#

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();
@@ -844,28 +844,66 @@
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        // 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;
                        }
                        //  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
                            staProtocol.setWorkNo(crnProtocol.getTaskNo());
                            staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                        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;
                                }
                            }
                            // 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;
                    }
@@ -889,6 +927,8 @@

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().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;
@@ -992,34 +1032,77 @@

            // 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 || (wrkMast.getCrnNo()==2 && wrkMast.getWrkSts()==2 && crnProtocol.getCrnNo()!=2)) {
//                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;
                }
                //  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(staProtocol.getWorkNo()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setCommand((short) 0);
                    crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE); // 任务模式:  站位转移
                    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));
            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;
                        }
                    }
                    return true;
                        continue;
                } catch (Exception e){
                    News.info("堆垛机接驳任务执行，异常："+e.getMessage());
                }
                continue;
            }