自动化立库仓库-WCS系统
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#
TQS
2022-11-22 13c2b426704d4ec12e4c263d054cec2f1416be39 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java


@@ -792,6 +792,7 @@


                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                        crnCommand.setCommand((short) 0);


                        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                        crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排


                        crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列


@@ -846,6 +847,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排


                            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列


@@ -918,6 +920,7 @@


                        || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getLocNo()))){


                    continue;


                }


                log.info("");


            }




            //出库库位不是最外层库位，判断浅库位组是否都为空，或存在库位移转任务


@@ -1032,6 +1035,7 @@


                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    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


@@ -1066,6 +1070,12 @@


                            if (steProtocol == null) { continue; }


                            if (steProtocol.isIdle()) {




                                //小车只能绑定一笔作业中任务


                                WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


                                if(wrkMast1 != null){


                                    continue;


                                }




                                // 命令下发区 --------------------------------------------------------------------------


                                SteCommand steCommand = new SteCommand();


                                steCommand.setSteNo(steNo); // 穿梭车编号


@@ -1075,10 +1085,12 @@


                                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());


                                steCommand.setBay(steProtocol.getBay());


                                steCommand.setLev(steProtocol.getLev());


                                steCommand.setMemo("11==>14小车搬出库任务，任务号"+wrkMast.getWrkNo()+"");




                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                                } else {


                                    log.info("穿梭车命令下发成功(11==>14小车搬出库任务)，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                                    // 修改工作档状态 11.生成出库ID => 14.小车搬出库


                                    Date now = new Date();


                                    wrkMast.setWrkSts(14L);


@@ -1102,6 +1114,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                            crnCommand.setSourcePosX(Utils.getGroupRow(sourceSta.getRow1()).shortValue());     // 源库位排


                            crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列


@@ -1219,6 +1232,7 @@


                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue());     // 源库位排


                crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1253,6 +1267,12 @@


                    SteProtocol steProtocol = steThread.getSteProtocol();


                    if (steProtocol == null) { return; }


                    if (steProtocol.isIdle()) {




                        //小车只能绑定一笔作业中任务


                        WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


                        if(wrkMast1 != null){


                            return;


                        }




                        // 命令下发区 --------------------------------------------------------------------------


                        SteCommand steCommand = new SteCommand();


@@ -1290,6 +1310,7 @@


                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                    crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                    crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1466,6 +1487,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                            crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue());     // 源库位排


                            crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1571,6 +1593,7 @@


                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(sourceLoc.getRow1().shortValue());     // 源库位排


                crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1621,6 +1644,7 @@


                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                            crnCommand.setCommand((short) 0);


                            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                            crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                            crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1677,6 +1701,12 @@


                    if (steProtocol == null) { return; }


                    if (steProtocol.isIdle()) {




                        //小车只能绑定一笔作业中任务


                        WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


                        if(wrkMast1 != null){


                            return;


                        }




                        // 命令下发区 --------------------------------------------------------------------------


                        SteCommand steCommand = new SteCommand();


                        steCommand.setSteNo(steNo); // 穿梭车编号


@@ -1715,6 +1745,7 @@


                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                        crnCommand.setCommand((short) 0);


                        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                        crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                        crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1761,6 +1792,7 @@


                                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号


                                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                                crnCommand.setCommand((short) 0);


                                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转


                                crnCommand.setSourcePosX(Utils.getGroupRow(sourceLoc.getRow1()).shortValue());     // 源库位排


                                crnCommand.setSourcePosY(sourceLoc.getBay1().shortValue());     // 源库位列


@@ -1870,6 +1902,12 @@


        if (steProtocol == null) { return; }


        if (steProtocol.isIdle()) {




            //小车只能绑定一笔作业中任务


            WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


            if(wrkMast1 != null){


                return;


            }




            // 命令下发区 --------------------------------------------------------------------------


            SteCommand steCommand = new SteCommand();


            steCommand.setSteNo(steNo); // 穿梭车编号


@@ -1883,6 +1921,7 @@


            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


            } else {


                log.error("穿梭车命令下发成功让小车从 远点 ====>> 待机位,绑定穿梭车,IoType={}, 穿梭车号={}，任务数据={}", wrkMast.getIoType(), steNo, JSON.toJSON(steCommand));


                // 修改工作档状态 绑定穿梭车


                wrkMast.setSteNo(steNo);


                wrkMast.setModiTime(new Date());


@@ -1901,6 +1940,12 @@




        if (!basSteService.updatePakMk(steNo, "Y")) {


            log.error("修改穿梭车作业状态 失败！！，穿梭车={}", steNo);


            return;


        }




        //小车只能绑定一笔作业中任务


        WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


        if(wrkMast1 != null){


            return;


        }




@@ -1937,6 +1982,12 @@


        if (steProtocol == null) { return; }


        if (steProtocol.isIdle()) {




            //小车只能绑定一笔作业中任务


            WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


            if(wrkMast1 != null){


                return;


            }




            // 命令下发区 --------------------------------------------------------------------------


            SteCommand steCommand = new SteCommand();


            steCommand.setSteNo(steNo); // 穿梭车编号


@@ -1946,10 +1997,12 @@


            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());


            steCommand.setBay(steProtocol.getBay());


            steCommand.setLev(steProtocol.getLev());


            steCommand.setMemo("绑定小车号，让小车从 远点 ====>> 移动到近点");




            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


            } else {


                log.info("穿梭车命令下发成功(让小车从远点==>>移动到近点)，IoType={}, 穿梭车号={}，任务数据={}", wrkMast.getIoType(), steNo, JSON.toJSON(steCommand));


                // 修改工作档状态 绑定穿梭车


                wrkMast.setSteNo(steNo);


                wrkMast.setModiTime(new Date());


@@ -1970,6 +2023,12 @@


        SteProtocol steProtocol = steThread.getSteProtocol();


        if (steProtocol == null) { return; }


        if (steProtocol.isIdle()) {




            //小车只能绑定一笔作业中任务


            WrkMast wrkMast1 = wrkMastMapper.selectSteNoData(steNo);


            if(wrkMast1 != null){


                return;


            }




            // 命令下发区 --------------------------------------------------------------------------


            SteCommand steCommand = new SteCommand();


@@ -2014,6 +2073,7 @@


                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -2043,6 +2103,7 @@


                    crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                    crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                    crnCommand.setCommand((short) 0);


                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -2095,6 +2156,7 @@


                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -2302,9 +2364,11 @@


                        steCommand.setSteNo(steNo); // 穿梭车编号


                        steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号


                        steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  搬出库


                        steCommand.setMemo("出库 ===>> 迁入小车 完成");


                        if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                        } else {


                            log.info("穿梭车命令下发成功，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


                            // 13.迁入小车 ==> 14.小车搬出库


                            wrkMast.setWrkSts(14L);


                            Date now = new Date();


@@ -2576,8 +2640,8 @@


                log.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo());


            }




            if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {


                log.info("ste[id={}] 执行工作档完成，任务号={}", steProtocol.getSteNo(), steProtocol.getTaskNo());


            if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0 && steProtocol.getStatus() == 10) {


                log.info("ste[id={}] 执行工作档完成，任务号={}, 穿梭车状态={}", steProtocol.getSteNo(), steProtocol.getTaskNo(), steProtocol.getStatus());


                if (steProtocol.getTaskNo() == 9999) {


                    steThread.setResetFlag(true);


                } else {


@@ -3230,6 +3294,7 @@


                        crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号


                        crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号


                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                        crnCommand.setCommand((short) 0);


                        crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                        crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                        crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列


@@ -3438,6 +3503,7 @@


                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号


                crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号


                crnCommand.setAckFinish((short) 0);  // 任务完成确认位


                crnCommand.setCommand((short) 0);


                crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转


                crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());     // 源库位排


                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列