#

whycq

2023-12-19 55df48de02ac8e60c2cc8248980b061aaec19389

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

@@ -45,10 +45,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -151,6 +148,12 @@

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStepBarcode(barcode);
                    if (wrkMast1 !=null){
                        if (wrkMast1.getIoType()==103 || wrkMast1.getIoType()==107 || wrkMast1.getIoType()==104){
                            continue;
                        }
                    }
                    if (wrkMast != null) {
                        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;
@@ -199,11 +202,7 @@

                            if(!Cools.isEmpty(ledThread)){
                                String errorMsg =  jsonObject.getString("msg");
                                if(!Cools.isEmpty(errorMsg)){
                                    LedCommand ledCommand = new LedCommand();
                                    ledCommand.setTitle(errorMsg);
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(9, ledCommand));
                                }
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl+"/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
@@ -638,6 +637,7 @@
     * 入库  ===>>  堆垛机站到库位
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        Collections.shuffle(slave.getCrnInStn());
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
@@ -775,6 +775,11 @@
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            // 获取工作状态为14的工作档 且 出库任务为盘点/拣料出库的任务
            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep14(slave.getId(), crnStn.getStaNo());
            if ( wrkMast1 !=null) {
                continue;
            }
            for (WrkMast wrkMast : wrkMasts){
                if (wrkMast == null) {
                    continue;
@@ -1058,35 +1063,109 @@
            return;
        }

        // 已经存在吊车执行任务时，则过滤
        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
            return;
        }
        // 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, wrkMast.getSourceLocNo())) {
            String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
            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")) {
                WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                if (null == waitWrkMast) {
                    log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                } else {
                    if(waitWrkMast.getWrkSts() == 11) {
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                    } else {

        // 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(sourceSta.getRow1().shortValue());     // 源库位排
        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
        crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
        crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.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 11.生成出库ID => 12.吊车出库中
            Date now = new Date();
            wrkMast.setWrkSts(12L);
            wrkMast.setCrnStrTime(now);
            wrkMast.setModiTime(now);
            if (wrkMastMapper.updateById(wrkMast) == 0) {
                log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }
            } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                            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);
                // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                if (Cools.isEmpty(waitWrkMast)) {
                    wrkMast.setUpdMk("Y");
                    wrkMastMapper.updateById(wrkMast);
                    // 生成工作档,将浅库位移转到新的库位中
                    moveLocForDeepLoc(slave, shallowLoc);
                }
                log.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(),shallowLocNo);

            } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")){
                WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                if (null != waitWrkMast && waitWrkMast.getWrkSts()==4) {
                }
            }else if(shallowLoc.getLocSts().equals("O")){
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    return;
                }

                // 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(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(sta.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 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                }
            }
        }else {
            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                return;
            }

            // 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(sourceSta.getRow1().shortValue());     // 源库位排
            crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(sta.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 11.生成出库ID => 12.吊车出库中
                Date now = new Date();
                wrkMast.setWrkSts(12L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("【库位移转】 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }



    }

@@ -1438,7 +1517,7 @@
//                ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10 ) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme())));
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getSpecs(),wrkDetl.getModel())));
                }
                commands.add(ledCommand);
            }
@@ -1451,15 +1530,15 @@
            }
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (led.getId() == 7) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                if (led.getId()>4){
                    if (!MessageQueue.offer(SlaveType.Led, led.getId()-4, new Task(3, commands))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
                    }
                } else {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(1, commands))) {
                }else {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
@@ -1541,20 +1620,10 @@
            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, led.getId());
            // led显示默认内容
            if (reset && !ledThread.isLedMk()) {
                if (led.getId() == 7) {
                    ledThread.setLedMk(true);
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(4, new ArrayList<>()))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                ledThread.setLedMk(true);
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                    log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                } else {
                    ledThread.setLedMk(true);
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(2, new ArrayList<>()))) {
                        log.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    } else {

                    }
                }
            }
        }