package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.core.common.Cools;
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import com.core.common.R;
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import com.core.exception.CoolException;
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import com.zy.asrs.controller.CrnController;
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import com.zy.asrs.domain.enums.TaskStatusType;
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import com.zy.asrs.domain.param.CrnOperatorParam;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.entity.wms.StorageEscalationParam;
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import com.zy.asrs.mapper.*;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.Utils;
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import com.zy.core.CrnThread;
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import com.zy.core.DevpThread;
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import com.zy.core.cache.MessageQueue;
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import com.zy.core.cache.SlaveConnection;
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import com.zy.core.enums.*;
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import com.zy.core.model.CrnSlave;
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import com.zy.core.model.DevpSlave;
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import com.zy.core.model.Task;
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import com.zy.core.model.command.CrnCommand;
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import com.zy.core.model.protocol.CrnProtocol;
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import com.zy.core.model.protocol.StaProtocol;
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import com.zy.core.properties.SlaveProperties;
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import com.zy.core.thread.BarcodeThread;
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import com.zy.core.thread.SiemensDevpThread;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.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.Date;
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import java.util.List;
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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 SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private TaskWrkMapper taskWrkMapper;
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@Autowired
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private DevpTaskMapper devpTaskMapper;
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@Autowired
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private TaskWrkService taskWrkService;
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@Autowired
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private StaDescMapper staDescMapper;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private ToWmsService toWmsService;
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@Autowired
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private CrnController crnController;
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@Autowired
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private TransferTaskService transferTaskService;
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public void generateStoreWrkFile() throws IOException, InterruptedException {
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try {
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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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StorageEscalationParam storageEscalationParam = new StorageEscalationParam();
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storageEscalationParam.setStationCode(inSta.getStaNo());
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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if (staProtocol == null) {
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continue;
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} else {
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staProtocol = staProtocol.clone();
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}
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Short workNo = staProtocol.getWorkNo();
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// 尺寸检测异常
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boolean back = false;
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String errMsg = "";
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if (staProtocol.isFrontErr()) {
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errMsg = "前超限";
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back = true;
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}
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if (!back && staProtocol.isBackErr()) {
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errMsg = "后超限";
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back = true;
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}
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if (!back && staProtocol.isHighErr()) {
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errMsg = "高超限";
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back = true;
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}
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if (!back && staProtocol.isLeftErr()) {
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errMsg = "左超限";
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back = true;
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}
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if (!back && staProtocol.isRightErr()) {
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errMsg = "右超限";
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back = true;
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}
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if (!back && staProtocol.isWeightErr()) {
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errMsg = "超重";
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back = true;
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}
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if (!back && staProtocol.isBarcodeErr()) {
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errMsg = "扫码失败";
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back = true;
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}
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& staProtocol.isInEnable()
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&& !staProtocol.isEmptyMk() && workNo >= 9790
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&& staProtocol.isPakMk()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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if (barcodeThread == null) {
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continue;
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}
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String BoxNo = barcodeThread.getBarcode();
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TaskWrk taskWrk1 = taskWrkService.selectOne(new EntityWrapper<TaskWrk>().eq("barcode", BoxNo));
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if (!Cools.isEmpty(taskWrk1)) {
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log.info("托盘码：" + BoxNo + "任务档存在");
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if (taskWrk1.getIoType() == 1 && taskWrk1.getStartPoint().equals(staProtocol.getSiteId().toString())) {
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StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", taskWrk1.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
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if (Cools.isEmpty(staDesc)) {
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return;
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} else {
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continue;
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}
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}
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}
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if (back) {
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storageEscalationParam.setWCSStatus(1);
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storageEscalationParam.setWCSErrorMessage(storageEscalationParam.getWCSErrorMessage() + errMsg);
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}
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storageEscalationParam.setBarcode(BoxNo);
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log.info("组托入库={}", storageEscalationParam);
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TaskWrk taskWrk = toWmsService.getLocNoFromWms(storageEscalationParam);
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if (back) {
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log.info("托盘退回==>{}，{}", BoxNo, errMsg);
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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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} else {
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if (!Cools.isEmpty(taskWrk)) {
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StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
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.eq("crn_no", taskWrk.getCrnNo()).eq("type_no", 1).eq("stn_no", staProtocol.getSiteId()));
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staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
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staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
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MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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//添加上报日志
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toWmsService.addReportLog(taskWrk);
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} else {
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log.info("创建工作档失败==>{}", taskWrk.getTaskNo());
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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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}
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}
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}
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}
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}
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} catch (Exception e) {
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log.error("generateStoreWrkFile e", e);
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TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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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 void crnStnToOutStn() {
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for (CrnSlave crnSlave : slaveProperties.getCrn()) {
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// 遍历堆垛机出库站
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for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", crnSlave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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try {
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// 获取堆垛机出库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.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() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
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// 查询工作档
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TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staDesc.getStnNo().toString());
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if (taskWrk == null) {
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continue;
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}
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log.info("下发输送线任务：taskWrk:" + JSON.toJSONString(taskWrk));
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staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
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staProtocol.setStaNo(staDesc.getStnNo().shortValue());
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boolean offer = false;
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try {
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offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
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} catch (Exception e) {
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log.error("下发输送线任务失败：异常:" + e);
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log.error("下发输送线任务失败：异常:offer:" + offer);
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}
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if (offer) {
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log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(taskWrk));
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taskWrk.setStatus(5);
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taskWrk.setWrkSts(14);
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taskWrkService.updateById(taskWrk);
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} else {
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log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(taskWrk));
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}
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}
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} catch (Exception e) {
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log.error("出库到出库站异常:异常信息：" + e);
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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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* 入出库 ===>> 堆垛机入出库作业下发
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*/
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public synchronized void crnIoExecute() throws IOException {
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for (CrnSlave crn : slaveProperties.getCrn()) {
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// 获取堆垛机信息
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol == null) {
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continue;
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}
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BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
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if (basCrnp == null) {
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log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
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continue;
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}
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// 只有当堆垛机空闲 并且 无任务时才继续执行
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if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
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&& crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
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// 如果最近一次是入库模式
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if (crnProtocol.getLastIo().equals("I")) {
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if (basCrnp.getInEnable().equals("Y")) {
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this.crnStnToLoc(crn, crnProtocol); // 入库
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crnProtocol.setLastIo("O");
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} else if (basCrnp.getOutEnable().equals("Y")) {
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this.locToCrnStn(crn, crnProtocol); // 出库
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crnProtocol.setLastIo("I");
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}
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}
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// 如果最近一次是出库模式
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else if (crnProtocol.getLastIo().equals("O")) {
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if (basCrnp.getOutEnable().equals("Y")) {
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this.locToCrnStn(crn, crnProtocol); // 出库
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crnProtocol.setLastIo("I");
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} else if (basCrnp.getInEnable().equals("Y")) {
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this.crnStnToLoc(crn, crnProtocol); // 入库
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crnProtocol.setLastIo("O");
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}
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}
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// 库位移转
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this.locToLoc(crn, crnProtocol);
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}
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}
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}
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/**
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* 入库 ===>> 堆垛机站到库位
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*/
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public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) throws IOException {
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for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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boolean flag = false;
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// 获取堆垛机入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.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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// 查询站点详细信息
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BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
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if (staDetl == null) {
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log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
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continue;
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}
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if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
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&& staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
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flag = true;
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}
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if (!flag) {
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continue;
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}
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// 获取工作状态为2（设备上走）的入库工作档
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TaskWrk taskWrk = taskWrkMapper.selectPakIn(slave.getId(), staProtocol.getWorkNo().intValue(), staDesc.getStnNo().toString());
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if (null == taskWrk) {
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continue;
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}
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// 堆垛机控制过滤
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if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
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continue;
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}
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// 已经存在吊车执行任务时，则过滤
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if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
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continue;
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}
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// int workNo = commonService.getWorkNo(WorkNoType.PAKIN.type);//获取入库工作号
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// taskWrk.setWrkNo(workNo);//工作号
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taskWrk.setStatus(TaskStatusType.DISTRIBUTE.id);//派发状态
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taskWrk.setAssignTime(new Date());//派发时间
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taskWrk.setWrkSts(3);//工作状态 3.吊车入库
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taskWrk.setCrnNo(staDesc.getCrnNo());//堆垛机号
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taskWrk.setModiTime(new Date());
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taskWrk.setModiUser(9988L);
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// 命令下发区 --------------------------------------------------------------------------
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(staDesc.getCrnNo()); // 堆垛机编号
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crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
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crnCommand.setAckFinish((short) 0); // 任务完成确认位
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crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
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crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位列
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crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位层
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crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位排
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crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位列
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crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位层
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crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位排
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crnCommand.setCommand((short) 1);
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log.info("堆垛机入库任务下发={}", crnCommand);
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if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
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log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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throw new CoolException("堆垛机命令生成失败");
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} else {
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try {
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taskWrkService.updateById(taskWrk);
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} catch (Exception e) {
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log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
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log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，异常：" + e);
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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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* 出库 ===>> 库位到堆垛机站
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* 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
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*/
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public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
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List<TaskWrk> taskWrksInitial = taskWrkMapper.selectPakOut(slave.getId(), null);
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if (taskWrksInitial.size() == 0) {
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return;
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}
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for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
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List<StaDesc> staDescs = staDescMapper.selectList(new EntityWrapper<StaDesc>().eq("crn_no", slave.getId()).eq("crn_stn", crnStn.getStaNo()));
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for (StaDesc staDesc : staDescs) {
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// 获取工作状态为11（生成出库ID）的出库工作档
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List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut(slave.getId(), staDesc.getStnNo().toString());
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for (TaskWrk taskWrk : taskWrks) {
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if (taskWrk == null) {
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continue;
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}
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// 工作档状态判断
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if (taskWrk.getIoType() != 2 || taskWrk.getTargetPoint() == null || taskWrk.getStartPoint() == null) {
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log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getStartPoint(), taskWrk.getIoType());
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continue;
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}
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LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
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//判断其库位是否为深库位，如果为深库位找其浅库位是都有货
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boolean flag = false;
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if (locMast.getRow1() == 1 || locMast.getRow1() == 5 || locMast.getRow1() == 9) {
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flag = true;
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} else if (locMast.getRow1() == 4 || locMast.getRow1() == 8 || locMast.getRow1() == 12) {
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flag = true;
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}
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if (flag) {
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LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
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.eq("row1", (locMast.getRow1() - 1))
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.eq("bay1", locMast.getBay1())
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.eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
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if (!Cools.isEmpty(locMast1)) {
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log.info(locMast.getLocNo() + "出深库位，浅库位有货");
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continue;
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}
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} else {
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LocMast locMast1 = locMastService.selectOne(new EntityWrapper<LocMast>()
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.eq("row1", (locMast.getRow1() + 1))
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.eq("bay1", locMast.getBay1())
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.eq("lev1", locMast.getLev1()).eq("loc_sts", "F"));
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if (!Cools.isEmpty(locMast1)) {
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log.info(locMast.getLocNo() + "出深库位，浅库位有货");
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continue;
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}
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}
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// 获取堆垛机出库站信息
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SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
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StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
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if (staProtocol == null) {
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break;
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} else {
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staProtocol = staProtocol.clone();
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}
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// 查询站点详细信息
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BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
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if (staDetl == null) {
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log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
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break;
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}
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// 判断堆垛机出库站状态
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if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
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&& staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
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// 命令下发区 --------------------------------------------------------------------------
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// 堆垛机控制过滤
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if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
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break;
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}
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// 已经存在吊车执行任务时，则过滤
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if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
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break;
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}
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CrnCommand command = new CrnCommand();
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command.setCrnNo(taskWrk.getCrnNo()); // 堆垛机编号
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command.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
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command.setAckFinish((short) 0); // 任务完成确认位
|
command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式
|
command.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
|
command.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
|
command.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
|
command.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
command.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
command.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
command.setCommand((short) 1);
|
|
if (Cools.isEmpty(taskWrk.getMarkStart()) || taskWrk.getMarkStart() == 0) {
|
toWmsService.addReportLog(taskWrk);
|
taskWrk.setMarkStart(1);
|
}
|
|
if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, command))) {
|
log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(command));
|
throw new CoolException("堆垛机命令生成失败");
|
} else {
|
try {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
taskWrk.setWrkSts(12);
|
taskWrk.setStatus(2);
|
taskWrk.setModiTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
} catch (Exception e) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，异常：" + e);
|
}
|
}
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的移库工作档
|
List<TaskWrk> taskWrks = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>()
|
.eq("crn_no", slave.getId())
|
.eq("wrk_sts", 11)
|
.eq("io_type", 3)
|
.orderBy("io_pri", false));
|
for (TaskWrk taskWrk : taskWrks) {
|
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 已经存在吊车执行任务时，则过滤
|
if (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
|
continue;
|
}
|
|
if (taskWrk == null || Cools.isEmpty(taskWrk.getTargetPoint()) || taskWrk.getTargetPoint().equals("") || taskWrk.getWrkNo() == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
|
log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
|
continue;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
|
|
// 1.堆垛机开始移动
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(Utils.getRowShort(taskWrk.getStartPoint())); // 源库位排
|
crnCommand.setSourcePosY(Utils.getBayShort(taskWrk.getStartPoint())); // 源库位列
|
crnCommand.setSourcePosZ(Utils.getLevShort(taskWrk.getStartPoint())); // 源库位层
|
crnCommand.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint())); // 目标库位排
|
crnCommand.setDestinationPosY(Utils.getBayShort(taskWrk.getTargetPoint())); // 目标库位列
|
crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint())); // 目标库位层
|
crnCommand.setCommand((short) 1);
|
if (!MessageQueue.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
taskWrk.setWrkSts(12);
|
taskWrk.setStatus(2);
|
taskWrk.setModiTime(now);
|
if (taskWrkMapper.updateById(taskWrk) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
|
}
|
toWmsService.addReportLog(taskWrk);
|
}
|
return;
|
}
|
}
|
|
}
|
|
|
/**
|
* 执行对工作档的完成操作
|
*/
|
public void storeFinished() throws InterruptedException {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
|
//获取入库待确认工作档
|
TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(), crnProtocol.getTaskNo().intValue());
|
if (Cools.isEmpty(taskWrk) && crnProtocol.getTaskNo() != 999) {
|
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;
|
}
|
//确认完成信号
|
CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
|
crnOperatorParam.setCrnNo(crn.getId());
|
R r = crnController.crnTaskComplete(crnOperatorParam);
|
Thread.sleep(1000);
|
if (!r.get("code").equals(200)) {
|
return;
|
}
|
if (!Cools.isEmpty(taskWrk)) {
|
if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
|
taskWrk.setWrkSts(4);//入库完成
|
taskWrk.setStatus(5);//完结
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
|
locMast.setLocSts("F");//F.在库
|
locMast.setBarcode(taskWrk.getBarcode());//托盘码
|
locMast.setModiTime(new Date());
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
} else if (taskWrk.getIoType() == 2 && taskWrk.getWrkSts() == 12) {
|
taskWrk.setWrkSts(13);//出库完成
|
taskWrk.setStatus(5);//完结
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getStartPoint());
|
locMast.setLocSts("O");//O.空库位
|
locMast.setBarcode("");//托盘码
|
locMast.setModiTime(new Date());
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
} else if (taskWrk.getIoType() == 3 && taskWrk.getWrkSts() == 12) {
|
taskWrk.setWrkSts(4);//入库完成
|
taskWrk.setStatus(5);//完结
|
//更新库位状态
|
LocMast locMast = locMastService.selectByLocNo(taskWrk.getTargetPoint());
|
locMast.setLocSts("F");//F.在库
|
locMast.setBarcode(taskWrk.getBarcode());//托盘码
|
locMast.setModiTime(new Date());
|
locMast.setModiUser(9999L);
|
locMastService.updateById(locMast);
|
|
LocMast locMast1 = locMastService.selectByLocNo(taskWrk.getStartPoint());
|
locMast1.setLocSts("O");//O.空库位
|
locMast1.setBarcode("");//托盘码
|
locMast1.setModiTime(new Date());
|
locMast1.setModiUser(9999L);
|
locMastService.updateById(locMast1);
|
}
|
taskWrkService.updateById(taskWrk);
|
}
|
|
}
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
public void recCrnErr() {
|
Date now = new Date();
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
if (false) {
|
// 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.getAlarm1(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"任务中异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
} else {
|
// 异常修复
|
if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
// 无任务
|
} else {
|
BasErrLog latest = basErrLogService.findLatest(crn.getId());
|
// 有异常
|
if (crnProtocol.getAlarm1() != null && crnProtocol.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.getAlarm1(), // 异常码
|
errName, // 异常
|
1, // 异常情况
|
now, // 添加时间
|
null, // 添加人员
|
now, // 修改时间
|
null, // 修改人员
|
"无任务异常" // 备注
|
);
|
if (!basErrLogService.insert(basErrLog)) {
|
log.error("堆垛机plc异常记录失败 ===>> [id:{}] [error:{}]", crn.getId(), errName);
|
}
|
}
|
// 无异常
|
} else {
|
// 异常修复
|
if (latest != null && latest.getStatus() == 1) {
|
latest.setEndTime(now);
|
latest.setUpdateTime(now);
|
latest.setStatus(2);
|
if (!basErrLogService.updateById(latest)) {
|
log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", crn.getId(), latest.getId());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
|
//agv取放货任务完成
|
public synchronized void autoCompleteAGV() {
|
List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
|
try {
|
Thread.sleep(500);
|
} catch (Exception e) {
|
|
}
|
|
for (BasDevp basDevp : basDevps) {
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
|
StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (basDevp.getWrkNo() != 0) {
|
if (basDevp.getAgvTargetPick() != 0) {//取货
|
staProtocol.setAgvTypeSign((short) 0);
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
boolean sign = true;
|
if (basDevp.getAgvTargetPlace() != 0) {
|
sign = false;
|
basDevp.setAgvTargetPlace(0);
|
basDevpService.updateById(basDevp);
|
staProtocol.setAgvTypeSign((short) 3);//1
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
} else {
|
if (basDevp.getAgvTargetPlace() != 0) {
|
if (basDevp.getLoading().equals("Y")) {
|
staProtocol.setAgvTypeSign((short) 1);
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
} else {
|
log.error("AGV放货完成但输送线无物，复位信号 ===>> [staNo:{}] [basDevp:{}]", basDevp.getDevNo(), basDevp);
|
basDevp.setAgvTargetPlace(0);
|
basDevpService.updateById(basDevp);
|
staProtocol.setAgvTypeSign((short) 3);//1
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
|
}
|
if (basDevp.getAgvTargetPick() != 0) {
|
basDevp.setAgvTargetPick(0);
|
basDevpService.updateById(basDevp);
|
staProtocol.setAgvTypeSign((short) 2);//0
|
staProtocol.setStaNo(basDevp.getDevNo().shortValue());
|
MessageQueue.offer(SlaveType.Devp, 1, new Task(4, staProtocol));
|
}
|
}
|
}
|
}
|
|
|
/**
|
* 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()) {
|
WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getBackSta());
|
switch (inSta.getBackSta()) {
|
case 116:
|
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.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf1F1 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf1F1 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
case 117:
|
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.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf1F2 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf1F2 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
case 118:
|
if (pakout != null) {
|
if (devpThread.ioModeOf1F3 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf1F3 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf1F3 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf1F3 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
case 119:
|
if (pakout != null) {
|
if (devpThread.ioModeOf1F4 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf1F4 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf1F4 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf1F4 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
case 120:
|
if (pakout != null) {
|
if (devpThread.ioModeOf1F5 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf1F5 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf1F5 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf1F5 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
case 203:
|
if (pakout != null) {
|
if (devpThread.ioModeOf2F1 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf2F1 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf2F1 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf2F1 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
|
case 207:
|
if (pakout != null) {
|
if (devpThread.ioModeOf2F2 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf2F2 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf2F2 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf2F2 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
|
case 212:
|
if (pakout != null) {
|
if (devpThread.ioModeOf2F3 != IoModeType.PAKOUT_MODE) {
|
// 出库切换中
|
devpThread.ioModeOf2F3 = IoModeType.PAKOUT_BOOTING;
|
WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
&& !devpThread.getStation().get(inSta.getBackSta()).isLoading()
|
&& devpThread.getStation().get(inSta.getBackSta()).getWorkNo() == 0) {
|
// 出库模式
|
devpThread.ioModeOf2F3 = IoModeType.PAKOUT_MODE;
|
}
|
}
|
} else {
|
// 入库模式
|
devpThread.ioModeOf2F3 = IoModeType.PAKIN_MODE;
|
}
|
break;
|
}
|
}
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
}
|
}
|
|
|
/**
|
* 跑库程序
|
*/
|
public void debug() {
|
//首先库位有一个在库的库位
|
LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "F"));
|
if (locMast != null) {
|
// 再生成一个移库任务
|
LocMast mk = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_sts", "O").ne("mk", 1));
|
|
}
|
|
}
|
|
|
/**
|
* 转移任务下发
|
*/
|
public void transferTaskStart() {
|
|
for (DevpSlave.Sta sta : slaveProperties.getDevp().get(1).getInSta()) {
|
try {
|
// 获取入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
|
StaProtocol staProtocol = devpThread.getStation().get(sta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
|
// 查询工作档
|
TransferTask transferTask = transferTaskService.selectByStartPoint(sta.getStaNo());
|
if (transferTask == null) {
|
continue;
|
}
|
log.info("下发输送线转移任务：taskWrk:" + JSON.toJSONString(transferTask));
|
staProtocol.setWorkNo(transferTask.getWrkNo().shortValue());
|
staProtocol.setStaNo(transferTask.getTargetPoint().shortValue());
|
boolean offer = false;
|
try {
|
offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
|
} catch (Exception e) {
|
log.error("下发输送线转移任务：异常:" + e);
|
log.error("下发输送线转移任务：异常:offer:" + offer);
|
}
|
if (offer) {
|
log.info("下发输送线任务成功：taskWrk:" + JSON.toJSONString(transferTask));
|
transferTask.setStatus(2);
|
transferTaskService.updateById(transferTask);
|
} else {
|
log.error("下发输送线任务失败：taskWrk:" + JSON.toJSONString(transferTask));
|
}
|
}
|
} catch (Exception e) {
|
log.error("转移任务异常:异常信息：" + e);
|
}
|
}
|
|
}
|
|
/**
|
* 转移任务完成
|
*/
|
public void transferTaskEnd() {
|
for (DevpSlave.Sta sta : slaveProperties.getDevp().get(1).getInSta()) {
|
try {
|
// 获取终点站
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 2);
|
StaProtocol staProtocol = devpThread.getStation().get(sta.getOverSta());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == 0)) {
|
// 查询工作档
|
TransferTask transferTask = transferTaskService.selectByEndPoint(sta.getStaNo());
|
if (transferTask == null) {
|
continue;
|
}
|
log.info("转移任务完成：transferTask:" + JSON.toJSONString(transferTask));
|
transferTask.setStatus(5);
|
transferTaskService.updateById(transferTask);
|
}
|
} catch (Exception e) {
|
log.error("转移任务异常:异常信息：" + e);
|
}
|
}
|
|
}
|
|
}
|
