#

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
@@ -908,16 +910,17 @@
            if(!Cools.isEmpty(one)){
                //存在移库任务，且在移出中，且移库源库位与待出库库位不在同一库位组，时跳出，确保移库/出库全套任务完成后，再执行下一笔
                if(one.getWrkSts() > 10 && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getSourceLocNo())
                        && Utils.getBay(wrkMast.getSourceLocNo()) == Utils.getBay(one.getSourceLocNo())
                        && Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(one.getSourceLocNo()))){
                        || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getSourceLocNo())
                        || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getSourceLocNo()))){
                    continue;
                }
                //存在移库任务，且在移回中，且移库目标库位与待出库库位不在同一库位组，时跳出，确保移库/出库全套任务完成后，再执行下一笔
                if(one.getWrkSts() < 11  && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getLocNo())
                        && Utils.getBay(wrkMast.getSourceLocNo()) == Utils.getBay(one.getLocNo())
                        && Utils.getLev(wrkMast.getSourceLocNo()) == Utils.getLev(one.getLocNo()))){
                        || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getLocNo())
                        || 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
@@ -1354,7 +1375,8 @@
                for(String deepLocNo : deeplocs) {
                    LocMast deepLoc = locMastService.selectById(deepLocNo);
//                WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(deepLocNo);
                    if(deepLoc != null && !deepLoc.getLocSts().equals("F") && deepLoc.getLocSts().equals("D") && deepLoc.getLocSts().equals("O")){
                    if(deepLoc != null && !deepLoc.getLocSts().equals("F") && !deepLoc.getLocSts().equals("D") && !deepLoc.getLocSts().equals("O")){
                        log.error("移库再回库时，深库位组深库位状态为作业中 ===>> deepLoc={},loc_sts={}", deepLoc.getLocNo(), deepLoc.getLocSts());
                        flag = true;
                        break;
                    }
@@ -1367,7 +1389,7 @@
                        wrkMast.setSteNo(null);
                        wrkMast.setModiTime(new Date());
                        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.error("修改工作档状态 17.移库完成 => 2.移库再入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }

                        if(deepLoc.getLocSts().equals("O")){
@@ -1465,6 +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
@@ -1570,6 +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
@@ -1620,6 +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
@@ -1676,6 +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
@@ -1714,6 +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
@@ -1760,6 +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
@@ -1869,6 +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
@@ -1882,6 +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());
@@ -1900,6 +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;
        }

@@ -1936,6 +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
@@ -1945,10 +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());
@@ -1969,6 +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();
@@ -2013,6 +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
@@ -2042,6 +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
@@ -2094,6 +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
@@ -2301,9 +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();
@@ -2571,8 +2636,12 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            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){
                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 && 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 {
@@ -3078,10 +3147,13 @@
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> {
                        if (wrkMast.getIoType() == 101) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme()));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme()));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getAnfme()));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme()));
                        }
                        if (wrkMast.getIoType() == 107) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getAnfme()));
                        }
                    });
                }
@@ -3222,6 +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
@@ -3430,6 +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