开始移动
|
// CrnCommand crnCommand = new CrnCommand();
|
// crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
// crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
// crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
// crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
// crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
|
// crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
// crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
// crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
// crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
// crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
// crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
|
// if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
// log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
// } else {
|
// // 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
// Date now = new Date();
|
// wrkMast.setWrkSts(12L);
|
// wrkMast.setCrnStrTime(now);
|
// wrkMast.setModiTime(now);
|
// if (wrkMastMapper.updateById(wrkMast) == 0) {
|
// log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
// }
|
// }
|
// }
|
// }
|
// }
|
|
/**
|
* 库位移转
|
*/
|
public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
|
// 获取工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
|
if (null == wrkMast) {
|
return;
|
}
|
// 获取源库位信息
|
LocMast sourceLocMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (null == sourceLocMast) {
|
log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
|
return;
|
}
|
// 源库位 库位状态判断
|
if (!sourceLocMast.getLocSts().equals("R") && !sourceLocMast.getLocSts().equals("S")) {
|
return;
|
}
|
// 获取目标库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (null == locMast) {
|
log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
|
return;
|
}
|
// 获取堆垛机信息 并 判断是否可入出
|
BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
|
if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
|
return;
|
}
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
return;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(sourceLocMast.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceLocMast.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceLocMast.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
|
}
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public synchronized void storeFinished() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
if (crnProtocol.getTaskNo() == 9999) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
} else {
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
|
if (wrkMast == null) {
|
log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
|
continue;
|
}
|
// 入库 + 库位转移 ==> 4.入库完成
|
if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
|
wrkMast.setWrkSts(4L);
|
} else {
|
continue;
|
}
|
Date now = new Date();
|
wrkMast.setCrnEndTime(now);
|
wrkMast.setModiTime(now);
|
// 修改成功后复位堆垛机
|
if (wrkMastMapper.updateById(wrkMast) > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
}
|
}
|
|
}
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
public synchronized void recCrnErr() {
|
Date now = new Date();
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
if (true) {
|
// if (crnProtocol.getModeType() != CrnModeType.STOP) {
|
// 有任务
|
if (crnProtocol.getTaskNo() != 0) {
|
BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
null, // 编号
|
wrkMast.getWrkNo(), // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
wrkMast.getWrkSts(), // 工作状态
|
wrkMast.getIoType(), // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
wrkMast.getLocNo(), // 目标库位
|
wrkMast.getStaNo(), // 目标站
|
wrkMast.getSourceStaNo(), // 源站
|
wrkMast.getSourceLocNo(), // 源库位
|
wrkMast.getBarcode(), // 条码
|
(int) crnProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasErrLog latest = basErrLogService.findLatest(crn.getId());
|
// 有异常
|
if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
|
String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
|
BasErrLog basErrLog = new BasErrLog(
|
null, // 编号
|
null, // 工作号
|
now, // 发生时间
|
null, // 结束时间
|
null, // 工作状态
|
null, // 入出库类型
|
crn.getId(), // 堆垛机
|
null, // plc
|
null, // 目标库位
|
null, // 目标站
|
null, // 源站
|
null, // 源库位
|
null, // 条码
|
(int) crnProtocol.getAlarm(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"无任务异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
public synchronized void storeEmptyPlt() {
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, emptyInSta.getLed());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// 站点条件判断
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
|
&& (staProtocol.isEmptyMk() || staProtocol.getStaNo() == 9999)
|
// && (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999)
|
&& staProtocol.isPakMk()) {
|
List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
|
.eq("sta_no", emptyInSta.getStaNo())
|
.eq("io_type", 10)
|
.eq("wrk_sts", 2));
|
if (!Cools.isEmpty(wrkMasts)){
|
continue;
|
}
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
ledThread.errorReset();
|
// 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 {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
|
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
public synchronized void ledExecute() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> wrkMasts = new ArrayList<>();
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
|
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.setStaNo(wrkMast.getStaNo());
|
ledCommand.setBarcode(wrkMast.getBarcode());
|
if (wrkMast.getIoType() != 110) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
wrkDetls.forEach(wrkDetl -> {
|
if (wrkMast.getIoType() == 101) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()));
|
}
|
if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()));
|
}
|
if (wrkMast.getIoType() == 107) {
|
ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme()));
|
}
|
});
|
}
|
commands.add(ledCommand);
|
}
|
Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
|
// 获取LED线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// 相同工作号集合则过滤
|
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
|
continue;
|
}
|
// 命令下发 -------------------------------------------------------------------------------
|
if (!commands.isEmpty()) {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
|
News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
}
|
}
|
|
try {
|
// 修改主档led标记
|
for (WrkMast wrkMast : wrkMasts) {
|
wrkMast.setOveMk("Y");
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("更新工作档失败");
|
}
|
}
|
|
// 更新线程当前工作号集合
|
ledThread.setWorkNos(workNos);
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
public synchronized void ledReset() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) { continue; }
|
if (staProtocol.getWorkNo() != 0 || staProtocol.isErr()) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getDevpPlcId());
|
// led显示默认内容
|
if (reset) {
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
News.error("{}号LED命令下发失败1565！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
}
|
}
|
}
|
}
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（入库版)
|
* tip：同步
|
*/
|
@Transactional
|
public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast) {
|
LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
Date now = new Date();
|
// 保存工作档
|
WrkMast wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(now);
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(15D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
|
wrkMast.setLocNo(loc.getLocNo()); // 目标库位
|
wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记
|
wrkMast.setAppeTime(now);
|
wrkMast.setModiTime(now);
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
if (shallowLoc.getLocSts().equals("F")) {
|
List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
|
for (LocDetl locDetl : locDetls) {
|
WrkDetl wrkDetl = new WrkDetl();
|
wrkDetl.setWrkNo(workNo);
|
wrkDetl.setIoTime(now);
|
wrkDetl.setAnfme(locDetl.getAnfme());
|
VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
wrkDetl.setAppeTime(now);
|
wrkDetl.setModiTime(now);
|
if (!wrkDetlService.insert(wrkDetl)) {
|
throw new CoolException("保存工作档明细失败");
|
}
|
}
|
}
|
// 修改源库位状态
|
if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
|
shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
|
shallowLoc.setModiTime(now);
|
if (!locMastService.updateById(shallowLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
throw new CoolException("源库位出库失败");
|
}
|
// // 修改目标库位状态
|
// if (loc.getLocSts().equals("O")) {
|
// loc.setLocSts("S"); // S.入库预约
|
// loc.setModiTime(new Date());
|
// if (!locMastService.updateById(loc)) {
|
// throw new CoolException("更新目标库位状态失败");
|
// }
|
// } else {
|
// throw new CoolException("移转失败");
|
// }
|
wrkMast.setLocNo(shallowLoc.getLocNo());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("修改阻塞入库任务失败");
|
}
|
}
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（立即执行版)
|
* tip：同步
|
*/
|
private synchronized void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc) {
|
try {
|
List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
|
LocMast loc = null;
|
for (Integer row : rows) {
|
if (Utils.isDeepLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (loc != null) {
|
if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
|
LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
|
if (!shallowLoc1.getLocSts().equals("O")) {
|
loc = null;
|
}
|
}
|
}
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
if (null == loc) {
|
for (Integer row : rows) {
|
if (Utils.isShallowLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (null != loc) {//对应深库位非在库状态,不能移库
|
String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
|
LocMast deepLoc1 = locMastService.selectById(deepLoc);
|
if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
|
loc = null;
|
}
|
}
|
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
}
|
|
if (null == loc) {
|
log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
|
}
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
// 保存工作档
|
WrkMast wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(new Date());
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(13D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
|
wrkMast.setLocNo(loc.getLocNo()); // 目标库位
|
wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
if (shallowLoc.getLocSts().equals("F")) {
|
List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
|
for (LocDetl locDetl : locDetls) {
|
WrkDetl wrkDetl = new WrkDetl();
|
wrkDetl.setWrkNo(workNo);
|
wrkDetl.setIoTime(new Date());
|
wrkDetl.setAnfme(locDetl.getAnfme());
|
VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
wrkDetl.setAppeTime(new Date());
|
wrkDetl.setModiTime(new Date());
|
if (!wrkDetlService.insert(wrkDetl)) {
|
throw new CoolException("保存工作档明细失败");
|
}
|
}
|
}
|
// 修改源库位状态
|
if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
|
shallowLoc.setLocSts("R"); // R.出库预约
|
shallowLoc.setModiTime(new Date());
|
if (!locMastService.updateById(shallowLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
throw new CoolException("源库位出库失败");
|
}
|
// 修改目标库位状态
|
if (loc.getLocSts().equals("O")) {
|
loc.setLocSts("S"); // S.入库预约
|
loc.setModiTime(new Date());
|
if (!locMastService.updateById(loc)) {
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
throw new CoolException("移转失败");
|
}
|
} catch (Exception e) {
|
log.error("双深库位阻塞，对浅库位进行移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
/**
|
* 堆垛机演示 ===>> 库位移转
|
*/
|
public synchronized void crnDemoOfLocMove1() {
|
try {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
if (!crn.getDemo()) {
|
continue;
|
} // 必须为演示状态
|
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 获取移库工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
|
if (null != wrkMast) {
|
continue;
|
}
|
|
LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
|
if (null == sourceLoc ) {
|
continue;
|
}
|
LocMast loc = locMastService.queryDemoLoc0(crn.getId(),sourceLoc.getLocType1());
|
if ( null == loc) {
|
continue;
|
}
|
|
String sourceLocNo = sourceLoc.getLocNo();
|
String locNo = loc.getLocNo();
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
// 保存工作档
|
wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(new Date());
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(13D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(sourceLocNo); // 源库位
|
wrkMast.setLocNo(locNo); // 目标库位
|
wrkMast.setFullPlt("N"); // 满板：Y
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
|
// for (LocDetl locDetl : locDetls) {
|
// WrkDetl wrkDetl = new WrkDetl();
|
// wrkDetl.setWrkNo(workNo);
|
// wrkDetl.setIoTime(new Date());
|
// wrkDetl.setAnfme(locDetl.getAnfme());
|
// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
// wrkDetl.setAppeTime(new Date());
|
// wrkDetl.setModiTime(new Date());
|
// if (!wrkDetlService.insert(wrkDetl)) {
|
// throw new CoolException("保存工作档明细失败");
|
// }
|
// }
|
// 修改源库位状态
|
if (sourceLoc.getLocSts().equals("D")) {
|
sourceLoc.setLocSts("R"); // R.出库预约
|
sourceLoc.setModiTime(new Date());
|
if (!locMastService.updateById(sourceLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
throw new CoolException("源库位出库失败");
|
}
|
// 修改目标库位状态
|
if (loc.getLocSts().equals("O")) {
|
loc.setLocSts("S"); // S.入库预约
|
loc.setModiTime(new Date());
|
if (!locMastService.updateById(loc)) {
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
throw new CoolException("移转失败");
|
}
|
|
}
|
}
|
} catch (Exception e) {
|
log.error("堆垛机演示 ===>> 库位移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
/**
|
* 堆垛机演示 ===>> 所有库位轮询
|
*/
|
public synchronized void crnDemoOfLocMove2() {
|
try {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
if (!crn.getDemo()) {
|
continue;
|
} // 必须为演示状态
|
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 获取移库工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
|
if (null != wrkMast) {
|
continue;
|
}
|
|
|
LocMast sourceLoc = locMastService.queryDemoSourceLoc1(crn.getId());
|
if (null == sourceLoc ) {
|
continue;
|
}
|
LocMast loc = locMastService.queryDemoLoc2(crn.getId(),sourceLoc.getLocType1());
|
if ( null == loc) {
|
continue;
|
}
|
|
String sourceLocNo = sourceLoc.getLocNo();
|
String locNo = loc.getLocNo();
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
// 保存工作档
|
wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(new Date());
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(13D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(sourceLocNo); // 源库位
|
wrkMast.setLocNo(locNo); // 目标库位
|
wrkMast.setFullPlt("N"); // 满板：Y
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
|
// for (LocDetl locDetl : locDetls) {
|
// WrkDetl wrkDetl = new WrkDetl();
|
// wrkDetl.setWrkNo(workNo);
|
// wrkDetl.setIoTime(new Date());
|
// wrkDetl.setAnfme(locDetl.getAnfme());
|
// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
// wrkDetl.setAppeTime(new Date());
|
// wrkDetl.setModiTime(new Date());
|
// if (!wrkDetlService.insert(wrkDetl)) {
|
// throw new CoolException("保存工作档明细失败");
|
// }
|
// }
|
// 修改源库位状态
|
if (sourceLoc.getLocSts().equals("D")) {
|
sourceLoc.setLocSts("R"); // R.出库预约
|
sourceLoc.setModiTime(new Date());
|
if (!locMastService.updateById(sourceLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
throw new CoolException("源库位出库失败");
|
}
|
// 修改目标库位状态
|
if (loc.getLocSts().equals("O")) {
|
loc.setLocSts("S"); // S.入库预约
|
loc.setCtnKind(1);
|
loc.setModiTime(new Date());
|
if (!locMastService.updateById(loc)) {
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
throw new CoolException("移转失败");
|
}
|
|
}
|
}
|
} catch (Exception e) {
|
log.error("堆垛机演示 ===>> 库位移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
/**
|
* 堆垛机命令下发后，异步修改工作档状态
|
*/
|
public synchronized void crnIoWrkMast() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
Date now = new Date();
|
// 堆垛机正在运行
|
if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 获取工作档
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 入库
|
if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
|
log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
|
}
|
// 出库、移库
|
if (wrkMast.getWrkSts() == 11) {
|
log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
|
}
|
|
|
}
|
|
}
|
}
|
|
/**
|
* 入出库模式切换函数
|
*/
|
public synchronized void ioConvert() {
|
try {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
|
for (DevpSlave.Sta inSta : devp.getInSta()) {
|
// if (inSta.getStaNo() == 2) {
|
// continue;
|
// }
|
Integer staNo = 0;
|
switch (inSta.getStaNo()){
|
case 101:
|
staNo = 102;
|
break;
|
case 104:
|
staNo = 105;
|
break;
|
}
|
WrkMast pakout = wrkMastMapper.selectWorkingPakout(staNo);
|
switch (inSta.getStaNo()) {
|
case 101: // 1F1
|
if (pakout != null) {
|
if (devpThread.ioModeOf1F1 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf1F1 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getStaNo() - 1).isLoading()
|
&& devpThread.getStation().get(inSta.getStaNo() - 1).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf1F1 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf1F1 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
case 104: // 1F2
|
if (pakout != null) {
|
if (devpThread.ioModeOf1F2 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf1F2 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getStaNo() - 1).isLoading()
|
&& devpThread.getStation().get(inSta.getStaNo() - 1).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf1F2 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf1F2 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
}
|
}
|
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
* 扫描碟盘机自动入库空托盘
|
*/
|
public synchronized void autoEmptyIn() {
|
for (DevpSlave slave : slaveProperties.getDevp()) {
|
for (DevpSlave.Sta sta : slave.getAutoEmptyIn()) {
|
// 获取空板入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// 站点条件判断
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
|
&& staProtocol.isEmptyInPalletRequire() && staProtocol.getWorkNo() == 0) {
|
List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("type_no", 10).eq("stn_no", sta.getStaNo()));
|
for (StaDesc staDesc:staDescs){
|
|
BasDevp basDevp = new BasDevp();
|
|
if (staDesc.getCrnNo() == 1){
|
basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1004));
|
} else if (staDesc.getCrnNo() == 2) {
|
basDevp = basDevpService.selectOne(new EntityWrapper<BasDevp>().eq("dev_no", 1008));
|
}
|
if (Cools.isEmpty(basDevp)){
|
continue;
|
}
|
|
if (basDevp.getAutoing().equals("Y") && basDevp.getLoading().equals("N")
|
&& basDevp.getWrkNo() == 0 && basDevp.getCanining().equals("Y")){
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo((short) 9997);
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
// staProtocol.setStaNo((short) 1013);
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
return;
|
}
|
|
}
|
|
|
// try {
|
// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
//
|
// SearchLocParam param = new SearchLocParam();
|
// param.setIoType(10);
|
// param.setSourceStaNo(sta.getStaNo());
|
// param.setLocType1(locTypeDto.getLocType1());
|
// String response = new HttpHandler.Builder()
|
// .setUri(wmsUrl)
|
// .setPath("/rpc/pakin/loc/v1")
|
// .setJson(JSON.toJSONString(param))
|
// .build()
|
// .doPost();
|
// JSONObject jsonObject = JSON.parseObject(response);
|
// if (jsonObject.getInteger("code").equals(200)) {
|
// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
//
|
// // 更新站点信息 且 下发plc命令
|
// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
// staProtocol.setStaNo(dto.getStaNo().shortValue());
|
// devpThread.setPakMk(staProtocol.getSiteId(), false);
|
// boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
|
// if (!result) {
|
// throw new CoolException("更新plc站点信息失败");
|
// }
|
// } else {
|
// log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
// }
|
// } catch (Exception e) {
|
// e.printStackTrace();
|
// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
// }
|
}
|
}
|
}
|
}
|
|
/**
|
* 扫描拆盘机自动出库空托盘
|
*/
|
public synchronized void autoEmptyOut() {
|
for (DevpSlave slave : slaveProperties.getDevp()) {
|
for (DevpSlave.Sta sta : slave.getAutoEmptyOut()) {
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, slave.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
|
if (staProtocol == null) {
|
return;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
if (staProtocol.isAutoing() //自动
|
&& !staProtocol.isLoading() //无物
|
&& staProtocol.isEmptyOutPalletRequire() //空托盘需求信号
|
// && staProtocol.isEmptyMk()
|
&& staProtocol.getWorkNo() == 0
|
) {
|
Integer staNo = sta.getStaNo();
|
switch (staProtocol.getSiteId()){
|
case 4007:
|
staNo = 4002;break;
|
case 4016:
|
staNo = 4011;break;
|
}
|
WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(staNo);
|
if (null != pakoutEmpty) {
|
return;
|
}
|
|
List<StaDesc> staDescs = staDescService.selectList(new EntityWrapper<StaDesc>().eq("stn_no", staNo));
|
for (StaDesc staDesc: staDescs){
|
BasCrnp basCrnp = basCrnpService.selectOne(new EntityWrapper<BasCrnp>().eq("crn_no", staDesc.getCrnNo()));
|
if (!basCrnp.getCrnSts().equals(3) || basCrnp.getCrnErr() != 0){
|
continue;
|
}
|
try {
|
HashMap<String, Object> map = new HashMap<>();
|
map.put("crnNo", staDesc.getCrnNo());//目标站
|
map.put("staNo",staDesc.getStnNo());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setParams(map)
|
.setPath("/rpc/auto/emptyOut/v1")
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
JSONObject data = (JSONObject) jsonObject.get("data");
|
log.info((String) data.get("msg"));
|
return;
|
} else {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
}
|
}
|
|
}
|
|
}
|
|
public synchronized void crn5InTask(){
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
if (crnSlave.getId() != 5){
|
continue;
|
}
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
BasCrnp basCrnp = basCrnpService.selectById(crnSlave.getId());
|
if (basCrnp == null) {
|
log.error("{}号堆垛机尚未在数据库进行维护！", crnSlave.getId());
|
continue;
|
}
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
|
&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
|
|
// Crn5InTaskSta(crnSlave,crnProtocol);
|
|
// 如果最近一次是入库模式
|
if (crnProtocol.getLastIo().equals("I")) {
|
if (basCrnp.getInEnable().equals("Y")) {
|
this.Crn5InTaskSta(crnSlave,crnProtocol);
|
crnProtocol.setLastIo("O");
|
} else if (basCrnp.getOutEnable().equals("Y")) {
|
this.locToCrn5Stn(crnSlave, crnProtocol); // 出库
|
crnProtocol.setLastIo("I");
|
}
|
}
|
// 如果最近一次是出库模式
|
else if (crnProtocol.getLastIo().equals("O")) {
|
if (basCrnp.getOutEnable().equals("Y")) {
|
this.locToCrn5Stn(crnSlave, crnProtocol); // 出库
|
crnProtocol.setLastIo("I");
|
} else if (basCrnp.getInEnable().equals("Y")) {
|
|
this.Crn5InTaskSta(crnSlave,crnProtocol);
|
crnProtocol.setLastIo("O");
|
}
|
}
|
|
}
|
|
}
|
}
|
public void Crn5InTaskSta(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectCrn5Task2();
|
if (wrkMast == null) {
|
return;
|
}
|
// 获取库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
|
if (locMast == null) {
|
log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
|
return;
|
}
|
if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
|
log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
|
return;
|
}
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
return;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
|
crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
Date now = new Date();
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
|
|
|
|
}
|
|
|
public synchronized void crn5StnToOutStn() {
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
if (crnSlave.getId() != 5){
|
continue;
|
}
|
// 遍历堆垛机出库站
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
|
// 获取堆垛机出库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
|
// 查询工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(crnStn.getStaNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 判断工作档条件
|
if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
|
continue;
|
}
|
// 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
|
// 移动中
|
continue;
|
}
|
// 判断堆垛机状态等待确认
|
if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
|
&& crnProtocol.statusType == CrnStatusType.WAITING
|
&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
|
|
// 更新工作档状态为14
|
wrkMast.setWrkSts(14L);
|
|
wrkMast.setCrnEndTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) != 0) {
|
// 复位堆垛机
|
crnThread.setResetFlag(true);
|
} else {
|
log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
|
}
|
|
}
|
|
// }
|
}
|
}
|
}
|
|
|
public synchronized void locToCrn5Stn(CrnSlave slave, CrnProtocol crnProtocol) {
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的出库工作档
|
// WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
|
// 获取工作状态为14的工作档
|
WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
|
if ( wrkMast1 !=null) {
|
continue;
|
}
|
for (WrkMast wrkMast : wrkMasts) {
|
if (wrkMast == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
// 获取源库位信息
|
LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (!locMast.getLocSts().equals("R") && !locMast.getLocSts().equals("P")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
// continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
break;
|
// continue;
|
}
|
// 判断堆垛机出库站状态
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isOutEnable()) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
// continue;
|
break;
|
}
|
|
|
// 已经存在吊车执行任务时，则过滤
|
if (wrkMastMapper.selectWorking(slave.getId()) != null) {
|
break;
|
// return;
|
}
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(locMast.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(locMast.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(locMast.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
crnCommand.setLocType1(locMast.getLocType1().shortValue()); // 货物类型
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
break;
|
}
|
}
|
}
|
}
|
}
|
|
public synchronized void crn5TaskCreate() throws IOException {
|
for (CrnSlave crnSlave : slaveProperties.getCrn()) {
|
if (crnSlave.getId() != 5){
|
continue;
|
}
|
for (CrnSlave.CrnStn crnStn : crnSlave.getCrnInStn()) {
|
// 获取堆垛机出库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
if (staProtocol == null) {
|
break;
|
// continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){
|
|
EmptyBarrelIn emptyBarrelIn = emptyBarrelInService.selectOne(new EntityWrapper<>());
|
if (Cools.isEmpty(emptyBarrelIn)){
|
continue;
|
}
|
|
FullStoreParam fullStoreParam = new FullStoreParam();
|
fullStoreParam.setDevpNo(crnStn.getStaNo());
|
FullStoreParam.MatCodeStore matCodeStore = new FullStoreParam.MatCodeStore();
|
matCodeStore.setMatnr(emptyBarrelIn.getMatnr());
|
matCodeStore.setBatch(emptyBarrelIn.getBatch());
|
if (staProtocol.isForce()){
|
log.info("空桶强制入库："+staProtocol.getAmount());
|
matCodeStore.setAnfme(Double.valueOf(staProtocol.getAmount()));
|
}else {
|
matCodeStore.setAnfme(8d) ;
|
}
|
ArrayList<FullStoreParam.MatCodeStore> matCodeStores = new ArrayList<>();
|
matCodeStores.add(matCodeStore);
|
fullStoreParam.setList(matCodeStores);
|
try {
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/full/store/put/start")
|
.setJson(JSON.toJSONString(fullStoreParam))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
devpThread.setPakMk(crnStn.getStaNo(),false);
|
}
|
}catch (CoolException e){
|
|
}
|
|
}
|
|
}
|
}
|
}
|
|
public synchronized void RGVTaskCreate(){
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()){
|
ZyRgvThread rgvThread = (ZyRgvThread)SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (Cools.isEmpty(rgvProtocol)){
|
continue;
|
}else {
|
rgvProtocol = rgvProtocol.clone();
|
}
|
List<WrkMastSta> wrkMastStas = wrkMastStaService.selectRGVTask1(rgvSlave.getId());
|
if (!Cools.isEmpty(wrkMastStas)){
|
continue;
|
}
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getLoaded1() == 0){
|
boolean work1 = false;
|
boolean work2 = false;
|
int workNo1 = 0;
|
int workNo2 = 0;
|
short souSta1 = 0;
|
short sta1 = 0;
|
short souSta2 = 0;
|
short sta2 = 0;
|
Integer matnr = 0;
|
Integer matnr2 = 0;
|
String batch = "";
|
String batch2 = "";
|
short type = 0;
|
short type2 = 0;
|
short anfme = 0;
|
short anfme2 = 0;
|
Double weight = 0d;
|
Double weight2 = 0d;
|
|
//工位一任务
|
for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
|
if (rgvSlave.getId() == 1 && inStn.getSourceStaNo() == 2114){
|
continue;
|
}
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
|
if (staProtocol == null) {
|
// break;
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){
|
|
WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
|
if (Cools.isEmpty(wrkMast)){
|
log.error("未找到工作档");
|
continue;
|
}
|
workNo1 = wrkMast.getWrkNo();
|
souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
|
sta1 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
|
work1 = true;
|
devpThread.setPakMk(inStn.getSourceStaNo(),false);
|
break;
|
|
|
} else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 || staProtocol.getWorkNo()==0)) {
|
if (rgvSlave.getId() != 2 ){
|
continue;
|
}
|
workNo1 = workNo++;
|
souSta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
|
if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
|
sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
|
} else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
|
sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
|
} else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
|
sta1 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
|
} else {
|
sta1 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
|
}
|
|
if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //区分空板
|
type = 1;
|
}
|
if(inStn.getSourceStaNo() == 2102){
|
weight = staProtocol.getWeight().doubleValue();
|
}
|
|
work1 = true;
|
if (inStn.getSourcePlcId() == 4 || inStn.getSourcePlcId() ==5){ //灌装站需要获取输送线物料代码
|
matnr = staProtocol.getMatnr();
|
}
|
|
devpThread.setPakMk(inStn.getSourceStaNo(),false);
|
break;
|
}
|
}
|
|
if (rgvSlave.getId() != 3){
|
//工位二任务
|
for (RgvSlave.Sta inStn : rgvSlave.getInStn()){
|
if (souSta1 == inStn.getSourceStaNo()){
|
continue;
|
}
|
if (rgvSlave.getId() == 1 && inStn.getSourceStaNo() == 1014){
|
continue;
|
}
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, inStn.getSourcePlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(inStn.getSourceStaNo());
|
if (staProtocol == null) {
|
// break;
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()&& staProtocol.isPakMk() && (staProtocol.getWorkNo()>0 && staProtocol.getWorkNo()<9900)){
|
|
WrkMast wrkMast = wrkMastService.selectByworkNo(staProtocol.getWorkNo());
|
if (Cools.isEmpty(wrkMast)){
|
log.error("未找到工作档");
|
continue;
|
}
|
workNo2 = wrkMast.getWrkNo();
|
souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),staProtocol.getSiteId());
|
sta2 = Utils.getRgvEndStaNo(rgvSlave.getId(),wrkMast.getStaNo());
|
work2 = true;
|
devpThread.setPakMk(inStn.getSourceStaNo(),false);
|
break;
|
} else if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && (staProtocol.getWorkNo()>=9900 || staProtocol.getWorkNo()==0)) {
|
if (rgvSlave.getId() != 2 ){
|
continue;
|
}
|
workNo2 = workNo++;
|
souSta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getSourceStaNo());
|
if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 1){
|
sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2103);
|
} else if (inStn.getSourceStaNo() == 4007 && staProtocol.getTongType() == 2) {
|
sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2002);
|
}else if (inStn.getSourceStaNo() == 2102 && staProtocol.isFullPlt()) {
|
sta2 = Utils.getRgvStaNo(rgvSlave.getId(),2301);
|
} else {
|
sta2 = Utils.getRgvStaNo(rgvSlave.getId(),inStn.getStaNo());
|
}
|
|
if (inStn.getSourceStaNo() == 2102 && staProtocol.isEmptyMk()){ //区分空板
|
type2 = 1;
|
}
|
|
if(inStn.getSourceStaNo() == 2102){
|
weight2 = staProtocol.getWeight().doubleValue();
|
}
|
|
work2 = true;
|
if (inStn.getSourcePlcId() == 4){
|
matnr2 = staProtocol.getMatnr();
|
}
|
devpThread.setPakMk(inStn.getSourceStaNo(),false);
|
break;
|
}
|
|
|
}
|
}
|
|
|
if (work1 || work2){
|
//rgv任务下发--------------------------------------------------------------
|
RgvCommand command = new RgvCommand();
|
command.setRgvNo(rgvSlave.getId()); // RGV编号
|
//工位1
|
command.setTaskNo1(workNo1); // 工作号
|
command.setSourceStaNo1(souSta1); // 源站
|
command.setDestinationStaNo1(sta1); // 目标站
|
command.setAckFinish1(false); // 任务完成确认位
|
|
//工位2
|
command.setTaskNo2(workNo2); // 工作号
|
command.setSourceStaNo2(souSta2); // 源站
|
command.setDestinationStaNo2(sta2); // 目标站
|
command.setAckFinish2(false); // 任务完成确认位
|
|
command.setMatnr(matnr);
|
command.setMatnr2(matnr2);
|
command.setBatch(batch);
|
command.setBatch2(batch2);
|
command.setAnfme(anfme);
|
command.setAnfme2(anfme2);
|
|
command.setType(type);
|
command.setType2(type2);
|
|
command.setWeight(weight);
|
command.setWeight2(weight2);
|
|
if (workNo1 == 0 && workNo2 !=0){
|
command.setTaskMode(RgvTaskModeType.FETCH_PUT2); // 任务模式: 2取放货
|
} else if (workNo1 != 0 && workNo2 ==0) {
|
command.setTaskMode(RgvTaskModeType.FETCH_PUT1); // 任务模式: 1取放货
|
}else {
|
command.setTaskMode(RgvTaskModeType.FETCH_PUT_ALL); // 任务模式: all取放货
|
}
|
command.setCommand(false);
|
rgvTaskSave(command);
|
MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(2, command));
|
log.info("rgv任务下发："+JSON.toJSONString(command));
|
}
|
}
|
|
|
|
|
|
}
|
}
|
|
|
public synchronized void RGVTaskOver() {
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
if (rgvSlave.getId() ==2){
|
continue;
|
}
|
ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (Cools.isEmpty(rgvProtocol)){
|
continue;
|
}else {
|
rgvProtocol = rgvProtocol.clone();
|
}
|
|
//工位一任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {
|
|
try {
|
boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3, new RgvCommand()));
|
log.info("{}号rgv工位一工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
|
if (offer){
|
//完成rgv任务
|
Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvSlave.getId()).eq("wrk_no", rgvProtocol.getTaskNo1());
|
WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
|
if (Cools.isEmpty(wrkMastSta1)){
|
log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
|
}else {
|
if (wrkMastSta1.getWrkType() == 8 ){
|
wrkMastSta1.setWrkSts(3);
|
wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
|
}
|
}
|
|
//完成工作档任务
|
if (rgvSlave.getId() != 1){
|
WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
|
if (Cools.isEmpty(wrkMast)){
|
log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
}else {
|
if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
|
Date date = new Date();
|
wrkMast.setWrkSts(14L);
|
wrkMast.setModiTime(date);
|
wrkMastService.updateById(wrkMast);
|
}
|
}
|
}
|
}
|
|
|
}catch (Exception e){
|
log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
continue;
|
}
|
|
|
|
}
|
|
//工位二任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
|
try {
|
boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4, new RgvCommand()));
|
log.info("{}号rgv工位二工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
|
if (offer){
|
//完成rgv任务
|
Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no2", rgvProtocol.getTaskNo2());
|
WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
|
if (Cools.isEmpty(wrkMastSta1)){
|
log.error("完成{}号车工位二任务未找到对应工作任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
|
}else {
|
if (wrkMastSta1.getWrkType() == 9 ){
|
wrkMastSta1.setWrkSts(3);
|
wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
|
}else if (wrkMastSta1.getWrkType() == 1){
|
wrkMastSta1.setWrkSts(3);
|
wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
|
}
|
}
|
|
//完成工作档任务
|
if (rgvSlave.getId() != 1){
|
WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
|
if (Cools.isEmpty(wrkMast)){
|
log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
|
}else {
|
if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
|
Date date = new Date();
|
wrkMast.setWrkSts(14L);
|
wrkMast.setModiTime(date);
|
wrkMastService.updateById(wrkMast);
|
}
|
}
|
}
|
|
}
|
|
}catch (Exception e){
|
log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
continue;
|
}
|
|
|
|
|
}
|
}
|
}
|
|
//二号rgv输送线命令下发
|
public synchronized void RGVTaskput() {
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
if (rgvSlave.getId() ==2){
|
continue;
|
}
|
ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (Cools.isEmpty(rgvProtocol)){
|
continue;
|
}else {
|
rgvProtocol = rgvProtocol.clone();
|
}
|
|
//工位一任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
|
WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvSlave.getId(), rgvProtocol.getTaskNo1());
|
WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
|
if (Cools.isEmpty(wrkMastSta)){
|
log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
|
continue;
|
}
|
for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
|
if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
|
continue;
|
}
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
|
staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
|
if (rgvSlave.getId() == 3 && outStn.getStaPlcId() == 6){
|
staProtocol.setStaNo((short)2401);
|
}else {
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
}
|
|
MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
|
}
|
}
|
}
|
|
//工位二任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
|
WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo2(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
|
WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
|
if (Cools.isEmpty(wrkMastSta)){
|
log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
|
continue;
|
}
|
for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
|
if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getStaEnd()), outStn.getStaNo())){
|
continue;
|
}//判断是否为工作档站点
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
|
staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
|
staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol));
|
}
|
}
|
}
|
}
|
}
|
|
//二号rgv输送线命令下发
|
public synchronized void RGV2Taskput() {
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
if (rgvSlave.getId() !=2){
|
continue;
|
}
|
ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (Cools.isEmpty(rgvProtocol)){
|
continue;
|
}else {
|
rgvProtocol = rgvProtocol.clone();
|
}
|
|
//工位一任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN1 && rgvProtocol.getLoaded1() == 1) {
|
WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
|
if (Cools.isEmpty(wrkMastSta)){
|
log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
continue;
|
}
|
for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
|
if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getWrkEnd()), outStn.getStaNo())){
|
continue;
|
}
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
if (outStn.getStaPlcId() == 2){
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
|
staProtocol.setWorkNo(wrkMastSta.getWrkNo().shortValue());
|
if (wrkMastSta.getType() == 1){
|
staProtocol.setStaNo((short) 9999);
|
}else {
|
staProtocol.setStaNo((short) 2106);
|
}
|
staProtocol.setMatnr(wrkMastSta.getMatnr1());
|
|
if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
|
continue;
|
}
|
}
|
}
|
|
}
|
}
|
|
//工位二任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.OUTSTN8 && rgvProtocol.getLoaded2() == 1) {
|
WrkMastSta wrkMastSta = wrkMastStaService.selectByRgvNoandWrkNo2(rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo2());
|
if (Cools.isEmpty(wrkMastSta)){
|
log.error("未查询到rgv工作任务，rgv编号{},工作号{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
|
continue;
|
}
|
for (RgvSlave.Sta outStn :rgvSlave.getOutStn()){
|
if (!Objects.equals(Utils.getStaNo(rgvSlave.getId(), wrkMastSta.getStaEnd()), outStn.getStaNo())){
|
continue;
|
}
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, outStn.getStaPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(outStn.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (outStn.getStaPlcId() == 2){
|
if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.isPakMk()){
|
staProtocol.setWorkNo(wrkMastSta.getWrkNo2().shortValue());
|
if (wrkMastSta.getType2() == 1){
|
staProtocol.setStaNo((short) 9999);
|
}else {
|
staProtocol.setStaNo((short) 2106);
|
}
|
|
staProtocol.setMatnr(wrkMastSta.getMatnr2());
|
|
if (!MessageQueue.offer(SlaveType.Devp, outStn.getStaPlcId(), new Task(2, staProtocol))) {
|
continue;
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
|
public synchronized void RGV2TaskOver() {
|
for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
|
if (rgvSlave.getId() !=2){
|
continue;
|
}
|
ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
|
RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
|
if (Cools.isEmpty(rgvProtocol)){
|
continue;
|
}else {
|
rgvProtocol = rgvProtocol.clone();
|
}
|
|
//工位一任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING && rgvProtocol.getLoaded1() == 0) {
|
|
try {
|
boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(3, new RgvCommand()));
|
log.info("{}号rgv工位一工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo1());
|
if (offer){
|
|
Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no", rgvProtocol.getTaskNo1());
|
WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
|
if (Cools.isEmpty(wrkMastSta1)){
|
log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
}else {
|
if (wrkMastSta1.getWrkType() == 8 ){
|
wrkMastSta1.setWrkSts(3);
|
wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
|
}
|
}
|
|
//完成工作档任务
|
WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo1());
|
if (Cools.isEmpty(wrkMast)){
|
log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
}else {
|
if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
|
Date date = new Date();
|
wrkMast.setWrkSts(14L);
|
wrkMast.setModiTime(date);
|
wrkMastService.updateById(wrkMast);
|
}
|
}
|
|
|
}
|
|
|
}catch (Exception e){
|
log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
continue;
|
}
|
|
|
|
}
|
|
//工位二任务完成
|
if (rgvProtocol.getModeType() == RgvModeType.AUTO && rgvProtocol.getStatusType() == RgvStatusType.WAITING2 && rgvProtocol.getLoaded2() == 0) {
|
try {
|
boolean offer = MessageQueue.offer(SlaveType.Rgv, rgvSlave.getId(), new Task(4, new RgvCommand()));
|
log.info("{}号rgv工位二工作完成复位,工作号:{}",rgvSlave.getId(),rgvProtocol.getTaskNo2());
|
if (offer){
|
Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", rgvProtocol.getRgvNo()).eq("wrk_no2", rgvProtocol.getTaskNo2());
|
WrkMastSta wrkMastSta1 = wrkMastStaService.selectOne(wrkMastStaWrapper);
|
if (Cools.isEmpty(wrkMastSta1)){
|
log.error("完成{}号车工位二任务未找到对应工作任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
|
}else {
|
if (wrkMastSta1.getWrkType() == 9 ){
|
wrkMastSta1.setWrkSts(3);
|
wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
|
}else if (wrkMastSta1.getWrkType() == 1){
|
wrkMastSta1.setWrkSts(3);
|
wrkMastStaService.update(wrkMastSta1,wrkMastStaWrapper);
|
}
|
}
|
|
//完成工作档任务
|
WrkMast wrkMast = wrkMastService.selectByworkNo(rgvProtocol.getTaskNo2());
|
if (Cools.isEmpty(wrkMast)){
|
log.error("完成{}号车工位一任务未找到对应rgv任务,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo2());
|
}else {
|
if (wrkMast.getIoType() == 110 || wrkMast.getIoType() == 101){
|
Date date = new Date();
|
wrkMast.setWrkSts(14L);
|
wrkMast.setModiTime(date);
|
wrkMastService.updateById(wrkMast);
|
}
|
}
|
|
}
|
|
|
}catch (Exception e){
|
log.error("完成{}号车工位一任务出错!!!!!!!!!!!!!!!!,{}",rgvProtocol.getRgvNo(),rgvProtocol.getTaskNo1());
|
continue;
|
}
|
|
|
|
|
}
|
}
|
}
|
|
public boolean rgvTaskSave(RgvCommand command){
|
// Wrapper<WrkMastSta> wrkMastStaWrapper = new EntityWrapper<WrkMastSta>().eq("wrk_crn", command.getRgvNo()).eq("wrk_no", command.getTaskNo1());
|
if (command.getTaskNo1() > 0){
|
List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks(command.getRgvNo(),command.getTaskNo1());
|
if (!Cools.isEmpty(wrkMastSta1)){
|
for (WrkMastSta wrkMastSta :wrkMastSta1){
|
wrkMastStaService.deleteById(wrkMastSta);
|
}
|
|
}
|
}
|
if (command.getTaskNo2() > 0){
|
List<WrkMastSta> wrkMastSta1 = wrkMastStaService.selectBywrkNoHistoricalTasks2(command.getRgvNo(),command.getTaskNo2());
|
if (!Cools.isEmpty(wrkMastSta1)){
|
for (WrkMastSta wrkMastSta :wrkMastSta1){
|
wrkMastStaService.deleteById(wrkMastSta);
|
}
|
|
}
|
}
|
|
|
WrkMastSta wrkMastSta = new WrkMastSta();
|
wrkMastSta.setWrkNo(Long.valueOf(command.getTaskNo1()));
|
wrkMastSta.setWrkNo2(Long.valueOf(command.getTaskNo2()));
|
wrkMastSta.setWrkStart(command.getSourceStaNo1().intValue());
|
wrkMastSta.setWrkEnd(command.getDestinationStaNo1().intValue());
|
wrkMastSta.setStaStart(command.getSourceStaNo2().intValue());
|
wrkMastSta.setStaEnd(command.getDestinationStaNo2().intValue());
|
wrkMastSta.setWrkSts(1);
|
Date now = new Date();
|
wrkMastSta.setCreateTime(now);
|
wrkMastSta.setUpdateTime(now);
|
wrkMastSta.setWrkCrn(command.getRgvNo());
|
wrkMastSta.setWrkType(command.getTaskMode().intValue());
|
wrkMastSta.setMatnr1(command.getMatnr());
|
wrkMastSta.setMatnr2(command.getMatnr2());
|
wrkMastSta.setType(command.getType().intValue());
|
wrkMastSta.setType2(command.getType2().intValue());
|
wrkMastSta.setBatch(command.getBatch());
|
wrkMastSta.setBatch2(command.getBatch2());
|
wrkMastSta.setAnfme(command.getAnfme().intValue());
|
wrkMastSta.setAnfme2(command.getAnfme2().intValue());
|
wrkMastSta.setWeight(command.getWeight());
|
wrkMastSta.setWeight2(command.getWeight2());
|
|
return wrkMastStaService.insert(wrkMastSta);
|
}
|
|
//二期组托
|
public synchronized void generateStoreWrkFile2() {
|
// 根据输送线plc遍历
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
if (devp.getId() != 2){
|
continue;
|
}
|
// 遍历入库口
|
for (DevpSlave.Sta inSta : devp.getInSta()) {
|
// 获取条码扫描仪信息
|
BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
|
if (barcodeThread == null) {
|
continue;
|
}
|
String barcode = barcodeThread.getBarcode();
|
// 获取入库站信息
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (!Cools.isEmpty(barcode)) {
|
log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
|
if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
|
continue;
|
}
|
} else {
|
// led 异常显示
|
// LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
// if (ledThread != null) {
|
// String errorMsg = "扫码失败，请重试";
|
// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
|
// }
|
continue;
|
}
|
// 判断是否满足入库条件
|
if (staProtocol.isAutoing()
|
&& staProtocol.isLoading()
|
&& staProtocol.isInEnable()
|
&& !staProtocol.isEmptyMk()
|
&& staProtocol.getStaNo() != 9999
|
&& staProtocol.isPakMk()) {
|
|
if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
|
log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
|
//条码为空或者不符合，退库到
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
if (ledThread != null) {
|
String errorMsg = "扫码失败，请重试";
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
|
}
|
continue;
|
}
|
|
// 判断重复工作档
|
WrkMast wrkMast = new WrkMast();
|
if (barcode.length() == 8) {
|
wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
|
if (wrkMast != null) {
|
log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
|
continue;
|
}
|
}
|
// 获取入库通知档
|
WaitPakin waitPakin = waitPakinService.selectOne(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
|
if (Cools.isEmpty(waitPakin)) {
|
try {
|
CreateComb(barcode, staProtocol.getMatnr(),staProtocol.getWorkNo().intValue(),staProtocol.getBatch());
|
}catch (IOException e) {
|
throw new CoolException(e);
|
}
|
} else if (waitPakin.getWeight() == null) {
|
WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", staProtocol.getWorkNo().intValue()));
|
if (Cools.isEmpty(wrkMastSta)){
|
wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", staProtocol.getWorkNo().intValue()));
|
if (Cools.isEmpty(wrkMastSta)){
|
throw new CoolException("未找到对应的任务信息");
|
}
|
waitPakin.setWeight(wrkMastSta.getWeight2());
|
}else {
|
waitPakin.setWeight(wrkMastSta.getWeight());
|
}
|
waitPakinService.update(waitPakin,new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
|
} else {
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
SearchLocParam param = new SearchLocParam();
|
param.setBarcode(barcode);
|
param.setIoType(1);
|
param.setSourceStaNo(inSta.getStaNo());
|
param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
if (jsonObject.getInteger("code").equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
barcodeThread.setBarcode("");
|
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
staProtocol.setStaNo(dto.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
ledThread.errorReset();
|
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(jsonObject.getInteger("code").equals(700)) {
|
log.error(barcode + "托盘识别异常，请先进行组托！");
|
// led 异常显示
|
ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
|
if (ledThread != null) {
|
String errorMsg = barcode + "托盘识别异常，请先进行组托！";
|
MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
|
}
|
} else {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
}
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
|
}
|
|
}
|
}
|
|
}
|
|
public void CreateComb(String barcode,Integer code,Integer wrkNo,String batch) throws IOException {
|
Double anfme = 0d;
|
Double weight = 0d;
|
|
WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkNo));
|
if (Cools.isEmpty(wrkMastSta)){
|
wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>().eq("wrk_no2", wrkNo));
|
if (Cools.isEmpty(wrkMastSta)){
|
if (code >0 && !Cools.isEmpty(batch)){
|
anfme = 1d;
|
}else {
|
throw new CoolException("未找到对应的任务信息");
|
}
|
}else {
|
batch = wrkMastSta.getBatch2();
|
anfme = wrkMastSta.getAnfme2().doubleValue();
|
code = wrkMastSta.getMatnr2();
|
weight = wrkMastSta.getWeight2();
|
}
|
}else {
|
batch = wrkMastSta.getBatch();
|
anfme = wrkMastSta.getAnfme().doubleValue();
|
code = wrkMastSta.getMatnr1();
|
weight = wrkMastSta.getWeight();
|
}
|
MatnrCode matnrCode = matnrCodeService.selectByCode(code);
|
if (Cools.isEmpty(matnrCode)){
|
throw new CoolException("未找到对应的物料信息");
|
}
|
CombParam combParam = new CombParam();
|
ArrayList<CombParam.CombMat> combMats = new ArrayList<>();
|
CombParam.CombMat combMat = new CombParam.CombMat();
|
combParam.setBarcode(barcode);
|
combMat.setMatnr(matnrCode.getMatnr());
|
combMat.setBatch(batch);
|
combMat.setAnfme(anfme);
|
|
combMats.add(combMat);
|
combParam.setCombMats(combMats);
|
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/mobile/comb/auth")
|
.setJson(JSON.toJSONString(combParam))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
|
}else {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/mobile/comb/auth", JSON.toJSONString(combParam), response);
|
}
|
}
|
|
}
|
