#改造

cpT

2025-07-03 4da282d3a87fb648ae6865929f5862b27d05a562

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

@@ -4,6 +4,7 @@
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.core.common.SpringUtils;
import com.core.exception.CoolException;
import com.zy.asrs.controller.CrnController;
import com.zy.asrs.domain.enums.TaskStatusType;
@@ -106,6 +107,7 @@
    private TaskWrkLogServiceImpl taskWrkLogService;
    @Autowired
    private BasPlcerrorLogServiceImpl basPlcerrorLogService;
    public Long currentTimeMilliConnectCrnAuto= 0L;

    public void generateStoreWrkFile() {
        try {
@@ -135,31 +137,55 @@
                        back = true;
                    }
                    if (staProtocol.isFrontErr()) {
                        errMsg = "前超限";
                        if (!back){
                            errMsg = "前超限";
                        } else {
                            errMsg = errMsg+"---"+"前超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isBackErr()) {
                        errMsg = "后超限";
                    if (staProtocol.isBackErr()) {
                        if (!back){
                            errMsg = "后超限";
                        } else {
                            errMsg = errMsg+"---"+"后超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isHighErr()) {
                        errMsg = "高超限";
                    if (staProtocol.isHighErr()) {
                        if (!back){
                            errMsg = "高超限";
                        } else {
                            errMsg = errMsg+"---"+"高超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isLeftErr()) {
                        errMsg = "左超限";
                    if (staProtocol.isLeftErr()) {
                        if (!back){
                            errMsg = "左超限";
                        } else {
                            errMsg = errMsg+"---"+"左超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isRightErr()) {
                        errMsg = "右超限";
                    if (staProtocol.isRightErr()) {
                        if (!back){
                            errMsg = "右超限";
                        } else {
                            errMsg = errMsg+"---"+"右超限";
                        }
                        back = true;
                    }
//                    if (!back && staProtocol.isWeightErr()) {
//                        errMsg = "超重";
//                        back = true;
//                    }
                    if (!back && staProtocol.isBarcodeErr()) {
                        errMsg = "扫码失败";
                    if (staProtocol.isBarcodeErr()) {
                        if (!back){
                            errMsg = "扫码失败";
                        } else {
                            errMsg = errMsg+"---"+"扫码失败";
                        }
                        back = true;
                    }
                    // 退回
@@ -178,6 +204,7 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -642,6 +669,9 @@
            }

            CrnSlave crnSlave = new CrnSlave(crn);
            if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
                continue;
            }

            if (!crn.getId().equals(crnProtocol.getLaneNo())) {
                for (CrnSlave crnOther : slaveProperties.getCrn()) {
@@ -721,26 +751,61 @@
                    log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                    continue;
                }

                if (crnProtocol.getLaneNo()!=0 && (crnProtocol.getBay()!=1 || crnProtocol.getLevel()!=1)){
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0) {
                if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto<1000*60*10){
                    continue;
                }
                if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getLoaded().equals((short)0) && crnProtocol.getLaneNo()!=0 && crnProtocol.getTaskNo() == 0 ) {
                    if (crnProtocol.getBay()!=1 || crnProtocol.getLevel()!=1){
                        //获取工作档
                        List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
                        if (!taskWrks.isEmpty()) {
                            continue;
                        }
                        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",true));
                        if (taskWrkLogs.isEmpty()) {
                            CrnCommand command = new CrnCommand();
                            if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(4, command))) {
                                log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());
                        if (!taskWrkLogs.isEmpty()) {
                            TaskWrkLog taskWrkLog = taskWrkLogs.get(0);
                            Date completeTime = taskWrkLog.getCompleteTime();
                            if (completeTime==null){
                                completeTime = taskWrkLog.getCancelTime();
                                if (completeTime==null){
                                    completeTime = taskWrkLog.getModiTime();
                                }
                            }
                            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
                            if (differenceInSeconds <= 60*10*1000) {
                                return;
                            }
                        }
//                        long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(taskWrkLogs.get(0).getCompleteTime(), new Date());
//                        if (differenceInSeconds <= 1000) {
//                            return;
//                        }
                        // 命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                        crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                        crnCommand.setTaskNo((short)999); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  库位移转
                        crnCommand.setSourcePosX((short) 0);     // 源库位排
                        crnCommand.setSourcePosY((short) 0);     // 源库位列
                        crnCommand.setSourcePosZ((short) 0);   // 源库位层
                        int row = crnProtocol.getLaneNo() * 2;
                        crnCommand.setDestinationPosX((short) row);     // 目标库位排
                        crnCommand.setDestinationPosY((short) 1);     // 目标库位层
                        crnCommand.setDestinationPosZ((short) 1);     // 目标库位列
                        if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                            log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());

                            if (System.currentTimeMillis()-currentTimeMilliConnectCrnAuto>1000*60*10){
                                try{
                                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                                    deviceErrorService.addDeviceError("CrnErr", crnProtocol.getCrnNo(), "堆垛机自动回源点失败");
                                } catch (Exception e2){
                                }
                                if (currentTimeMilliConnectCrnAuto == 0){
                                    currentTimeMilliConnectCrnAuto = System.currentTimeMillis()-1000*60*10-1;
                                } else {
                                    currentTimeMilliConnectCrnAuto = System.currentTimeMillis();
                                }
                            }
                        }
                    }
                }
            } catch (Exception e){
@@ -767,6 +832,9 @@
            }

            CrnSlave crn = new CrnSlave(crnSlave);
            if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
                continue;
            }

            if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
                for (CrnSlave crnOther : slaveProperties.getCrn()) {
@@ -923,7 +991,7 @@
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setCrnNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                crnCommand.setTaskNo(taskWrk.getWrkNo().shortValue()); // 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
@@ -1268,6 +1336,9 @@
                }

                CrnSlave crn = new CrnSlave(crnSlave);
                if (Cools.isEmpty(crnProtocol.getLaneNo()) || crnProtocol.getLaneNo()==0){
                    continue;
                }

                if (!crnSlave.getId().equals(crnProtocol.getLaneNo())) {
                    for (CrnSlave crnOther : slaveProperties.getCrn()) {
@@ -1287,11 +1358,14 @@
                    }
//                Thread.sleep(300);
                    //确认完成信号
                    CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
                    crnOperatorParam.setCrnNo(crn.getId());
//                    CrnOperatorParam crnOperatorParam = new CrnOperatorParam();
//                    crnOperatorParam.setCrnNo(crn.getId());
                    Date now = new Date();

                    crnController.crnTaskComplete(crnOperatorParam);
//                    crnController.crnTaskComplete(crnOperatorParam);
//                    MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, command))
                    crnThread.setResetFlag(true);

                    if (!Cools.isEmpty(taskWrk)) {
                        if (taskWrk.getIoType() == 1 && taskWrk.getWrkSts() == 3) {
                            taskWrk.setWrkSts(4);//入库完成
@@ -1415,8 +1489,8 @@
                                        null,    // 结束时间
                                        taskWrk.getWrkSts().longValue(),    // 工作状态
                                        taskWrk.getIoType(),    // 入出库类型
                                        crn.getId(),    // 堆垛机
                                        null,    // plc
                                        taskWrk.getCrnNo(),    // 巷道号
                                        crn.getId(),    // 堆垛机号
                                        taskWrk.getTargetPoint(),    // 目标库位
                                        0,    // 目标站
                                        0,    // 源站
@@ -1462,8 +1536,8 @@
                                        null,    // 结束时间
                                        null,    // 工作状态
                                        null,    // 入出库类型
                                        crn.getId(),    // 堆垛机
                                        null,    // plc
                                        crnProtocol.getLaneNo(),    // 堆垛机
                                        crn.getId(),    // plc
                                        null,    // 目标库位
                                        null,    // 目标站
                                        null,    // 源站
@@ -1810,6 +1884,11 @@
            return null;
        }
        // 判断是否满足取货条件
        if (!staProtocol.isPakMkTask()) {
            devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
            return null;
        }
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
//                && staProtocol.isStaOk()
@@ -1818,8 +1897,20 @@
            if (taskWrk != null) {
                Integer stano = staProtocol.getStaNo();
                if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
                    // 判断是否满足取货条件
                    if (!staProtocol.isPakMkRun()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
                        return null;
                    }
                    if (!staProtocol.isLoading()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
                        return null;
                    }
                    if (!staProtocol.isInEnable()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
                        return null;
                    }
                    if (!staProtocol.isStaOk()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
                        return null;
                    }
                    // 尺寸检测异常
@@ -1830,31 +1921,55 @@
                        back = true;
                    }
                    if (staProtocol.isFrontErr()) {
                        errMsg = "前超限";
                        if (!back){
                            errMsg = "前超限";
                        } else {
                            errMsg = errMsg+"---"+"前超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isBackErr()) {
                        errMsg = "后超限";
                    if (staProtocol.isBackErr()) {
                        if (!back){
                            errMsg = "后超限";
                        } else {
                            errMsg = errMsg+"---"+"后超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isHighErr()) {
                        errMsg = "高超限";
                    if (staProtocol.isHighErr()) {
                        if (!back){
                            errMsg = "高超限";
                        } else {
                            errMsg = errMsg+"---"+"高超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isLeftErr()) {
                        errMsg = "左超限";
                    if (staProtocol.isLeftErr()) {
                        if (!back){
                            errMsg = "左超限";
                        } else {
                            errMsg = errMsg+"---"+"左超限";
                        }
                        back = true;
                    }
                    if (!back && staProtocol.isRightErr()) {
                        errMsg = "右超限";
                    if (staProtocol.isRightErr()) {
                        if (!back){
                            errMsg = "右超限";
                        } else {
                            errMsg = errMsg+"---"+"右超限";
                        }
                        back = true;
                    }
//                    if (!back && staProtocol.isWeightErr()) {
//                        errMsg = "超重";
//                        back = true;
//                    }
                    if (!back && staProtocol.isBarcodeErr()) {
                        errMsg = "扫码失败";
                    if (staProtocol.isBarcodeErr()) {
                        if (!back){
                            errMsg = "扫码失败";
                        } else {
                            errMsg = errMsg+"---"+"扫码失败";
                        }
                        back = true;
                    }
                    // 退回
@@ -1870,6 +1985,8 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(staProtocol.getStaNo()+1);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
                        devpThread.setPakMkTask(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                        try{
@@ -1971,6 +2088,11 @@
                    boolean itSmall = new TrackRangeUtils().IsItSmall(rgvSlave);
                    if (basDevpPositions.isEmpty()) {
                        log.error("获取所有站点信息异常");
                        try{
                            DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                            deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成：获取所有站点信息异常");
                        } catch (Exception e2){
                        }
                        continue;
                    }
                    List<TaskWrk> taskWrkList = new ArrayList<>();
@@ -2287,6 +2409,11 @@
                }
            } catch (Exception e) {
                log.error("任务生成失败===》异常信息：{}", e.getMessage());
                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "指令生成失败");
                } catch (Exception e2){
                }
            }
        }
    }
@@ -2326,6 +2453,7 @@
        try {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());

            TaskProtocol issuedTake = new TaskProtocol();
            TaskProtocol issuedPut = new TaskProtocol();
@@ -2348,6 +2476,12 @@
                        return false;
                    }
                }
                try{
                    devpThread.setPakMkTask(rgvStn.getStaNo(), false);
                } catch (Exception e2){
                    RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
                }


                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));
@@ -2386,6 +2520,11 @@
                log.error("任务生成失败issued1===》异常信息：{}", e.getMessage());
                RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued1");

                try{
                    DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                    deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "任务生成失败issued1");
                } catch (Exception e2){
                }
                return false;
            }

@@ -2404,6 +2543,12 @@
        } catch (Exception e) {
            log.error("任务生成失败issued2===》异常信息：{}", e.getMessage());
            RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"站点任务生成失败issued2");

            try{
                DeviceErrorService deviceErrorService = SpringUtils.getBean(DeviceErrorService.class);
                deviceErrorService.addDeviceError("rgvErr", rgvSlave.getId(), "站点任务生成失败issued2");
            } catch (Exception e2){
            }
        }
        return true;
    }