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1

7 天以前 428afb64e7fc9b7c3701eacab98086fb622cca7b

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

@@ -121,7 +121,7 @@
    private Integer inventoryNumber;

    public Integer wrkNo = 10001;
    public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
    public static final List<Integer> LEFT_POSITION = Arrays.asList(1004,1014,1018,1028,1035,2006,2012,2018,2024,2030);
    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -496,7 +496,6 @@
                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发4："+9996+","+(pickSta.getStaNo().shortValue()-(short)1));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -1079,7 +1078,7 @@
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);
            //预调度
            this.crnRebackHp(crnProtocol, crnThread);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
@@ -1102,6 +1101,9 @@
                case 5: x =18; break;
            }

            if(crnProtocol.getCrnNo() != 5){
                return;
            }
            // 已经存在吊车执行任务时，则过滤3,12
            if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                return;
@@ -1375,6 +1377,13 @@
                    staProtocol2 = staProtocol2.clone();
                }
                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol4004 = devpThread2.getStation().get(4004);
                if (staProtocol4004 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4004);
                    break;
                } else {
                    staProtocol4004 = staProtocol4004.clone();
                }
                StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
                if (staProtocol3 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
@@ -1398,6 +1407,9 @@
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    if(staProtocol4004.isLoading()){
                        continue;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
@@ -1437,6 +1449,9 @@
                        break;
//                        return;
                    }
                    if(staProtocol4004.isLoading()){
                        continue;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -1466,6 +1481,8 @@
                }
            }
            if (slave.getId() == 3 && wrkMast9996 != null) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);

                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
                if (staProtocol4001 == null) {
@@ -1473,6 +1490,20 @@
                    break;
                } else {
                    staProtocol4001 = staProtocol4001.clone();
                }
                StaProtocol staProtocol2013 = devpThread2.getStation().get(2013);
                if (staProtocol2013 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2013);
                    break;
                } else {
                    staProtocol2013 = staProtocol2013.clone();
                }
                StaProtocol staProtocol1019 = devpThread1.getStation().get(1019);
                if (staProtocol1019 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol1019);
                    break;
                } else {
                    staProtocol1019 = staProtocol1019.clone();
                }
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
@@ -1490,6 +1521,12 @@
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    if(staProtocol1019.isLoading() && wrkMast9996.getStaNo() < 2000){
                        continue;
                    }
                    if(staProtocol2013.isLoading() && wrkMast9996.getStaNo() > 2000){
                        continue;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
@@ -2239,6 +2276,12 @@
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
                    case 12:
                        ledCommand.setTitle("物料衔接");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点再入库");
                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
@@ -2262,6 +2305,20 @@
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
                if(wrkMast.getIoType() == 12){
                    List<WrkDetl> wrkDetls = wrkDetlService.findByBarcode(wrkMast.getBarcode());
                    wrkDetls.forEach(wrkDetl -> {
                        Double total = 0.0;
                        EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
                        LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                        if (Cools.isEmpty(locDetl)) {
                            total = wrkDetl.getAnfme();
                        } else {
                            total = locDetl.getAnfme();
                        }
                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
                    });
                }
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

@@ -2351,6 +2408,9 @@
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                }
//                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
//                    News.error("{}号LED显示默认命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                }
            }
        }
    }
@@ -2954,52 +3014,18 @@
                    log.error("{}号RGV尚未在数据库进行维护！2", rgvSlave.getRgvNo());
                    continue;
                }

                // 只有当RGV空闲、自动,工位一无物//rgv可用
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE &&
                    rgvProtocol.getModeType() == RgvModeType.AUTO
                    && !rgvProtocol.isLoaded1ing()  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                    && rgvProtocol.getTaskNo1()==0
                        && !rgvProtocol.isLoaded2ing()
                        && rgvProtocol.getTaskNo2()==0
                        &&rgvThread.isPakMk()
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());

                    Integer rgvNoOther = basRgvMap.getRgvNoOther((int) rgvProtocol.getRgvNo());
                    RgvThread rgvThreadOther = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvNoOther);
                    RgvProtocol rgvProtocolOther = rgvThreadOther.getRgvProtocol();
                    if (rgvProtocolOther == null) {
                        continue;
                    }else {
                        rgvProtocolOther = rgvProtocolOther.clone();
                    }
                    if (rgvProtocolOther.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocolOther.getModeType() == RgvModeType.AUTO
                        && !rgvProtocolOther.isLoaded1ing()
                        && rgvProtocolOther.getTaskNo1()==0
                        && !rgvProtocolOther.isLoaded2ing()
                        && rgvProtocolOther.getTaskNo2()==0
                        &&rgvThreadOther.isPakMk()
                    ){
                        //对工作档进行判断
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        if (rgvProtocol.getTaskNo1() >0 && rgvProtocol.getTaskNo1()<=9000){
                            WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                            rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd(),"2366");
                        }else if (rgvProtocol.getTaskNo1() == 0){
                            rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute(),"2366");
                        }

                    }



                Integer site = rgvProtocol.getRgvNo() == 1 ? rgvProtocol.getRgvPosI1() : rgvProtocol.getRgvPosI2();
                if (site == 0) {
                    continue;
                }
                rgvSlave.setNowRoute(site); // 更新小车当前位置站点号
                if (!basRgvMapService.updateById(rgvSlave)) {
                    log.error("小车更新地图失败");
                }

            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
            log.error("小车更新地图失败");
        }
    }

@@ -3330,6 +3356,7 @@
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
                    basRgvMapService.updateById(basRgvMap);
                    Integer workNo = 0;
                    if(rgvProtocol.getTaskNo2() > 9999|| rgvProtocol.getTaskNo1() > 9999){
                        workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1() : rgvProtocol.getTaskNo2();
@@ -3384,7 +3411,7 @@
                        continue;
                    }

                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                    if (staProtocol.isAutoing()  && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                        flag = true;
                    }
                    if (!flag) {
@@ -3396,6 +3423,7 @@
                    }
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
                    basRgvMapService.updateById(basRgvMap);
                    Integer workNo = 0;
                    if(basRgv.getPakToCrn().equals("1")){
                        workNo = rgvProtocol.getTaskNo1() !=0 ? rgvProtocol.getTaskNo1():rgvProtocol.getTaskNo2();  //正常情况出库放货优先工位1放
@@ -3491,11 +3519,11 @@
                basRgvService.updateById(basRgv);
                rgvThread.setPakMk(true);
            }
            List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
            if(wrkMastStaPakingNum.size() <1){
                basRgv.setPakAll("1"); //防止无其他任务时，连续取货无法恢复
                basRgvService.updateById(basRgv);
            }
//            List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
//            if(wrkMastStaPakingNum.size() <1){
//                basRgv.setPakAll("1"); //防止无其他任务时，连续取货无法恢复
//                basRgvService.updateById(basRgv);
//            }

        }
    }
@@ -3529,7 +3557,7 @@
            // 只有当RGV空闲 并且 无任务时才继续执行
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
                    rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
                    && basRgv.getPakToCrn().equals("1") && rgvThread.isPaking()) {
                     && rgvThread.isPaking()) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
                // 如果最近一次是入库模式
//                rgvRunWrkMastInTest();
@@ -3775,13 +3803,13 @@
            basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMapService.updateById(basRgvMap);
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
            if(basRgv.getPakToCrn().equals("0")){
                wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//处理接驳任务时，连续只取接驳任务
            }
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            boolean result = false;
            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
@@ -3792,6 +3820,18 @@
                basRgvService.updateById(basRgv);

                continue;
            }
            if(wrkMastSta != null &&LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
                if (staProtocolSta == null) {
                    News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                    continue;
                } else {
                    staProtocolSta = staProtocolSta.clone();
                }
                if(staProtocolSta.isLoading()){
                    continue;
                }
            }
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
@@ -3807,7 +3847,6 @@
                        }
                    }
                }

                if(wrkMastSta3 != null ){
                    List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
                    if(wrkMastStaPaking.size() < 1){
@@ -3826,7 +3865,6 @@
                basRgvService.updateById(basRgv);

                rgvThread.setPaking(false);
//                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
@@ -4714,7 +4752,7 @@
                    // 判断重复工作档
                    List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("source_sta_no", outStaAgv.getStaNo()));
                    if (!basAgvMastList.isEmpty()) {
                        News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
//                        News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }