#

luxiaotao1123

2022-03-12 51e4d62209c3f194d6c424f634f4edb784509d09

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

@@ -99,21 +99,6 @@
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
            for (DevpSlave.Sta inSta : devp.getInSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
@@ -122,11 +107,27 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                        && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        && staProtocol.isPakMk()) {

                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, inSta.getBarcode());
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -134,17 +135,9 @@
                        log.error("工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        continue;
                    }
//                    // 获取入库通知档
//                    List<WaitPakin> waitPakins = waitPakinMapper.selectList(new EntityWrapper<WaitPakin>().eq("zpallet", barcode).eq("io_status", "N"));
//                    if (waitPakins.isEmpty()) {
//                        log.error("无此入库条码数据。条码号={}", barcode);
//                        continue;
//                    }

                    try {

                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
@@ -159,7 +152,7 @@
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // plc 处理
                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
@@ -171,18 +164,13 @@
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

                }


            }
        }

    }

    /**
@@ -203,9 +191,11 @@
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                if (staProtocol.isAutoing() && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999))
                        && staProtocol.isPakMk()) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -228,13 +218,9 @@
                    } else {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }

                }


            }
        }

    }

    /**
@@ -483,7 +469,7 @@
            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
//                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
@@ -514,36 +500,43 @@
                // 没有小车
                } else {

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    // 当前入库库位组没有小车 堆垛机则去站点取货入库
                    // case 1：从始至终库位组都没有小车，没有迁出小车动作，所以工作状态 = 2
                    // case 2：堆垛机已经搬出小车，有迁出小车动作，所以工作状态 = 6
                    if (wrkMast.getWrkSts() == 2L || wrkMast.getWrkSts() == 6L) {

                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }

                        // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                        crnCommand.setTaskNo(wrkMast.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
                        crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                        crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                        crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                        crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                        } else {
                            // 修改工作档状态  7.吊车入库中
                            Date now = new Date();
                            wrkMast.setWrkSts(7L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                            }
                            return true;
                        }
                    }

                    // 堆垛机入库 命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMast.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
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                    crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态  7.吊车入库中
                        Date now = new Date();
                        wrkMast.setWrkSts(7L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 {} => 7.吊车入库中 失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
                        }
                        return true;
                    }
                }

            // 目标库位 ===>> 非最外层库位
@@ -626,7 +619,7 @@
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
                if (Utils.getGroupRow(locNo) == Utils.getRow(locNo) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                    return steProtocol.getSteNo().intValue();
                }
            }
@@ -764,7 +757,7 @@
                crnCommand.setSourcePosX(steProtocol.getRow());     // 源库位排
                crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                crnCommand.setDestinationPosX((short) Utils.getRow(idleLocNo));     // 目标库位排
                crnCommand.setDestinationPosX(Utils.getGroupRow(idleLocNo).shortValue());     // 目标库位排
                crnCommand.setDestinationPosY((short) Utils.getBay(idleLocNo));     // 目标库位列
                crnCommand.setDestinationPosZ((short) Utils.getLev(idleLocNo));     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
@@ -971,8 +964,8 @@
                    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;
                }
                // 入库 + 库位转移
                if (wrkMast.getWrkSts() == 7 || (wrkMast.getWrkSts() == 15 && wrkMast.getIoType() == 11)){
                // 入库 ==>> 货物搬入库
                if (wrkMast.getWrkSts() == 7){
                    // 判断是否需要小车入库
                    if (locMastService.isOutMost(wrkMast.getLocNo())) {
                        // ==> 9.入库完成