#和得服务器

1

2025-09-29 4747e5dcb4066161b42a7a54cab542949ad5826c

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

@@ -129,7 +129,6 @@
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                BarcodeThread barcodeThreadMat = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcodeMat());
                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());
@@ -143,13 +142,9 @@
                    continue;
                }

                if (barcodeThreadMat == null) {
                    continue;
                }

                String barcode = barcodeThread.getBarcode();

                String barcodeMat = barcodeThreadMat.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
@@ -212,7 +207,8 @@
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()) {
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        News.error(JSON.toJSONString(staProtocol));
                        News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        // led 异常显示
                        if (ledThread != null) {
@@ -339,6 +335,7 @@
//                            }
//                        }
                        else {
                            News.error(JSON.toJSONString(staProtocol));
                            staProtocol.setWorkNo(wrkNo);
                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -1050,61 +1047,61 @@
            } else {
                staProtocol = staProtocol.clone();
            }
            if (slave.getId() == 3) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
                if (staProtocol2 == 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);
                    break;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo((short) 9996); // 工作号
//                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX((short) 5);     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 4);     // 源库位层
                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 1);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
                        wrkMast9999.setWrkSts(3L);
                        wrkMast9999.setCrnStrTime(now);
                        wrkMast9999.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
                        }
                        break;
                    }
                }
            }
//            if (slave.getId() == 3) {
//                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
//                if (staProtocol2 == 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);
//                    break;
//                } else {
//                    staProtocol2 = staProtocol2.clone();
//                }
//                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
//                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//                if (staDetl == null) {
//                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                    break;
////                    continue;
//                }
//                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
//                    // 堆垛机控制过滤
//                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
////                        continue;
//                        break;
//                    }
//                    // 已经存在吊车执行任务时，则过滤
//                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                        break;
////                        return;
//                    }
//                    // 1.堆垛机开始移动
//                    CrnCommand crnCommand = new CrnCommand();
//                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                    crnCommand.setTaskNo((short) 9996); // 工作号
////                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                    crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//                    crnCommand.setSourcePosX((short) 5);     // 源库位排
//                    crnCommand.setSourcePosY((short) 1);     // 源库位列
//                    crnCommand.setSourcePosZ((short) 4);     // 源库位层
//                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
//                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
//                    crnCommand.setDestinationPosZ((short) 1);     // 目标库位层
////                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
//                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
//                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.getCrnNo(), JSON.toJSON(crnCommand));
//                    } else {
//                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                        Date now = new Date();
//                        wrkMast9999.setWrkSts(3L);
//                        wrkMast9999.setCrnStrTime(now);
//                        wrkMast9999.setModiTime(now);
//                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
//                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
//                        }
//                        break;
//                    }
//                }
//            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
@@ -2564,18 +2561,18 @@
    public synchronized void autoEmptyOut() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        List<Integer> list = new ArrayList<>();
        list.add(1108);list.add(2031);
        list.add(1109);list.add(2031);
        for (Integer site:list){
            Integer emptyCount = wrkMastMapper.countPakOutEmpty(site);
            StaProtocol staProtocol = null;
            if(emptyCount >= 2 && site == 1108){
            if(emptyCount >= 2 && site == 1109){
                continue;
            }else if(emptyCount == 1 && site == 2031){
                continue;
            }
            //如果站点可出禁用，则不生成空盘出库任务
            switch (site){
                case 1108:staProtocol = devpThread.getStation().get(site - 2);break;
                case 1109:staProtocol = devpThread.getStation().get(site - 2);break;
                case 2031:staProtocol = devpThread.getStation().get(site);break;
            }
            if (staProtocol == null) {
@@ -2620,6 +2617,7 @@
        list.add(1038);
        for (Integer site:list){
            StaProtocol staProtocol = devpThread.getStation().get(site);
            StaProtocol staProtocol1 = devpThread.getStation().get(1040);
            if (staProtocol == null) {
                return;
            } else {
@@ -2629,9 +2627,11 @@
                    && staProtocol.isLoading()  //有物
                    && staProtocol.isInEnable()  //可入信号
                    && staProtocol.isPakMk()
                    && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
                    && staProtocol1.isFull() //叠满信号
                    && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990 ) //工作号为0或者工作号是9991~9999（输送机留用）
            ) {

                System.out.println(staProtocol);
                try {
                    Short loctype1 = 1;
                    LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
@@ -3091,16 +3091,20 @@
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI()); //更新小车当前位置站点号
                    Integer workNo = rgvProtocol.getTaskNo2() !=0 ? rgvProtocol.getTaskNo2() : rgvProtocol.getTaskNo1(); //入库放货优先工位2执行
                    WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNoPut(workNo);
                    WrkMast wrkMast = wrkMastMapper.selectByWrkNo(workNo);
                    if( null == wrkMastSta ) {
                        News.infoNoLog( " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                        continue;
                    }


                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            wrkMast.setSheetNo("2");
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            wrkMastMapper.updateById(wrkMast);
                            log.error("更新小车任务成功");
                        }catch (Exception e){
                            log.error("更新小车任务失败");
@@ -3159,7 +3163,7 @@
                    boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                    if (sign){
                        try{
                            wrkMastSta.setWrkSts(3);
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
                        }catch (Exception e){
@@ -3191,6 +3195,7 @@
            List<WrkMastSta> wrkMastStaList = wrkMastStaService.selectList(
                    new EntityWrapper<WrkMastSta>()
                            .eq("wrk_sts" ,2)
                    .eq("rgv_no", rgvProtocol.getRgvNo())
            );
            for(WrkMastSta wrkMastSta : wrkMastStaList){
                if(!Objects.equals(wrkMastSta.getWrkNo(), taskNo1) && !Objects.equals(wrkMastSta.getWrkNo(), taskNo2)){
@@ -3203,7 +3208,11 @@
                    }
                }
            }
            if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && !rgvProtocol.isLoaded1ing() && !rgvProtocol.isLoaded2ing()){
            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
                    && !rgvProtocol.isLoaded1ing()
                    && !rgvProtocol.isLoaded2ing()){
                rgvThread.setPakRgv(true);
                rgvThread.setPakIn(true);
                rgvThread.setPakOut(true);
@@ -3270,7 +3279,7 @@
//                rgvPreScheduling();//若暂无下发任务预调度提前到取货点
//            }

            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE && rgvProtocol.getModeType() == RgvModeType.AUTO) {
                //小车执行放货任务
                rgvOutExecute();

@@ -3339,6 +3348,17 @@
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                if(wrkMastSta2 != null){
                    wrkMastSta2.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta2);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }
            }
            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
@@ -3391,9 +3411,7 @@
            boolean sign = false;
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                }

                rgvThread.setPakOut(false);//出库不允许
                try{
                    wrkMastSta.setWrkSts(1);
@@ -3433,6 +3451,19 @@
                    News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>>Rgv站点在数据库不存在, 站点编号={}", rgvStn.getStaNo());
                    continue;
                }
                WrkMastSta wrkMastSta2 = wrkMastStaMapper.selectByWrkNo(staProtocol2.getWorkNo());
                if(wrkMastSta2 != null){
                    wrkMastSta2.setMk(1);
                    try{
                        wrkMastStaMapper.updateById(wrkMastSta2);
                        log.error("锁定相隔站点任务");
                    }catch (Exception e){
                        log.error("锁定相隔站点任务失败");
                    }

                }


            }
            if (staProtocol == null) {
                News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv出库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
@@ -3485,6 +3516,9 @@
            boolean sign = false;
            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    rgvThread.setPakToCrn(false); //锁定小车只能接接驳任务
                }
                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
@@ -3899,6 +3933,7 @@
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    barcode="999997";
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
@@ -3909,7 +3944,7 @@

                    List<BasArm> basArmList = basArmService.selectList(new EntityWrapper<BasArm>()
                            .eq("arm_no", armSta.getArmNo())
                            .eq("sta_no", armSta.getStaNo())
                            .eq("sta_no_sou", armSta.getStaNo())
                            .eq("status", 1));
                    for (BasArm basArm : basArmList) {
                        if (basArm.getStatus()!=1){
@@ -3970,19 +4005,19 @@
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                        int workNo = commonService.getWorkNo(6);//待完善
                        // 更新站点信息 且 下发plc命令
                        staProtocol.setWorkNo(workNo);
                        staProtocol.setStaNo(armSta.getStaNoEnd().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5："+workNo+","+armSta.getStaNoEnd());
                        if (!result) {
                            News.error(""+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }
//                    if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
//                        int workNo = commonService.getWorkNo(6);//待完善
//                        // 更新站点信息 且 下发plc命令
//                        staProtocol.setWorkNo(workNo);
//                        staProtocol.setStaNo(armSta.getStaNoEnd().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5："+workNo+","+armSta.getStaNoEnd());
//                        if (!result) {
//                            News.error(""+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
//                        }
                        basArmMastService.updateArmMastStatus(basArmMastList.get(0).getArmNo(),basArmMastList.get(0).getSortingLine(),4,5);
                    }
//                    }
                }
            }
        } catch (Exception e){
@@ -4001,6 +4036,16 @@
                    continue;
                }
                try{
                    List<BasArmMast> basArmMastListError = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
                                    .eq("sorting_line", basArm.getSortingLineSou())
                                    .eq("status", 9)
                    );
                    if (!basArmMastListError.isEmpty()){
                        log.error(basArm.getArmNo()+"号机械臂存在异常数据需要维护！！！");
                        continue;
                    }
                    List<BasArmMast> basArmMastListRuning = basArmMastService.selectList(
                            new EntityWrapper<BasArmMast>()
                                    .eq("arm_no", basArm.getArmNo())
@@ -4057,7 +4102,7 @@
                                continue;
                            }
                        }
                        ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLineSou());
                        ArmTaskAssignmentParam armTaskAssignmentParam = new ArmTaskAssignmentParam(basArm.getSortingLine());
                        //设置工作空间就绪
                        ReturnT<String> result = new PostMesDataUtils().postMesData("机械臂抓取任务下发：通知工作空间已就绪",ArmConstant.getArmUrl(basArmMast.getArmNo()), ArmConstant.ARM_WORKSPACE, armTaskAssignmentParam);
                        if (result.getCode()==200){