*

lsh

2025-04-03 0134bfa28a0583c0f2b28e52a6c0aeee7098ecf9

 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java

@@ -24,12 +24,16 @@
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.RgvSlave;
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -78,6 +82,12 @@
    private ApiLogService apiLogService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -90,6 +100,8 @@
    @Autowired
    private CrnController crnController;

    @Value("${wms.rgvOpen}")
    private boolean rgvOpen;

    public void generateStoreWrkFile() throws IOException, InterruptedException {
        try {
@@ -107,8 +119,8 @@
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    Short workNo = staProtocol.getWorkNo();
                    Short stano = staProtocol.getStaNo();
                    Integer workNo = staProtocol.getWorkNo();
                    Integer stano = staProtocol.getStaNo();

                    // 尺寸检测异常
                    boolean back = false;
@@ -154,7 +166,7 @@
                        }
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(inSta.getStaNo().shortValue());
                        staProtocol.setStaNo(inSta.getStaNo());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -189,8 +201,8 @@
                                        log.info("托盘码："+barcode+"任务档存在");
                                        return;
                                    }else {
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        staProtocol.setWorkNo(taskWrk1.getWrkNo());
                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -222,8 +234,8 @@
                                    // 退回
                                    log.error("扫码检测程序异常"+inSta.getStaNo()+"异常信息"+e1);
                                }
                                staProtocol.setWorkNo((short)9999);
                                staProtocol.setStaNo(inSta.getStaNo().shortValue());
                                staProtocol.setWorkNo(9999);
                                staProtocol.setStaNo(inSta.getStaNo());
                                devpThread.setPakMk(staProtocol.getSiteId(), false);
                                MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -276,8 +288,8 @@
                                    log.error("扫码检测程序异常"+inSta.getStaNo()+errMsg);
                                    log.error("扫码检测程序异常,异常信息"+e);

                                    staProtocol.setWorkNo((short)9999);
                                    staProtocol.setStaNo(inSta.getStaNo().shortValue());
                                    staProtocol.setWorkNo(9999);
                                    staProtocol.setStaNo(inSta.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -331,8 +343,8 @@
                                        taskWrkService.insert(taskWrk);
                                        StaDesc staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                                .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).eq("stn_no",staProtocol.getSiteId()));
                                        staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                                        staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                                        staProtocol.setWorkNo(taskWrk.getWrkNo());
                                        staProtocol.setStaNo(staDesc.getCrnStn());
                                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    }
                                }
@@ -345,8 +357,8 @@
                            // 退回
                            log.error("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);

                            staProtocol.setWorkNo((short)9999);
                            staProtocol.setStaNo(inSta.getStaNo().shortValue());
                            staProtocol.setWorkNo(9999);
                            staProtocol.setStaNo(inSta.getStaNo());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -394,8 +406,8 @@
                            }
                            log.info("下发输送线任务：taskWrk:"+JSON.toJSONString(taskWrk));
//                            R r = siteController.siteDetlUpdate(Integer.valueOf(taskWrk.getTargetPoint()), taskWrk.getWrkNo().shortValue(), (short) 0, "Y", false, false);
                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                            staProtocol.setWorkNo(taskWrk.getWrkNo());
                            staProtocol.setStaNo(staDesc.getCrnStn());
                            boolean offer = false;
                            try{
                                offer = MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
@@ -1112,7 +1124,160 @@
        }
        return taskWrk;
    }
    /**
     *  完成小车任务
     */
    public synchronized void rgvCompleteWrkMastSta() {
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
                if (rgvProtocol == null) {
                    continue;
                }
                BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
                if (basRgv == null) {
                    log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                    continue;
                }

                // 只有当RGV等待WCS确认、自动
                if (rgvProtocol.getStatusType() == RgvStatusType.WORKING
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && ((rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.WAITING ) ||
                        (rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING ))
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo1()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=1 || wrkMastSta.getWrkSts()!=1){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                       /* WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast) && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                            if (staProtocol == null) {
                                continue;
                            } else {
                                staProtocol = staProtocol.clone();
                            }
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                            log.error("小车任务完成下发输送线任务："+staProtocol);
//                            try{
//                                Thread.sleep(1000);
//                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
//                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
//                                log.error("小车任务完成读取输送线任务："+staProtocolEnd);
//                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
//                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
//                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
//                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
//                                        continue;
//                                    }
//                                    log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
//                                }
//                            }catch (Exception e){
//
//                            }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo2()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            }
                            BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                            basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                            break;
                        }
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo2().longValue());
                        if (Cools.isEmpty(wrkMastSta) || wrkMastSta.getType()!=2){
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        /*WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)  && wrkMastSta.getWrkType()!=5){
                            Thread.sleep(200);
                            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                            StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                            log.error("小车任务完成下发输送线任务："+staProtocol);
//                            try{
//                                Thread.sleep(1000);
//                                DevpThread devpThreadEnd = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
//                                StaProtocol staProtocolEnd = devpThreadEnd.getStation().get(wrkMastSta.getStaEnd());
//                                log.error("小车任务完成读取输送线任务："+staProtocolEnd);
//                                if (staProtocolEnd.getWorkNo()==0 ){ //|| !staProtocolEnd.getWorkNo().equals(wrkMast.getWrkNo())
//                                    staProtocolEnd.setWorkNo(wrkMast.getWrkNo());
//                                    staProtocolEnd.setStaNo(wrkMast.getStaNo());
//                                    if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocolEnd))) {
//                                        continue;
//                                    }
//                                    log.error("小车任务完成下发输送线任务第二次："+staProtocolEnd);
//                                }
//                            }catch (Exception e){
//
//                            }
                        }*/
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else {
                        log.error("小车复位失败，小车号{},等待wcs确认但是没有工作号！",rgvProtocol.getRgvNo());
                    }
                }
            }
        }catch (Exception e){
            log.error("小车复位线程报错！"+e);
        }
    }
    /**
     * 入出库  ===>>  小车作业下发
     */
@@ -1156,9 +1321,6 @@
                        case 4://取叠盘
                            signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                            break;
                        case 5:////满取
                            signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
                            break;
                        case 6:////提升
//                            signWork = qwe();
                            break;
@@ -1178,9 +1340,6 @@
                                break;
                            case 4://取叠盘
                                signWork = rgvRunWrkMastEmptyStaTake(rgvSlave);
                                break;
                            case 5:////满取
                                signWork = rgvRunWrkMastEmptyStaTakeFull(rgvSlave);
                                break;
                            case 6:////提升
//                            signWork = rgvRunWrkMastEmptyStaPut();
@@ -1247,16 +1406,6 @@
                    BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaEnd());
                    if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                        continue;
                    }
                    if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                        if (basDevp.getLoadingSuper().equals("Y")){
                            continue;
                        }
                    }
                    if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                        if (!basDevp.getEmptyMk().equals("Y")){
                            continue;
                        }
                    }
                    Date date = new Date();

@@ -1365,16 +1514,6 @@
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (basDevp.getLoadingSuper().equals("Y")){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
                            }
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
@@ -1473,16 +1612,6 @@
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (basDevp.getLoadingSuper().equals("Y")){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
                            }
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
@@ -1578,11 +1707,6 @@
                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                            continue;
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
                            }
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
@@ -1603,98 +1727,6 @@
                        log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"叠盘任务下发：目标站状态："+basDevp);
                        sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
                    }else {
                        continue;
                    }
                    if (sign){
                        boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), basRgvMap.getStartRoute());
                        if (signMap){
                            wrkMastSta.setWrkSts(1);
                            try{
                                wrkMastStaMapper.updateById(wrkMastSta);
                            }catch (Exception e){
                                log.error("更新小车任务失败");
                            }
                            return true;
                        }else {
                            log.error("3879行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                        }
                    }else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
//            }
        }catch (Exception e){
            log.error("3989行执行小车取空板任务下发失败");
            log.error("3989行"+e);
        }
        return false;
    }

    public synchronized boolean rgvRunWrkMastEmptyStaTakeFull(RgvSlave rgvSlave) {//满取
        try{
//            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return false;
            }
            BasRgv basRgv = basRgvService.selectById(rgvSlave.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgvSlave.getId());
                return false;
            }

            // 只有当RGV空闲、自动,工位二无物//rgv可用
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1()==0 && rgvProtocol.getTaskNo2()==0
                    &&  rgvProtocol.getLoaded2()==0  //现场修改：叠盘机，////0 无物；1 一层无物二层有物（只能拆叠）   ；2一层有物二层无物 （只能满放）；3  1、2层都有物  4：（）只允许拆盘
            ) {
                BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                if (basRgvMap == null) {
                    log.error("{}号RGV尚未在数据库地图中进行维护！", rgvProtocol.getRgvNo());
                    return false;
                }
                List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(), basRgvMap.getEndRoute());
                basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route, route);
                WrkMast wrkMast = wrkMastMapper.selectBy122ManQu(122,110,15L);
                if (!Cools.isEmpty(wrkMast)){
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(wrkMast.getWrkNo().longValue());
                    if (!Cools.isEmpty(wrkMastSta) && wrkMastSta.getType()==2 && wrkMastSta.getWrkType()==5 ){
                        wrkMastStaList.add(wrkMastSta);
                    }
                }
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=2 || wrkMastSta.getWrkType()!=5){// 2:空板  || 工作类型  1:取（叠盘）  2：拆盘  5：满取  6：满放
                        continue;
                    }
                    boolean sign = false;
                    if (wrkMastSta.getStaStart()!=0){//满取
                        BasDevp basDevp = basDevpService.selectById(wrkMastSta.getStaStart());
                        if (!basDevp.getAutoing().equals("Y") || !basDevp.getLoading().equals("Y")){
                            continue;
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"满取任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || staProtocol.isLoading()){
                            continue;
                        }

                        log.info(date+"满取任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"满取任务下发：目标站状态："+basDevp);
                        sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
                    }else {
                        continue;
                    }