#

TQS

2024-08-15 3ad8eac4b257e4bfcaef175ec1477758ad71a420

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

@@ -213,7 +213,7 @@
                            // plc 处理
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            staProtocol.setStaNo(Utils.getStaNoConvertCentreOther3(dto.getStaNo(),inSta.getStaNo()).shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);

                            ledThread.errorReset();
@@ -844,6 +844,67 @@
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        try{
                            if (crnSlave.getId()!=2){
                                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
                                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                                if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                                    // 移动中
                                    continue;
                                }
                                WrkMast onlyWrkNo = wrkMastMapper.selectByOnlyWrkNo(crnProtocol.getTaskNo().intValue());
                                if (Cools.isEmpty(onlyWrkNo) && (crnStn.getStaNo()  == 112 || crnStn.getStaNo() == 212)){
                                    //  判断堆垛机状态等待确认
                                    if (crnProtocol.modeType == CrnModeType.AUTO
                                            && crnProtocol.statusType == CrnStatusType.WAITING
                                            && crnProtocol.forkPosType == CrnForkPosType.HOME
                                            && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                                        News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                                        // 下发站点信息
                                        News.error("new867===>"+crnProtocol.getTaskNo());
                                        News.error("new867===>"+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).toString());
                                        staProtocol.setWorkNo(crnProtocol.getTaskNo());
                                        staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                            continue;
                                        }
                                        // 复位堆垛机
                                        crnThread.setResetFlag(true);
                                        continue;
                                    }
                                }
                                if (Cools.isEmpty(onlyWrkNo) ||
                                        ((onlyWrkNo.getStaNo()!=114 && onlyWrkNo.getStaNo()!=214 &&
                                                onlyWrkNo.getSourceStaNo()!=114 && onlyWrkNo.getSourceStaNo()!=214)
                                                &&
                                                (onlyWrkNo.getStaNo()!=113 && onlyWrkNo.getStaNo()!=213 &&
                                                        onlyWrkNo.getSourceStaNo()!=113 && onlyWrkNo.getSourceStaNo()!=213))
                                ){
                                    continue;
                                }
                                //  判断堆垛机状态等待确认
                                if (crnProtocol.modeType == CrnModeType.AUTO
                                        && crnProtocol.statusType == CrnStatusType.WAITING
                                        && crnProtocol.forkPosType == CrnForkPosType.HOME
                                        && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                                    News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                                    // 下发站点信息
                                    News.error("new867===>"+crnProtocol.getTaskNo());
                                    News.error("new867===>"+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).toString());
                                    staProtocol.setWorkNo(crnProtocol.getTaskNo());
                                    staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                                    if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                        continue;
                                    }
                                    // 复位堆垛机
                                    crnThread.setResetFlag(true);
                                    continue;
                                }
                            }
                        } catch (Exception e){
                            News.info("堆垛机接驳任务完成，异常："+e.getMessage());
                        }
                        continue;
                    }
                    // 判断工作档条件
@@ -866,7 +927,9 @@

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        News.error("new902===>"+crnProtocol.getCrnNo().toString());
                        News.error("new902===>"+wrkMast.getStaNoConvert(crnProtocol.getCrnNo()).toString());
                        staProtocol.setStaNo(wrkMast.getStaNoConvert(crnProtocol.getCrnNo()).shortValue());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
@@ -969,8 +1032,78 @@

            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
//                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
            if(null == wrkMast){
                try{
                    WrkMast onlyWrkNo = wrkMastMapper.selectByOnlyWrkNo(staProtocol.getWorkNo().intValue());
                    if (!Cools.isEmpty(onlyWrkNo) && onlyWrkNo.getCrnNo()==2 && onlyWrkNo.getWrkSts()==2 && crnProtocol.getCrnNo()!=2 && (onlyWrkNo.getIoType()==1 || onlyWrkNo.getIoType()==10)){
                        //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }
                        if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.IDLE
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                            // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(onlyWrkNo.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
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                            crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                            crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                            }
                            return true;
                        }
                    } else if (!Cools.isEmpty(onlyWrkNo) && onlyWrkNo.getCrnNo()==2 && onlyWrkNo.getWrkSts()>16 && crnProtocol.getCrnNo()!=2 && onlyWrkNo.getIoType()>100){
                        //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }
                        if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.IDLE
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                            // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(onlyWrkNo.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
                            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                            crnCommand.setDestinationPosX(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                            crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                            crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                            }
                            return true;
                        }
                    }
                        continue;
                } catch (Exception e){
                    News.info("堆垛机接驳任务执行，异常："+e.getMessage());
                }
                continue;
            }

@@ -1189,6 +1322,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.loca==0) continue;
                        if (steProtocol.isIdle()) {

                            // 已经存在吊车执行任务时，则过滤
@@ -1257,10 +1391,21 @@
    public synchronized boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        Collections.shuffle(slave.getCrnOutStn());
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
            // 获取工作状态为11,12,13,14,15, 16（生成出库ID）的出库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
            if (wrkMast == null) {
                continue;
            }

            /*
             * 100、200存在进行中的盘点任务，则不执行盘点任务
             * */
            if (wrkMast.getIoType().equals(107)){
                Integer countPan = wrkMastMapper.selectWrkStsAndIoType107Count(wrkMast.getSourceStaNo(),wrkMast.getWrkNo());
                if (countPan > 0){
                    News.error("MainServiceImpl  locToCrnStn 1271行"+"盘点出库跳过，存在进行中可能堵塞任务数{}个",countPan);
                    continue;
                }
            }

            // 获取堆垛机出库站信息
@@ -1286,7 +1431,7 @@
                    Integer sour = wrkMast.getSourceStaNo();
                    List<WrkMast> wrkMasts = wrkMastMapper.selectWrkStsAndIoType0(sour);
                    if (wrkMasts.size() > 0){
                        News.error("MainServiceImpl  1028行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        News.error("MainServiceImpl  1300行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        return false;
                    }

@@ -1295,7 +1440,7 @@
                            .eq("sta_no",300)
                            .last(" and wrk_sts>11 and io_type in (103,107) "));
                    if(!Cools.isEmpty(one)){
                        News.error("MainServiceImpl  1099行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        News.error("MainServiceImpl  1309行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        continue;
                    }
                }
@@ -1514,6 +1659,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {

                                //小车只能绑定一笔作业中任务
@@ -2535,6 +2681,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.loca==0) continue;
            if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                return steProtocol.getSteNo().intValue();
            }
@@ -2551,6 +2698,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.loca==0) continue;
            if (steProtocol.isIdle()) {
                if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                    return steProtocol.getSteNo().intValue();
@@ -2969,6 +3117,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
//                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3061,6 +3210,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
//                        if (steProtocol.loca==0) continue;
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
@@ -3133,6 +3283,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
//                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3329,6 +3480,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3358,6 +3510,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.loca==0) continue;
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
@@ -3399,6 +3552,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.loca==0) continue;
            if (steProtocol.getWaiting() && steProtocol.getTaskNo() == 0){
                News.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo());
            }