#

ytfl

2025-07-18 4dbce6777784f9e4f0da92d03d8b966188bf2393

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

@@ -462,6 +462,7 @@
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(now);
                        wrkMast.setUpdMk("");//允许再次移库
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }
@@ -711,6 +712,78 @@
    }

    /**
     * 堆垛机有入库任务时，回入库口待机
     */
    public synchronized void crnMoveByInTask() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (crn.getId() == 1) {
                continue;
            }

            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
            if (basCrnp == null) {
                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                continue;
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if (crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
                    continue;
                }

                if (System.currentTimeMillis() - crnProtocol.getLastCommandTime() < 1000 * 60) {
                    continue;
                }

                Object object = redisUtil.get(RedisConstantType.CRN_MOVE_LOCK);
                if (object != null) {
                    continue;
                }

                List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                        .eq("crn_no", crn.getId())
                        .eq("wrk_sts", 2)
                );
                if (wrkMasts.isEmpty()) {
                    continue;
                }

                CrnSlave.CrnStn crnStn = crn.getCrnInStn().get(0);

                News.info("堆垛机有入库任务时，回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.CRN_MOVE); // 任务模式:  堆垛机移动
                crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
                redisUtil.set(RedisConstantType.CRN_MOVE_LOCK + crn.getId(), "lock", 60);
                try {
                    Thread.sleep(500);
                } catch (Exception e) {
                    e.printStackTrace();
                }
            }
        }
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
@@ -790,7 +863,7 @@
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}",shallowLoc.getLocSts());
                    News.warn(""+mark+" - 1"+" - 9"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位={},库位状态={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        News.error(""+mark+" - 1"+" - 10"+" - {}库位异常，未检索到相应工作档！", shallowLocNo);
@@ -803,10 +876,14 @@
                            }
                            continue;
                        }

                        if(waitWrkMast.getWrkSts() < 5 && waitWrkMast.getIoType() < 100) {
                            continue;//有任务禁止搬运，有可能浅库位状态还未变更完成
                        }
                    }

                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    News.warnNoLog(""+mark+" - 1"+" - 12"+" - // F、D  库位状态={}",shallowLoc.getLocSts());
                    News.warn(""+mark+" - 1"+" - 12"+" - // F、D  库位={},库位状态={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        if (moveLocForDeepLoc(slave, shallowLoc,mark)){
@@ -824,7 +901,7 @@
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    News.warnNoLog(""+mark+" - 1"+" - 13"+" - // Q  库位状态={}",shallowLoc.getLocSts());
                    News.warn(""+mark+" - 1"+" - 13"+" - // Q  库位={},库位状态={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        News.infoNoLog(""+mark+" - 1"+" - 14"+" - // F、D  工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());
@@ -832,7 +909,7 @@
                    }
                }
            }
            News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
            News.info(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
                    ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
                    ,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());

@@ -984,7 +1061,7 @@
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}",shallowLoc.getLocSts());
                            News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位={},库位状态={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
@@ -1001,7 +1078,7 @@
                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D  库位状态={}",shallowLoc.getLocSts());
                            News.warnNoLog(""+mark+" - 2"+" - 9"+" - // F、D  库位={},库位状态={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
@@ -1022,7 +1099,7 @@
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S  库位状态={}",shallowLoc.getLocSts());
                            News.warnNoLog(""+mark+" - 2"+" - 10"+" - // Q、S  库位={},库位状态={}",shallowLoc.getLocNo(),shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                News.infoNoLog(""+mark+" - 2"+" - 11"+" - // F、D  工作状态(判断条件为==4)={}",waitWrkMast.getWrkSts());