#

lsh

2024-06-19 599ae6e6576ba332043dd89c4ed39bae8220fe7c

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

@@ -427,9 +427,10 @@
//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -3344,6 +3345,14 @@
                if (basDevp135.getReportSign()!=0){
                    continue;
                }
                BasDevp basDevp121 = basDevpService.selectById(121);
                if (basDevp121.getReportSign()!=0){
                    continue;
                }
                BasDevp basDevp120 = basDevpService.selectById(120);
                if (basDevp120.getReportSign()!=0){
                    continue;
                }
                WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
                if (Cools.isEmpty(wrkMast131)){
                    continue;
@@ -3707,6 +3716,27 @@
                            }
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (staProtocol.isLoadingSuper()){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!staProtocol.isEmptyMk()){
                                continue;
                            }
                        }

                        log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取放任务下发：目标站状态："+basDevp);
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
@@ -3790,6 +3820,27 @@
                                }
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                                continue;
                            }
                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                                if (staProtocol.isLoadingSuper()){
                                    continue;
                                }
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!staProtocol.isEmptyMk()){
                                    continue;
                                }
                            }

                            log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"拆盘任务下发：目标站状态："+basDevp);
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
@@ -3877,6 +3928,27 @@
                                }
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"满放任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                                continue;
                            }
                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                                if (staProtocol.isLoadingSuper()){
                                    continue;
                                }
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!staProtocol.isEmptyMk()){
                                    continue;
                                }
                            }

                            log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满放任务下发：目标站状态："+basDevp);
                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
@@ -3956,6 +4028,22 @@
                                }
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!staProtocol.isEmptyMk()){
                                    continue;
                                }
                            }

                            log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"叠盘任务下发：目标站状态："+basDevp);
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
@@ -4037,6 +4125,17 @@
                                continue;
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"满取任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading()){
                                continue;
                            }

                            log.info(date+"满取任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满取任务下发：目标站状态："+basDevp);
                            sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
@@ -4118,11 +4217,11 @@
                        }
                    }
                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                        signRgv = false;
                        break;
                        signRgv1 = false;
                        continue;
                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                        signRgv = false;
                        break;
                        signRgv2 = false;
                        continue;
                    }
                }else {
                    signRgv = false;
@@ -4146,9 +4245,15 @@
                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                    ) {
                        if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                            continue;
                        } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                            continue;
                        }
                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());

                    }
                }
            }