#

zjj

2025-01-10 4c6ac55bbdfd2426274014047126da179bde367c

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

@@ -213,6 +213,9 @@
                            if (taskWrk.getStatus() != 2){
                                continue;
                            }
                            if (!staProtocol.isPakMk()){
                                continue;
                            }
                            //获取堆垛机站点
                            StaDesc staDesc = new StaDesc();
                            if (devp.getId() <= 1){
@@ -222,9 +225,11 @@
                                staDesc = staDescService.selectOne(new EntityWrapper<StaDesc>()
                                        .eq("crn_no", taskWrk.getCrnNo()).eq("type_no",1).lt("stn_no", 400).ge("stn_no", 250));
                            }

                            staProtocol.setWorkNo(taskWrk.getWrkNo().shortValue());
                            staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            Thread.sleep(500);
                        }else {
                            //TaskWrk taskWrk = taskWrkService.selectByTaskNo(param.getTaskNo());
@@ -489,11 +494,10 @@
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", taskWrk.getWrkNo());
                }
                TaskWrk taskWrk2 = taskWrkService.selectByWrkNo(taskWrk.getWrkNo());

                if (taskWrk2.getWrkSts() != 3){
                    continue;
                }
                log.error("进入修改工作档流程完成,taskWrk=", taskWrk.getWrkNo());
                log.error("进入修改工作档流程完成,taskWrk="+ taskWrk.getWrkNo());


                //取出命令
@@ -606,18 +610,21 @@

                        // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                        if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
//                            // 获取浅库位，状态为S直接出，状态为R，则找到这个库位的工作档，提升优先级先出
//                            String shallowLoc = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
//                            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", shallowLoc));
//                            if (locMast.getLocSts().equals("R")) {
//                                List<TaskWrk> wrkMastList = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>().eq("source_loc_no", locMast.getLocNo()));
//                                if (!wrkMastList.isEmpty()) {
//                                    TaskWrk wrkMast = wrkMastList.get(0);
//                                    wrkMast.setIoPri(99);
//                                    taskWrkMapper.updateById(wrkMast);
//                                    continue;
//                                }
//                            }
                            // 获取浅库位，状态为S直接出，状态为R，则找到这个库位的工作档，提升优先级先出
                            String shallowLoc = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>().eq("loc_no", shallowLoc));
                            if (locMast.getLocSts().equals("Z")) {
                                List<TaskWrk> wrkMastList = taskWrkMapper.selectList(new EntityWrapper<TaskWrk>().eq("start_point", locMast.getLocNo()));
                                if (!wrkMastList.isEmpty()) {
                                    TaskWrk wrkMast = wrkMastList.get(0);
                                    wrkMast.setIoPri(99);
                                    taskWrkMapper.updateById(wrkMast);
                                    log.warn("{}对应浅库位有货，提升{}库位优先级",taskWrk.getStartPoint(),wrkMast.getStartPoint());
                                    continue;
                                } else {
                                    log.error("{}对应浅库位有货，但没有移库任务",taskWrk.getStartPoint());
                                }
                            }

                            taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());

@@ -678,6 +685,8 @@
                            taskWrk.setModiTime(now);
                            if (taskWrkMapper.updateById(taskWrk) == 0) {
                                log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                            }else {
                                log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中！！，工作号={}", taskWrk.getWrkNo());
                            }
                            //开始运行
                            String response = CrnStartRunning(taskWrk);
@@ -707,7 +716,6 @@
                    .eq("wrk_sts",11)
                    .eq("io_type",3));
            for (TaskWrk taskWrk : taskWrks){

                // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
@@ -717,7 +725,7 @@
                    }
                }
                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                if (!crnProtocol.getModeType().equals(CrnModeType.AUTO) || !crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                    continue;
                }

@@ -799,16 +807,23 @@
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", taskWrk.getWrkNo());
                    }else{
                        log.info("移库任务下发任务成功，修改工作档状态 11.生成出库ID => 12.吊车出库中 ，工作号={}", taskWrk.getWrkNo());
                    }
                    //开始运行
                    String response = CrnStartRunning(taskWrk);
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                    try{
                        String response = CrnStartRunning(taskWrk);
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {

                    }else {
                        log.error("移库任务开始运行通讯失败,"+jsonObject.get("msg"));
                        continue;
                        }else {
                            log.error("移库任务开始运行wms返回失败,"+jsonObject.get("msg"));
                            continue;
                        }
                    }catch (Exception e){
                        log.error("移库任务开始运行请求wms报错,"+e.getMessage());
                    }

                    break;
                }
                return;
@@ -832,11 +847,12 @@
            if (crnProtocol.getTaskFinish() == 0 && crnProtocol.statusType == CrnStatusType.HANDLING_COMPLETED && crnProtocol.getTaskNo() != 0) {
                //获取入库待确认工作档
                TaskWrk taskWrk = taskWrkMapper.selectCrnNoInWorking(crn.getId(),crnProtocol.getTaskNo().intValue());

                if (Cools.isEmpty(taskWrk)) {
//                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }

                log.info("收到申请完成请求：" + taskWrk);
                //获取指令ID
//                Integer commandId = crnProtocol.getCommandId();
//                CommandInfo commandInfo = new CommandInfo();
@@ -1054,7 +1070,7 @@
            try {
                taskWrkService.distribute(taskWrk.getTaskNo(), 9527L);
            } catch (Exception e) {
                log.error("自动派发任务异常："+e.getMessage()+"{" + taskWrk.toString());
//                log.error("自动派发任务异常："+e.getMessage()+"{" + taskWrk.toString());
            }
        }
    }