package com.zy.asrs.service.impl;
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import com.alibaba.fastjson.JSON;
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import com.alibaba.fastjson.JSONObject;
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import com.baomidou.mybatisplus.mapper.EntityWrapper;
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import com.baomidou.mybatisplus.mapper.Wrapper;
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import com.core.common.Cools;
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import com.core.common.DateUtils;
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import com.core.exception.CoolException;
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import com.zy.asrs.entity.*;
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import com.zy.asrs.mapper.BasCrnErrorMapper;
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import com.zy.asrs.mapper.TaskWrkMapper;
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import com.zy.asrs.mapper.WaitPakinMapper;
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import com.zy.asrs.mapper.WrkMastMapper;
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import com.zy.asrs.service.*;
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import com.zy.asrs.utils.CommandUtils;
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import com.zy.asrs.utils.Utils;
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import com.zy.asrs.utils.VersionUtils;
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import com.zy.common.model.LocTypeDto;
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import com.zy.common.model.MatDto;
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import com.zy.common.model.SearchLocParam;
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import com.zy.common.model.StartupDto;
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import com.zy.common.service.CommonService;
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import com.zy.common.utils.CollectionUtils;
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import com.zy.common.utils.HttpHandler;
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import com.zy.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.LedSlave;
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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.command.LedCommand;
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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.LedThread;
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import com.zy.core.thread.SiemensDevpThread;
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import com.zy.system.entity.Config;
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import com.zy.system.service.ConfigService;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.beans.factory.annotation.Autowired;
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import org.springframework.beans.factory.annotation.Value;
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import org.springframework.scheduling.annotation.Async;
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import org.springframework.stereotype.Service;
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import org.springframework.transaction.annotation.Transactional;
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import org.springframework.transaction.interceptor.TransactionAspectSupport;
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import java.util.ArrayList;
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import java.util.Date;
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import java.util.List;
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import java.util.Set;
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import java.util.stream.Collectors;
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/**
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* 立体仓库WCS系统主流程业务
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* Created by vincent on 2020/8/6
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*/
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@Slf4j
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@Service("mainService")
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@Transactional
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public class MainServiceImpl {
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public static final long COMMAND_TIMEOUT = 5 * 1000;
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@Autowired
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private CommonService commonService;
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@Autowired
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private SlaveProperties slaveProperties;
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@Autowired
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private WrkMastMapper wrkMastMapper;
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@Autowired
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private WrkDetlService wrkDetlService;
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@Autowired
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private WaitPakinMapper waitPakinMapper;
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@Autowired
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private LocMastService locMastService;
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@Autowired
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private StaDescService staDescService;
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@Autowired
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private BasCrnpService basCrnpService;
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@Autowired
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private BasDevpService basDevpService;
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@Autowired
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private LocDetlService locDetlService;
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@Autowired
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private BasErrLogService basErrLogService;
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@Autowired
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private BasCrnErrorMapper basCrnErrorMapper;
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@Autowired
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private TaskWrkMapper taskWrkMapper;
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@Autowired
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private TaskWrkService taskWrkService;
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@Autowired
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private ConfigService configService;
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@Value("${wms.url}")
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private String wmsUrl;
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// /**
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// * 组托
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// * 入库站，根据条码扫描生成入库工作档，工作状态 2
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// */
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// public void generateStoreWrkFile() {
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// // 根据输送线plc遍历
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// for (DevpSlave devp : slaveProperties.getDevp()) {
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// // 遍历入库口
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// for (DevpSlave.Sta inSta : devp.getInSta()) {
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// // 获取条码扫描仪信息
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// BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
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// if (barcodeThread == null) {
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// continue;
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// }
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// String barcode = barcodeThread.getBarcode();
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// if(!Cools.isEmpty(barcode)) {
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// log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
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// if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
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// continue;
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// }
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// } else {
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// continue;
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// }
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//
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// // 获取入库站信息
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// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
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// StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
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// if (staProtocol == null) {
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// continue;
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// } else {
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// staProtocol = staProtocol.clone();
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// }
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//
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// // 入出库模式判断
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//// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
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// if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
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//
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// // 判断是否满足入库条件
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// if (staProtocol.isAutoing() && staProtocol.isLoading()
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// && staProtocol.isInEnable()
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// && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
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// && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {
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//
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// // 判断重复工作档
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// WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
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// if (wrkMast != null) {
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// log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
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// continue;
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// }
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//
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// try {
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//
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// LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
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//
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// SearchLocParam param = new SearchLocParam();
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// param.setBarcode(barcode);
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// param.setIoType(1);
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// param.setSourceStaNo(inSta.getStaNo());
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// param.setLocType1(locTypeDto.getLocType1());
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// String response = new HttpHandler.Builder()
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// .setUri(wmsUrl)
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// .setPath("/rpc/pakin/loc/v1")
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// .setJson(JSON.toJSONString(param))
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// .build()
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// .doPost();
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// JSONObject jsonObject = JSON.parseObject(response);
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// if (jsonObject.getInteger("code").equals(200)) {
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// StartupDto dto = jsonObject.getObject("data", StartupDto.class);
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//
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// barcodeThread.setBarcode("");
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// staProtocol.setWorkNo(dto.getWorkNo().shortValue());
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// staProtocol.setStaNo(dto.getStaNo().shortValue());
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// devpThread.setPakMk(staProtocol.getSiteId(), false);
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// boolean result = CommandUtils.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
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// if (!result) {
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// throw new CoolException("更新plc站点信息失败");
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// }
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// } else {
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// log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
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// }
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//
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// } catch (Exception e) {
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// e.printStackTrace();
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// TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
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// }
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// }
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// }
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// }
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// }
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/**
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* 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 == 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() == null)) {
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// 查询工作档
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TaskWrk taskWrk = taskWrkMapper.selectCrnStaWorking(crnSlave.getId(), staProtocol.getSiteId().toString());
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if (taskWrk == 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 (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 2) {
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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, taskWrk.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(taskWrk.getWrkNo().shortValue())
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&& crnProtocol.getTaskFinish() == 1
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&& crnProtocol.forkPosType == CrnForkPosType.HOME) {
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// 命令下发区 --------------------------------------------------------------------------
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// 下发站点信息
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staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
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String targetPoint = taskWrk.getTargetPoint();
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int i = Integer.parseInt(targetPoint);
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staProtocol.setStaNo((short)i);
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if (!CommandUtils.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
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continue;
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}
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// 更新工作档状态为14失败
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taskWrk.setWrkSts(14);
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if (taskWrkMapper.updateById(taskWrk) != 0) {
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// 复位堆垛机
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crnThread.setResetFlag(true);
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} else {
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log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", taskWrk.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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/**
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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(){
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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) { continue; }
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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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}
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// 库位移转
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this.locToLoc(crn, crnProtocol);
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// this.crnRebackHp(crnProtocol, crnThread);
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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){
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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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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(), crnStn.getStaNo().toString());
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if(null == taskWrk) {
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continue;
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}
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// 获取库位信息
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String locNo = taskWrk.getTargetPoint();
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LocMast locMast = locMastService.selectById(locNo);
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if (locMast == null) {
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log.error("查询库存无数据--库位号{}", locNo);
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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={}", locNo, 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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// 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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// 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(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 (!CommandUtils.offer(SlaveType.Crn, taskWrk.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={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
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} else {
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// 修改工作档状态 2.设备上走 => 3.吊车入库中
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Date now = new Date();
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taskWrk.setWrkSts(3);
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taskWrk.setModiTime(now);
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if (taskWrkMapper.updateById(taskWrk) == 0) {
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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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}
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}
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return;
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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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for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
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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(), crnStn.getStaNo().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) {
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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.getTargetPoint(), taskWrk.getIoType());
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continue;
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}
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// 获取源库位信息
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String locNo = taskWrk.getStartPoint();
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LocMast sourceSta = locMastService.selectById(locNo);
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if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
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log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
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continue;
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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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// 双深库位且浅库位有货，则需先对浅库位进行库位移转
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if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
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List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
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if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
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break;
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}
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String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
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LocMast shallowLoc = locMastService.selectById(shallowLocNo);
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// O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
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if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
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log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
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} else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
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taskWrk.setTransferMark(1);
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taskWrkMapper.updateById(taskWrk);
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break;
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} else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
|
log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
|
}
|
continue;
|
}
|
|
// 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(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 (!CommandUtils.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.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());
|
}
|
break;
|
}
|
return;
|
}
|
}
|
}
|
}
|
|
/**
|
* 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.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
|
for (TaskWrk taskWrk : taskWrks){
|
if (taskWrk == 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;
|
}
|
// 获取源库位信息
|
String locNo = taskWrk.getStartPoint();
|
LocMast sourceSta = locMastService.selectById(locNo);
|
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={}", locNo, sourceSta.getLocSts());
|
continue;
|
}
|
|
// 获取目标库位信息
|
String locNoEnd = taskWrk.getTargetPoint();
|
LocMast sourceEnd = locMastService.selectById(locNoEnd);
|
if (!sourceEnd.getLocSts().equals("S") && !sourceEnd.getLocSts().equals("Q")) {
|
log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
|
continue;
|
}
|
|
|
// // 获取堆垛机出库站信息
|
// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
|
// StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
|
// if (staProtocol == null) {
|
// break;
|
// } else {
|
// staProtocol = staProtocol.clone();
|
// }
|
|
// 查询站点详细信息
|
BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
|
if (staDetl == null) {
|
log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
|
continue;
|
}
|
// 命令下发区 --------------------------------------------------------------------------
|
|
// 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;
|
}
|
|
// 起始深库位浅库位不为空
|
if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
|
// 获取浅库位信息
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
|
LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
|
if (!shallowLocMast.getLocSts().equals("O")) {
|
log.error("移库操作起始库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
|
continue;
|
}
|
}
|
|
// 目标库位为深库位且浅库位不为空
|
if (Utils.isDeepLoc(slaveProperties, taskWrk.getTargetPoint())) {
|
// 获取浅库位信息
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getTargetPoint());
|
LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
|
if (!shallowLocMast.getLocSts().equals("O")) {
|
log.error("移库操作目标库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
|
continue;
|
}
|
}
|
|
// 目标库位为浅库位且深库位无货
|
if (Utils.isShallowLoc(slaveProperties, taskWrk.getTargetPoint())) {
|
// 获取深库位信息
|
String deepLocNo = Utils.getDeepLoc(slaveProperties, taskWrk.getTargetPoint());
|
LocMast deepLocMast = locMastService.selectById(deepLocNo);
|
if (!deepLocMast.getLocSts().equals("F") && !deepLocMast.getLocSts().equals("D") ) {
|
log.error("移库操作目标库位深库位状态不符合--状态, 库位号={}，库位状态={}", locNo, deepLocMast.getLocSts());
|
continue;
|
}
|
}
|
|
// 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(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(sourceEnd.getRow1().shortValue()); // 目标库位排
|
crnCommand.setDestinationPosY(sourceEnd.getBay1().shortValue()); // 目标库位列
|
crnCommand.setDestinationPosZ(sourceEnd.getLev1().shortValue()); // 目标库位层
|
if (!CommandUtils.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.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());
|
}
|
break;
|
}
|
return;
|
}
|
}
|
|
}
|
|
/**
|
* 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();
|
if (crnProtocol == null) { continue; }
|
// 状态：等待确认 并且 任务完成位 = 1
|
if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
|
// 获取入库待确认工作档
|
TaskWrk taskWrk = taskWrkMapper.selectCrnNoWorking(crn.getId(),crnProtocol.getTaskNo().intValue());
|
if (taskWrk == 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 (taskWrk.getWrkSts() == 3 || (taskWrk.getWrkSts() == 12 && taskWrk.getIoType() == 3)) {
|
taskWrk.setWrkSts(4);
|
} else {
|
continue;
|
}
|
Date now = new Date();
|
taskWrk.setModiTime(now);
|
Integer integerTaskWrk = taskWrkMapper.updateById(taskWrk);
|
// 修改成功后复位堆垛机
|
if (integerTaskWrk > 0) {
|
// 堆垛机复位
|
crnThread.setResetFlag(true);
|
}
|
}
|
}
|
}
|
|
/**
|
* 堆垛机异常信息记录
|
*/
|
@Async
|
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 (true) {
|
// if (crnProtocol.getModeType() != CrnModeType.STOP) {
|
// 有任务
|
if (crnProtocol.getTaskNo() != 0) {
|
BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
|
// 有异常
|
if (latest == null) {
|
if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) {
|
continue;
|
}
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
|
String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):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.getAlarm1() > 0) {
|
// 记录新异常
|
if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
|
BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
|
String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):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());
|
}
|
}
|
}
|
}
|
}
|
|
}
|
}
|
|
|
// -------------------------------------------------------------------------------
|
|
/**
|
* 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
|
SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
|
if (staProtocol == null) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
|
// // 入出库模式判断
|
// if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
|
if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }
|
|
// 站点条件判断
|
if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
|
&& staProtocol.isEmptyMk() && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999) && staProtocol.isPakMk()) {
|
|
try {
|
LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
|
|
SearchLocParam param = new SearchLocParam();
|
param.setIoType(10);
|
param.setSourceStaNo(emptyInSta.getStaNo());
|
param.setLocType1(locTypeDto.getLocType1());
|
String response = new HttpHandler.Builder()
|
.setUri(wmsUrl)
|
.setPath("/rpc/pakin/loc/v1")
|
.setJson(JSON.toJSONString(param))
|
.build()
|
.doPost();
|
JSONObject jsonObject = JSON.parseObject(response);
|
if (jsonObject.getInteger("code").equals(200)) {
|
StartupDto dto = jsonObject.getObject("data", StartupDto.class);
|
|
// 更新站点信息 且 下发plc命令
|
staProtocol.setWorkNo(dto.getWorkNo().shortValue());
|
staProtocol.setStaNo(dto.getStaNo().shortValue());
|
devpThread.setPakMk(staProtocol.getSiteId(), false);
|
boolean result = CommandUtils.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
|
if (!result) {
|
throw new CoolException("更新plc站点信息失败");
|
}
|
} else {
|
log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
|
}
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
}
|
}
|
}
|
|
/**
|
* 出库 ===>> 工作档信息写入led显示器
|
*/
|
@Async
|
public void ledExecute() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
List<LedCommand> commands = new ArrayList<>();
|
// 工作档集合
|
List<WrkMast> wrkMasts = new ArrayList<>();
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (null == staProtocol || null == staProtocol.getWorkNo() || 0 == staProtocol.getWorkNo() || !staProtocol.isLoading()) {
|
continue;
|
} else {
|
staProtocol = staProtocol.clone();
|
}
|
// 获取工作档数据
|
WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
|
// if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
|
if (null == wrkMast) { continue; }
|
wrkMasts.add(wrkMast);
|
// 组装命令
|
LedCommand ledCommand = new LedCommand();
|
ledCommand.setWorkNo(wrkMast.getWrkNo());
|
ledCommand.setIoType(wrkMast.getIoType());
|
// 出库模式
|
switch (wrkMast.getIoType()) {
|
case 1:
|
ledCommand.setTitle("全板入库");
|
break;
|
case 10:
|
ledCommand.setTitle("空板入库");
|
break;
|
case 101:
|
ledCommand.setTitle("全板出库");
|
break;
|
case 103:
|
ledCommand.setTitle("拣料出库");
|
break;
|
case 104:
|
ledCommand.setTitle("并板出库");
|
break;
|
case 107:
|
ledCommand.setTitle("盘点出库");
|
break;
|
case 110:
|
ledCommand.setTitle("空板出库");
|
ledCommand.setEmptyMk(true);
|
break;
|
default:
|
log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
|
break;
|
}
|
ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
|
ledCommand.setLocNo(wrkMast.getLocNo());
|
ledCommand.setStaNo(wrkMast.getStaNo());
|
// ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
|
if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10 ) {
|
List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
|
wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
|
}
|
commands.add(ledCommand);
|
}
|
Set<Integer> workNos = wrkMasts.stream().map(WrkMast::getWrkNo).collect(Collectors.toSet());
|
// 获取LED线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// 相同工作号集合则过滤
|
if (CollectionUtils.equals(ledThread.getWorkNos(), workNos)) {
|
continue;
|
}
|
// 命令下发 -------------------------------------------------------------------------------
|
if (!commands.isEmpty()) {
|
if (!CommandUtils.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
continue;
|
} else {
|
ledThread.setLedMk(false);
|
}
|
}
|
|
try {
|
// 修改主档led标记
|
for (WrkMast wrkMast : wrkMasts) {
|
wrkMast.setOveMk("Y");
|
wrkMast.setModiTime(new Date());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("更新工作档失败");
|
}
|
}
|
|
// 更新线程当前工作号集合
|
ledThread.setWorkNos(workNos);
|
|
} catch (Exception e) {
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
|
}
|
}
|
|
/**
|
* 其他 ===>> LED显示器复位，显示默认信息
|
*/
|
@Async
|
public void ledReset() {
|
for (LedSlave led : slaveProperties.getLed()) {
|
// 获取输送线plc线程
|
DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
|
// 命令集合
|
boolean reset = true;
|
for (Integer staNo : led.getStaArr()) {
|
// 获取叉车站点
|
StaProtocol staProtocol = devpThread.getStation().get(staNo);
|
if (staProtocol == null) {
|
continue;
|
}
|
if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
|
reset = false;
|
break;
|
}
|
}
|
// 获取led线程
|
LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
|
// led显示默认内容
|
if (reset && !ledThread.isLedMk()) {
|
ledThread.setLedMk(true);
|
if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
|
log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
|
} else {
|
|
}
|
}
|
}
|
}
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（入库版)
|
* tip：同步
|
*/
|
@Transactional
|
public synchronized void moveLocForDeepLocPakin(CrnSlave crn, LocMast shallowLoc, WrkMast pakinWrkMast){
|
LocMast loc = locMastService.selectById(pakinWrkMast.getLocNo());
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
Date now = new Date();
|
// 保存工作档
|
WrkMast wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(now);
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(15D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
|
wrkMast.setLocNo(loc.getLocNo()); // 目标库位
|
wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D")?"Y":"N"); // 空板
|
wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setCtnNo("Y"); // 入库阻塞库位移转标记
|
wrkMast.setAppeTime(now);
|
wrkMast.setModiTime(now);
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
if (shallowLoc.getLocSts().equals("F")) {
|
List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
|
for (LocDetl locDetl : locDetls) {
|
WrkDetl wrkDetl = new WrkDetl();
|
wrkDetl.setWrkNo(workNo);
|
wrkDetl.setIoTime(now);
|
wrkDetl.setAnfme(locDetl.getAnfme());
|
VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
wrkDetl.setAppeTime(now);
|
wrkDetl.setModiTime(now);
|
if (!wrkDetlService.insert(wrkDetl)) {
|
throw new CoolException("保存工作档明细失败");
|
}
|
}
|
}
|
// 修改源库位状态
|
if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
|
shallowLoc.setLocSts("S"); // S.入库预约，入库阻塞库位移转
|
shallowLoc.setModiTime(now);
|
if (!locMastService.updateById(shallowLoc)){
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
throw new CoolException("源库位出库失败");
|
}
|
// // 修改目标库位状态
|
// if (loc.getLocSts().equals("O")) {
|
// loc.setLocSts("S"); // S.入库预约
|
// loc.setModiTime(new Date());
|
// if (!locMastService.updateById(loc)) {
|
// throw new CoolException("更新目标库位状态失败");
|
// }
|
// } else {
|
// throw new CoolException("移转失败");
|
// }
|
wrkMast.setLocNo(shallowLoc.getLocNo());
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
throw new CoolException("修改阻塞入库任务失败");
|
}
|
}
|
|
/**
|
* 因双深库位阻塞，对浅库位进行移转（立即执行版)
|
* tip：同步
|
*/
|
private void moveLocForDeepLoc(CrnSlave crn, LocMast shallowLoc){
|
try {
|
List<Integer> rows = locMastService.queryDistinctRow(crn.getId());
|
LocMast loc = null;
|
for (Integer row : rows) {
|
if (Utils.isDeepLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (loc != null) {
|
if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())) {
|
String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
|
LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
|
if (!shallowLoc1.getLocSts().equals("O")) {
|
loc = null;
|
}
|
}
|
}
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
if (null == loc) {
|
for (Integer row : rows) {
|
if (Utils.isShallowLoc(slaveProperties, row)) {
|
loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());
|
|
if (null != loc) {//对应深库位非在库状态,不能移库
|
String deepLoc = Utils.getDeepLoc(slaveProperties, loc.getLocNo());
|
LocMast deepLoc1 = locMastService.selectById(deepLoc);
|
if (!deepLoc1.getLocSts().equals("F") && !deepLoc1.getLocSts().equals("D")) {
|
loc = null;
|
}
|
}
|
|
if (null != loc) {
|
break;
|
}
|
}
|
}
|
}
|
|
if (null == loc) {
|
log.error("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
|
throw new CoolException("双深库位 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());
|
}
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
// 保存工作档
|
WrkMast wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(new Date());
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(13D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
|
wrkMast.setLocNo(loc.getLocNo()); // 目标库位
|
wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(shallowLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
if (shallowLoc.getLocSts().equals("F")) {
|
List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));
|
for (LocDetl locDetl : locDetls) {
|
WrkDetl wrkDetl = new WrkDetl();
|
wrkDetl.setWrkNo(workNo);
|
wrkDetl.setIoTime(new Date());
|
wrkDetl.setAnfme(locDetl.getAnfme());
|
VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
wrkDetl.setAppeTime(new Date());
|
wrkDetl.setModiTime(new Date());
|
if (!wrkDetlService.insert(wrkDetl)) {
|
throw new CoolException("保存工作档明细失败");
|
}
|
}
|
}
|
// 修改源库位状态
|
if (shallowLoc.getLocSts().equals("D") || shallowLoc.getLocSts().equals("F")) {
|
shallowLoc.setLocSts("R"); // R.出库预约
|
shallowLoc.setModiTime(new Date());
|
if (!locMastService.updateById(shallowLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
throw new CoolException("源库位出库失败");
|
}
|
// 修改目标库位状态
|
if (loc.getLocSts().equals("O")) {
|
loc.setLocSts("S"); // S.入库预约
|
loc.setModiTime(new Date());
|
if (!locMastService.updateById(loc)) {
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
throw new CoolException("移转失败");
|
}
|
} catch (Exception e) {
|
log.error("双深库位阻塞，对浅库位进行移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
/**
|
* 堆垛机演示 ===>> 库位移转
|
*/
|
public synchronized void crnDemoOfLocMove1(){
|
try {
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
if (!crn.getDemo()) {
|
continue;
|
} // 必须为演示状态
|
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
|
// 只有当堆垛机空闲 并且 无任务时才继续执行
|
if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 获取移库工作档信息
|
WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
|
if (null != wrkMast) {
|
continue;
|
}
|
|
LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
|
LocMast loc = locMastService.queryDemoLoc(crn.getId());
|
if (null == sourceLoc || null == loc) {
|
continue;
|
}
|
|
String sourceLocNo = sourceLoc.getLocNo();
|
String locNo = loc.getLocNo();
|
|
// 获取工作号
|
int workNo = commonService.getWorkNo(0);
|
// 保存工作档
|
wrkMast = new WrkMast();
|
wrkMast.setWrkNo(workNo);
|
wrkMast.setIoTime(new Date());
|
wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
|
wrkMast.setIoType(11); // 入出库状态： 11.库格移载
|
wrkMast.setIoPri(13D);
|
wrkMast.setCrnNo(crn.getId());
|
wrkMast.setSourceLocNo(sourceLocNo); // 源库位
|
wrkMast.setLocNo(locNo); // 目标库位
|
wrkMast.setFullPlt("N"); // 满板：Y
|
wrkMast.setPicking("N"); // 拣料
|
wrkMast.setExitMk("N"); // 退出
|
wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
|
wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
|
wrkMast.setLinkMis("N");
|
wrkMast.setAppeTime(new Date());
|
wrkMast.setModiTime(new Date());
|
int res = wrkMastMapper.insert(wrkMast);
|
if (res == 0) {
|
throw new CoolException("保存工作档失败");
|
}
|
// 工作档明细保存
|
// List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
|
// for (LocDetl locDetl : locDetls) {
|
// WrkDetl wrkDetl = new WrkDetl();
|
// wrkDetl.setWrkNo(workNo);
|
// wrkDetl.setIoTime(new Date());
|
// wrkDetl.setAnfme(locDetl.getAnfme());
|
// VersionUtils.setWrkDetl(wrkDetl, locDetl); // 版本控制
|
// wrkDetl.setAppeTime(new Date());
|
// wrkDetl.setModiTime(new Date());
|
// if (!wrkDetlService.insert(wrkDetl)) {
|
// throw new CoolException("保存工作档明细失败");
|
// }
|
// }
|
// 修改源库位状态
|
if (sourceLoc.getLocSts().equals("D")) {
|
sourceLoc.setLocSts("R"); // R.出库预约
|
sourceLoc.setModiTime(new Date());
|
if (!locMastService.updateById(sourceLoc)) {
|
throw new CoolException("更新源库位状态失败");
|
}
|
} else {
|
throw new CoolException("源库位出库失败");
|
}
|
// 修改目标库位状态
|
if (loc.getLocSts().equals("O")) {
|
loc.setLocSts("S"); // S.入库预约
|
loc.setModiTime(new Date());
|
if (!locMastService.updateById(loc)) {
|
throw new CoolException("更新目标库位状态失败");
|
}
|
} else {
|
throw new CoolException("移转失败");
|
}
|
|
}
|
}
|
} catch (Exception e) {
|
log.error("堆垛机演示 ===>> 库位移转失败", e);
|
e.printStackTrace();
|
TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
|
}
|
}
|
|
/**
|
* 堆垛机命令下发后，异步修改工作档状态
|
*/
|
public synchronized void crnIoWrkMast(){
|
for (CrnSlave crn : slaveProperties.getCrn()) {
|
// 获取堆垛机信息
|
CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
|
CrnProtocol crnProtocol = crnThread.getCrnProtocol();
|
if (crnProtocol == null) {
|
continue;
|
}
|
Date now = new Date();
|
// 堆垛机正在运行
|
if (crnProtocol.getStatusType() != CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
|
// 获取工作档
|
WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
|
if (wrkMast == null) { continue; }
|
// 入库
|
if (wrkMast.getWrkSts() == 1 || wrkMast.getWrkSts() == 2) {
|
log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
|
// 修改工作档状态 2.设备上走 => 3.吊车入库中
|
wrkMast.setWrkSts(3L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
|
}
|
// 出库、移库
|
if (wrkMast.getWrkSts() == 11) {
|
log.warn("堆垛机非空闲情况下，开始修改工作档状态。[id:{},时间：{}] >>>>> 堆垛机当前状态为：{}。任务号:{}", crn.getId(), DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), crnProtocol.getStatusType().desc, crnProtocol.getTaskNo());
|
// 修改工作档状态 11.生成出库ID => 12.吊车出库中
|
wrkMast.setWrkSts(12L);
|
wrkMast.setCrnStrTime(now);
|
wrkMast.setModiTime(now);
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
|
}
|
log.warn("修改工作档状态成功。[时间：{}] >>>>> 任务号:{}", DateUtils.convert(now, DateUtils.yyyyMMddHHmmsssss_F), wrkMast.getWrkNo());
|
}
|
|
|
}
|
|
}
|
}
|
|
// /**
|
// * 入出库模式切换函数
|
// */
|
// public void ioConvert() {
|
// try {
|
// // 根据输送线plc遍历
|
// for (DevpSlave devp : slaveProperties.getDevp()) {
|
// SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
|
//
|
// for (DevpSlave.Sta inSta : devp.getInSta()) {
|
// if (inSta.getStaNo() == 2) {
|
// continue;
|
// }
|
// WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
|
// switch (inSta.getStaNo()) {
|
// case 203://1F
|
// if (pakout != null) {
|
// if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
|
// // 出库切换中
|
// devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
|
// WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
|
// if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
|
// && !devpThread.getStation().get(inSta.getStaNo()+1).isLoading()
|
// && devpThread.getStation().get(inSta.getStaNo()+1).getWorkNo()==0) {
|
// // 出库模式
|
// devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
|
// }
|
// }
|
// } else {
|
// // 入库模式
|
// devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
|
// }
|
// break;
|
// }
|
// }
|
// }
|
//
|
// } catch (Exception e) {
|
// e.printStackTrace();
|
// }
|
// }
|
|
public void outOfDevp() {
|
List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
|
for (WrkMast wrkMast : wrkMasts) {
|
if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
|
wrkMast.setCtnNo("Y");
|
if (wrkMastMapper.updateById(wrkMast) == 0) {
|
log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
|
}
|
}
|
|
}
|
}
|
|
//自动派发任务
|
public void autoDistribute() {
|
Config config = configService.selectByCode("autoDistribute");
|
if (config == null) {
|
return;
|
}
|
|
if (config.getValue().equals("false")) {//判断是否开启自动派发任务
|
return;
|
}
|
|
for (TaskWrk taskWrk : taskWrkService.selectReceive()) {
|
try {
|
taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
|
} catch (CoolException e) {
|
e.printStackTrace();
|
}
|
}
|
}
|
|
|
}
|
