zy-wcs.git - Gitblit

			@@ -49,6 +49,7 @@
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;

			import java.io.IOException;
			import java.util.*;
			import java.util.concurrent.TimeUnit;
			import java.util.stream.Collectors;
			@@ -125,16 +126,90 @@
			LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
			SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
			StaProtocol staProtocolIn = devpThread.getStation().get(inSta.getStaNo() -1);
			if (staProtocolIn == null) {
			continue;
			} else {
			staProtocolIn = staProtocolIn.clone();
			}
			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			if(staProtocolIn.getStamp() == 1) {
			WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
			.eq("barcode", barcode)
			.in("io_type", 107, 103, 57));
			if (!Cools.isEmpty(checkPick)) {
			continue;
			}
			try {
			LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

			SearchLocParam param = new SearchLocParam();
			locTypeDto.setLocType1((short) 1);
			param.setBarcode(barcode);
			param.setIoType(1);
			param.setSourceStaNo(inSta.getStaNo());
			param.setLocType1(locTypeDto.getLocType1());
			param.setWeight(staProtocol.getWeight());
			String response = new HttpHandler.Builder()
			.setTimeout(30, TimeUnit.SECONDS)
			.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);
			barcodeThread.setBarcode("");
			staProtocol.setWorkNo(dto.getWorkNo());
			//staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
			staProtocol.setStaNo(dto.getStaNo().shortValue());
			devpThread.setPakMk(staProtocol.getSiteId(), false);
			boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
			log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());

			ledThread.errorReset();
			log.error("组托请求后LED错误清除");

			if (!result) {
			News.error(methodName + ":更新plc站点信息失败");

			throw new CoolException("更新plc站点信息失败");
			}
			} else {
			if (jsonObject.getString("msg").equals("工作档已存在")) {
			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			wrkNo++;
			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)) {
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
			}
			// }
			// News.error(methodName + ":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();
			}
			}

			if (staProtocol == null) {
			continue;
			} else {
			staProtocol = staProtocol.clone();
			}

			if (barcodeThread == null) {
			continue;
			}
			String barcode = barcodeThread.getBarcode();
			// 尺寸检测异常
			boolean back = false;
			String errMsg = "";
			@@ -226,7 +301,7 @@
			//
			// }
			News.error(barcode + "条码已存在状态为（ 2.设备上走）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
			MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号=" + wrkMast.getWrkNo()));
			// MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走）的任务,工作号=" + wrkMast.getWrkNo()));
			continue;
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo(wrkMast.getWrkNo());
			@@ -291,27 +366,6 @@
			}
			} else {
			if (jsonObject.getString("msg").equals("工作档已存在")) {

			//工作档已存在再次进去
			// wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
			// if (wrkMast != null) {
			// barcodeThread.setBarcode("");
			// staProtocol.setWorkNo(9999);
			// //staProtocol.setWorkNo(wrkMast.getWrkNo());
			// //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
			// staProtocol.setStaNo(inSta.getBackSta().shortValue());
			// devpThread.setPakMk(staProtocol.getSiteId(), false);
			// boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
			// log.error("输送线下发2：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
			// ledThread.errorReset();
			// log.error("组托请求后LED错误清除");
			// if (!result) {
			// News.error(methodName + ":更新plc站点信息失败");
			//
			// throw new CoolException("更新plc站点信息失败");
			// }
			// }

			continue;
			}
			staProtocol.setWorkNo(wrkNo);
			@@ -952,7 +1006,7 @@
			// 库位移转
			//mark - 3 - ....
			this.locToLoc(crn, crnProtocol, mark);
			this.crnRebackHp(crnProtocol, crnThread);
			this.crnRebackHp(crnProtocol, crnThread,null);

			}
			// News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
			@@ -961,39 +1015,34 @@
			/**
			* 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() == 121) {
			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;
			}
			int x=1;
			switch (crnProtocol.getCrnNo()){
			case 1: x =1; break;
			case 2: x =3; break;
			case 3: x =5; break;
			case 4: x =7; break;
			}

			// 已经存在吊车执行任务时，则过滤3,12
			if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
			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;
			}
			//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;
			}
			if(crnProtocol.getCrnNo() == 1){
			//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();
			@@ -1001,9 +1050,9 @@
			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.setSourcePosX((short) x); // 源库位排
			crnCommand.setSourcePosY((short) 121); // 源库位列
			crnCommand.setSourcePosZ((short) 1); // 源库位层
			crnCommand.setSourcePosZ((short) 2); // 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
			@@ -1012,7 +1061,57 @@
			}
			crnThread.setBackHpFlag(true);
			}
			} else {
			int y = 1; // 默认列
			int x=1;
			switch (crnProtocol.getCrnNo()){
			case 1: x =1; break;
			case 2: x =3; break;
			case 3: x =5; break;
			case 4: x =7; break;
			}
			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;
			}

			if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
			if (crnProtocol.getBay() == y) {
			return;
			}

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

			// 堆垛机有执行中任务
			if (wrkMastMapper.selectCrnWorking(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) x); // 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);
			}
			}
			// }
			}