#预调度移动

lty

9 天以前 14ae79f19df5920e53a43f90f01686dda426ebbc

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

@@ -10,6 +10,7 @@
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.*;
import com.zy.asrs.service.*;
import com.zy.system.service.*;
import com.zy.asrs.utils.RouteUtils;
import com.zy.asrs.utils.Utils;
import com.zy.asrs.utils.VersionUtils;
@@ -38,6 +39,9 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.entity.Config;
import com.zy.system.mapper.ConfigMapper;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -94,6 +98,8 @@
    private WrkMastService wrkMastService;
    @Autowired
    private BasRgvMapService basRgvMapService;
    @Autowired
    private ConfigService configService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -101,6 +107,8 @@
    private boolean isToOrigin;

    public Integer wrkNo = 10000;
    @Autowired
    private ConfigMapper configMapper;

    /**
     * 组托
@@ -150,19 +158,23 @@
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                if (!back && staProtocol.getWeight() > 1000) {
                    errMsg = "超重或未读取";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
//                if(staProtocol.getWeight() <= 0 ){
//                    continue;
//                }
//                if (!back && staProtocol.getWeight() == 0.0) {
//                    errMsg = "重量获取失败";
//                    back = true;
//                }

//                News.info("{}重量", staProtocol.getWeight());

                // 退回
                if (back) {
@@ -307,7 +319,8 @@
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
                            log.error("输送线下发2：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());

//                            if (ledThread != null) {
                            String errorMsg = jsonObject.getString("msg");
                            if (!Cools.isEmpty(errorMsg)) {
@@ -938,8 +951,8 @@
            }
            // 库位移转
            //mark - 3 - ....
//            this.locToLoc(crn, crnProtocol, mark);
//            this.crnRebackHp(crnProtocol, crnThread);
            this.locToLoc(crn, crnProtocol, mark);
            this.crnRebackHp(crnProtocol, crnThread,null);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
@@ -948,55 +961,93 @@
    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     */
    public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread) {
//        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;
//            }
//            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
//            if (basCrnp == null) {
//                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
//                continue;
//            }
        if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
            if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
                return;
    public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread,String staNo) {
        if(staNo == null){
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getBay() == 121) {
                    return;
                }

                // 已经存在吊车执行任务时，则过滤3,12
                if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                //堆垛机有执行中任务，过滤3,4,11,12
                if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                //输送线没有入库任务，过滤2
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                    return;
                }
                News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 1);     // 源库位排
                crnCommand.setSourcePosY((short) 121);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
            }
        } else {
            int y = 1; // 默认列
            int staNoInt = Integer.parseInt(staNo);

            int z = staNoInt / 100; // 层

            if ((staNoInt >= 121 && staNoInt <= 126) || (staNoInt >= 221 && staNoInt <= 230) || (staNoInt >= 411 && staNoInt <= 414)) {
                y = 121;
            }

            // 已经存在吊车执行任务时，则过滤3,12
            if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                return;
            }
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getBay() == y) {
                    return;
                }

            //堆垛机有执行中任务，过滤3,4,11,12
            if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
                return;
            }
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

            //输送线没有入库任务，过滤2
            if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                return;
                // 堆垛机有执行中任务
                if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                // 输送线没有入库任务
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                    return;
                }

                News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
                // 命令下发
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo());
                crnCommand.setTaskNo((short) 9999);
                crnCommand.setAckFinish((short) 0);
                crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);
                crnCommand.setSourcePosX((short) 1); // 默认排始终为1
                crnCommand.setSourcePosY((short) y); // 动态列
                crnCommand.setSourcePosZ((short) z); // 动态层
                crnCommand.setDestinationPosX((short) 0);
                crnCommand.setDestinationPosY((short) 0);
                crnCommand.setDestinationPosZ((short) 0);
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
            }
            News.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
            crnCommand.setTaskNo((short) 9999); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
            crnCommand.setSourcePosX((short) 0);     // 源库位排
            crnCommand.setSourcePosY((short) 0);     // 源库位列
            crnCommand.setSourcePosZ((short) 0);     // 源库位层
            crnCommand.setDestinationPosX((short) 0);     // 目标库位排
            crnCommand.setDestinationPosY((short) 0);     // 目标库位列
            crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                News.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
            }
            crnThread.setBackHpFlag(true);
        }
//        }
    }
@@ -1165,7 +1216,7 @@
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                 if (wrkMast == null) {
                    continue;
                }
                // 工作档状态判断
@@ -1204,9 +1255,21 @@
                    break;
//                    continue;
                }
                boolean canOut;
                Config config = configService.selectConfigByCode("C-OUT-OP");

                if (Cools.isEmpty(config) || config.getValue().equals("false") ){
                    canOut = staProtocol.isAutoing()
                            && !staProtocol.isLoading()
                            && "Y".equals(staDetl.getCanouting())
                            && staProtocol.getWorkNo() == 0
                            && staProtocol.isOutEnable();
                } else {
                    canOut = staProtocol.isAutoing();
                }

                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                if (canOut) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1514,33 +1577,47 @@
            if (crnProtocol == null) {
                continue;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
            if(crnProtocol.getTaskNo() == 9999){
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                    wrkMast.setWrkSts(4L);
                } else {
                    continue;
                }
                Date now = new Date();
                wrkMast.setCrnEndTime(now);
                wrkMast.setModiTime(now);
                // 修改成功后复位堆垛机
                if (wrkMastMapper.updateById(wrkMast) > 0) {


                    // 堆垛机复位
                    log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
                    News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                    crnThread.setResetFlag(true);
                }
            }else{
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null ) {
                        News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
                        News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                        crnThread.setResetFlag(true);
                    }
                }
            }



        }
@@ -1862,14 +1939,14 @@
                        } else {
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(),wrkDetl.getLuHao(), total));
                        }
                        if (wrkMast.getIoType() == 103 && (null == wrkDetl.getInspect() || 0 == wrkDetl.getInspect())) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                        if (wrkMast.getIoType() == 103 ) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(),wrkDetl.getLuHao(), total));
                        }
                        if (wrkMast.getIoType() == 107) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getManu(), wrkDetl.getMemo(), wrkDetl.getAnfme(), total));
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(),wrkDetl.getLuHao(), total));
                        }
                    });
                }