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.baomidou.mybatisplus.mapper.Wrapper;
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import com.core.common.Cools;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.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.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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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.CrnThread;
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import com.zy.core.thread.DevpThread;
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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.jdbc.core.JdbcTemplate;
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import org.springframework.scheduling.annotation.Async;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import java.util.Date;
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import java.util.List;
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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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@Autowired
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private CommonService commonService;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkDetlService wrkDetlService;
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@Autowired
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private WaitPakinMapper waitPakinMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private JdbcTemplate jdbcTemplate;
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/**
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* 入库站，根据条码扫描生成入库工作档，工作状态 2
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*/
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@Async
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public void generateStoreWrkFile() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取条码扫描仪信息
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BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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String barcode = barcodeThread.getBarcode();
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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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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
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&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
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// 判断重复工作档
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WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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if (wrkMast != null) {
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log.warn("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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// 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.warn("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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// 工作号
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int workNo = commonService.getWorkNo(0);
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// 检索库位
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List<String> matNos = waitPakins.stream().map(WaitPakin::getMatnr).distinct().collect(Collectors.toList());
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StartupDto startupDto = commonService.getLocNo(1, 1, inSta.getStaNo(), matNos);
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// 插入工作明细档
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wrkDetlService.createWorkDetail(workNo, waitPakins, barcode);
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// 插入工作主档
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wrkMast = new WrkMast();
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wrkMast.setWrkNo(workNo);
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wrkMast.setIoTime(new Date());
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wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
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wrkMast.setIoType(1); // 入出库状态：1.入库
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wrkMast.setIoPri(10D); // 优先级：10
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wrkMast.setCrnNo(startupDto.getCrnNo());
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wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
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wrkMast.setStaNo(startupDto.getStaNo());
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wrkMast.setLocNo(startupDto.getLocNo());
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wrkMast.setBarcode(barcode); // 托盘码
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wrkMast.setFullPlt("Y"); // 满板：Y
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wrkMast.setPicking("N"); // 拣料
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wrkMast.setExitMk("N"); // 退出
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wrkMast.setEmptyMk("N"); // 空板
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wrkMast.setLinkMis("N");
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// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
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// 操作人员数据
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wrkMast.setAppeTime(new Date());
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wrkMast.setModiTime(new Date());
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Integer insert = wrkMastMapper.insert(wrkMast);
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if (insert == 0) {
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throw new CoolException("保存工作档失败");
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}
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// 更新目标库位状态
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LocMast locMast = locMastService.selectById(startupDto.getLocNo());
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locMast.setLocSts("S"); // S.入库预约
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locMast.setModiTime(new Date());
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if (!locMastService.updateById(locMast)){
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throw new CoolException("改变库位状态失败");
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}
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// 将入库通知档修改为已启动
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if (wrkMastMapper.updateWaitPakInStep1(barcode) == 0) {
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throw new CoolException("修改入库通知档状态为已启动");
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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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barcodeThread.setBarcode("");
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staProtocol.setWorkNo((short) workNo);
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staProtocol.setStaNo(startupDto.getStaNo().shortValue());
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staProtocol.setPakMk(false);
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staProtocol.setInreq1(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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staProtocol.setPakMk(false);
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}
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}
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}
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}
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/**
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* 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
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*/
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@Async
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public void generateStoreWrkFile2() {
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// 根据输送线plc遍历
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for (DevpSlave devp : slaveProperties.getDevp()) {
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// 遍历入库口
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for (DevpSlave.Sta inSta : devp.getInSta()) {
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// 获取入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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// 判断是否满足入库条件
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if (staProtocol.isAutoing() && staProtocol.isLoading()
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&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
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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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// 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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Integer update = wrkMastMapper.updateById(wrkMast);
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if (update == 0) {
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throw new CoolException("更新工作档失败");
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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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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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staProtocol.setPakMk(false);
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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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@Async
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public 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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// 获取拣料入库站信息
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DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
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if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInreq1()
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&& staProtocol.getWorkNo() > 0 && staProtocol.isPakMk()){
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WrkMast wrkMast = wrkMastMapper.selectPickStep(staProtocol.getWorkNo().intValue());
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if (wrkMast == null) {
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// 无拣料数据
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continue;
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}
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if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 1070)
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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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// 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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// 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", wrkMast.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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throw new CoolException("入库路径不存在");
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}
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// 堆垛机站点(目标站)
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Integer staNo = staDesc.getCrnStn();
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// 更新工作档数据状态
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wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
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wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
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wrkMast.setSourceStaNo(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(new Date());
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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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// 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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// 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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staProtocol.setPakMk(false);
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staProtocol.setInreq1(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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}
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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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@Async
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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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// 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.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
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// 查询工作档
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WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
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if (wrkMast == null) {
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continue;
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}
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// 判断工作档条件
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if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
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continue;
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}
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// 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
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CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
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CrnProtocol crnProtocol = crnThread.getCrnProtocol();
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if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
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// 移动中
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continue;
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}
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// 判断堆垛机状态等待确认
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if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
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&& crnProtocol.statusType == CrnStatusType.WAITING
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&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
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// 命令下发区 --------------------------------------------------------------------------
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// 1.复位堆垛机
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crnThread.setResetFlag(true);
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// 2.下发站点信息
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staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
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staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
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if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
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throw new CoolException("更新plc站点信息失败");
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}
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// 更新工作档状态为14失败
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wrkMast.setWrkSts(14L);
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wrkMast.setCrnEndTime(new Date());
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if (wrkMastMapper.updateById(wrkMast) == 0) {
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throw new CoolException("更新工作档的工作状态为14失败，工作号"+wrkMast.getWrkNo());
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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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/**
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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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@Async
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public void crnIoExecute(){
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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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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) {
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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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}
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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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* 入库 ===>> 堆垛机站到库位
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*/
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@Async
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public void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
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for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
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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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// 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
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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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WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue());
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if(null == wrkMast) {
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log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
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continue;
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}
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// 获取库位信息
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LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
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if (locMast == null) {
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log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
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continue;
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}
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if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
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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());
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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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// 命令下发区 --------------------------------------------------------------------------
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CrnCommand crnCommand = new CrnCommand();
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crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
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crnCommand.setTaskNo(wrkMast.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.PAKIN); // 任务模式: 库位移转
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crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
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crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
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crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
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crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 目标库位排
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crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 目标库位列
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crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 目标库位层
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if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
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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());
|
}
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 库位到堆垛机站
|
*/
|
@Async
|
public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
|
for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
|
// 获取工作状态为11（生成出库ID）的出库工作档
|
WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId());
|
if (wrkMast == null) {
|
continue;
|
}
|
// 工作档状态判断
|
if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null){
|
log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
|
continue;
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
|
continue;
|
}
|
// 获取堆垛机出库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
// 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) {
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 堆垛机控制过滤
|
if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
|
continue;
|
}
|
|
// 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.PAKOUT); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层
|
if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
|
log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
|
} else {
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
Date now = new Date();
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 库位移转
|
*/
|
@Async
|
public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
|
// 获取工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
|
if (null == wrkMast) {
|
return;
|
}
|
// 获取源库位信息
|
LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
|
if (null == sourceSta) {
|
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 (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
|
return;
|
}
|
// 获取目标库位信息
|
LocMast sta = locMastService.selectById(wrkMast.getLocNo());
|
if (null == sta) {
|
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;
|
}
|
|
// 命令下发区 --------------------------------------------------------------------------
|
CrnCommand crnCommand = new CrnCommand();
|
crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
|
crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
|
crnCommand.setAckFinish((short) 0); // 任务完成确认位
|
crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式: 库位移转
|
crnCommand.setSourcePosX(sourceSta.getRow1().shortValue()); // 源库位排
|
crnCommand.setSourcePosY(sourceSta.getBay1().shortValue()); // 源库位列
|
crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue()); // 源库位层
|
crnCommand.setDestinationPosX(sta.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(sta.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(sta.getLev1().shortValue()); // 目标库位层
|
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
|
*/
|
@Async
|
public void storeFinished() {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
|
// 获取入库待确认工作档
|
WrkMast wrkMast = wrkMastMapper.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);
|
// 出库 + 拣料/盘点/并板出库中：12.吊车出库中 ==> 14.出库完成
|
// todo:luxiaotao
|
// } else if (wrkMast.getWrkSts() == 12) {
|
// wrkMast.setWrkSts(14L);
|
} 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);
|
}
|
|
// 完成通知档
|
// if (wrkMastMapper.updateWaitPakInStep2(wrkMast.getBarcode()) == 0) {
|
// log.error("入库通知档修改结束状态失败，workNo=[{}]", wrkMast.getWrkNo());
|
// }
|
|
}
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
public void recCrnErr(){
|
|
}
|
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 空栈板初始化入库,叉车入库站放货
|
*/
|
@Async
|
public void storeEmptyPlt(){
|
for (DevpSlave devp : slaveProperties.getDevp()) {
|
// 遍历空板入库口
|
for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
|
// 获取空板入库站信息
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
}
|
// 站点条件判断
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
|
&& staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0 && staProtocol.isPakMk()) {
|
// 工作号
|
int workNo = commonService.getWorkNo(0);
|
// 检索库位
|
StartupDto startupDto = commonService.getLocNo(1, 10, emptyInSta.getStaNo(), null);
|
|
// 插入工作主档
|
WrkMast wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(new Date());
|
wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
|
wrkMast.setIoType(10); // 入出库状态：10.空板入库
|
wrkMast.setIoPri(10D); // 优先级：10
|
wrkMast.setCrnNo(startupDto.getCrnNo());
|
wrkMast.setSourceStaNo(startupDto.getSourceStaNo());
|
wrkMast.setStaNo(startupDto.getStaNo());
|
wrkMast.setLocNo(startupDto.getLocNo());
|
wrkMast.setFullPlt("N"); // 满板
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk("Y"); // 空板
|
wrkMast.setLinkMis("N");
|
// wrkMast.setCtnType(sourceStaNo.getCtnType()); // 容器类型
|
// 操作人员数据
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
Integer insert = wrkMastMapper.insert(wrkMast);
|
if (insert == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 更新目标库位状态
|
LocMast locMast = locMastService.selectById(startupDto.getLocNo());
|
locMast.setLocSts("S"); // S.入库预约
|
locMast.setModiTime(new Date());
|
if (!locMastService.updateById(locMast)){
|
throw new CoolException("改变库位状态失败");
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo((short) workNo);
|
staProtocol.setStaNo(startupDto.getStaNo().shortValue());
|
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");
|
}
|
|
staProtocol.setPakMk(false);
|
}
|
|
|
}
|
}
|
}
|
|
}
|
