#

lsh

21 小时以前 5ae3b6c3d604f16c2ecc5057d720d5d79c8c091b

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

@@ -111,6 +111,8 @@
    private BasArmMastService basArmMastService;
    @Autowired
    private ApiLogService apiLogService;
    @Autowired
    private BasDevpOptService basDevpOptService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -121,7 +123,7 @@
    private Integer inventoryNumber;

    public Integer wrkNo = 10001;
    public static final List<Integer> LEFT_POSITION = Arrays.asList(1018,2018);
    public static final List<Integer> LEFT_POSITION = Arrays.asList(1004,1014,1018,1028,1035,2006,2012,2018,2024,2030);
    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -201,6 +203,7 @@
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
                    }
                    staProtocol.setWorkNo(wrkNo);
                    staProtocol.setErrCode(errMsg);
                    News.info("异常判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                    wrkNo++;
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -229,6 +232,7 @@
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
                        staProtocol.setWorkNo(wrkNo);
                        staProtocol.setErrCode(errMsg);
                        News.info("条码判断{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                        wrkNo++;
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -299,7 +303,6 @@
                    }
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
                        param.setIoType(1);
@@ -334,6 +337,10 @@
                            staProtocol.setWorkNo(wrkNo);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            switch (jsonObject.getInteger("code")){
                                case 700: staProtocol.setErrCode("未组托");break;
                                case 500: staProtocol.setErrCode("工作档/库存条码数据已存在");break;
                            }
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            News.info("任务下发判断{}入库回退：{}，错误编号{},任务号：{}", inSta.getStaNo(), errMsg,jsonObject.getInteger("code"),wrkNo);
                            wrkNo++;
@@ -496,7 +503,6 @@
                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发4："+9996+","+(pickSta.getStaNo().shortValue()-(short)1));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -1378,6 +1384,13 @@
                    staProtocol2 = staProtocol2.clone();
                }
                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol4004 = devpThread2.getStation().get(4004);
                if (staProtocol4004 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol4004);
                    break;
                } else {
                    staProtocol4004 = staProtocol4004.clone();
                }
                StaProtocol staProtocol3 = devpThread2.getStation().get(2016);
                if (staProtocol3 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
@@ -1401,6 +1414,9 @@
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    if(staProtocol4004.isLoading()){
                        continue;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
@@ -1440,6 +1456,9 @@
                        break;
//                        return;
                    }
                    if(staProtocol4004.isLoading()){
                        continue;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -1469,6 +1488,8 @@
                }
            }
            if (slave.getId() == 3 && wrkMast9996 != null) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);

                SiemensDevpThread devpThread2 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
                StaProtocol staProtocol4001 = devpThread2.getStation().get(4001);
                if (staProtocol4001 == null) {
@@ -1476,6 +1497,20 @@
                    break;
                } else {
                    staProtocol4001 = staProtocol4001.clone();
                }
                StaProtocol staProtocol2013 = devpThread2.getStation().get(2013);
                if (staProtocol2013 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2013);
                    break;
                } else {
                    staProtocol2013 = staProtocol2013.clone();
                }
                StaProtocol staProtocol1019 = devpThread1.getStation().get(1019);
                if (staProtocol1019 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol1019);
                    break;
                } else {
                    staProtocol1019 = staProtocol1019.clone();
                }
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
@@ -1493,6 +1528,12 @@
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                    }
                    if(staProtocol1019.isLoading() && wrkMast9996.getStaNo() < 2000){
                        continue;
                    }
                    if(staProtocol2013.isLoading() && wrkMast9996.getStaNo() > 2000){
                        continue;
                    }
                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
@@ -1995,7 +2036,7 @@
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    crnProtocol.getUuid(),    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
@@ -2043,7 +2084,7 @@
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError == null ? String.valueOf(crnProtocol.getAlarm()) : crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    crnProtocol.getUuid(),    // 编号
                                    null,    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
@@ -2225,7 +2266,8 @@
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                if (null == wrkMast) {
                    if(staProtocol.getWorkNo() > 9999){ //异常退出
                        MessageQueue.offer(SlaveType.Led, 2, new Task(3, "异常退出"));
                        String err = basDevpOptService.getErr(staProtocol.getWorkNo());
                        MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, err));
                    }
                    continue;
                }
@@ -2241,6 +2283,12 @@
                        break;
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
                    case 12:
                        ledCommand.setTitle("物料衔接");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点再入库");
                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
@@ -2265,6 +2313,20 @@
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                ledCommand.setBarcode(wrkMast.getBarcode());
                if(wrkMast.getIoType() == 12){
                    List<WrkDetl> wrkDetls = wrkDetlService.findByBarcode(wrkMast.getBarcode());
                    wrkDetls.forEach(wrkDetl -> {
                        Double total = 0.0;
                        EntityWrapper<LocDetl> wrapper = new EntityWrapper<>();
                        LocDetl locDetl = locDetlService.selectOne(wrapper.eq("zpallet", wrkDetl.getZpallet()).eq("matnr", wrkDetl.getMatnr()));
                        if (Cools.isEmpty(locDetl)) {
                            total = wrkDetl.getAnfme();
                        } else {
                            total = locDetl.getAnfme();
                        }
                        ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getOrderNo(), wrkDetl.getSupp(), wrkDetl.getSku(),wrkDetl.getAnfme(),total));
                    });
                }
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());

@@ -2336,6 +2398,8 @@
            // 命令集合
            boolean reset = true;
            for (Integer staNo : led.getStaArr()) {
//                System.out.println("staArr = " + staNo);

                // 获取叉车站点
                StaProtocol staProtocol = devpThread.getStation().get(staNo);
                if (staProtocol == null) { continue; }
@@ -3248,6 +3312,9 @@
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            if (rgvProtocol.getStatusType1() != RgvStatusType.IDLE && rgvProtocol.getModeType() != RgvModeType.AUTO) {
                continue;
            }
@@ -3357,7 +3424,7 @@
                        continue;
                    }

                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                    if (staProtocol.isAutoing()  && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
                        flag = true;
                    }
                    if (!flag) {
@@ -3464,6 +3531,7 @@
                basRgv.setPakAll("1");
                basRgvService.updateById(basRgv);
                rgvThread.setPakMk(true);

            }
//            List<WrkMastSta> wrkMastStaPakingNum = wrkMastStaService.selectPakingWrkNum(basRgv.getRgvNo());
//            if(wrkMastStaPakingNum.size() <1){
@@ -3483,6 +3551,7 @@
            // 获取堆垛机信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();

            if (rgvProtocol == null) {
                continue;
            }
@@ -3495,6 +3564,9 @@
            if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
                rgvThread.setPaking(true);
            }
            if(rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0 && rgvProtocol.getStatusType1() == RgvStatusType.IDLE){
                rgvThread.setPaking(true);
            }
            if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
                basRgv.setPakAll("1");
                basRgvService.updateById(basRgv);
@@ -3503,7 +3575,7 @@
            // 只有当RGV空闲 并且 无任务时才继续执行
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
                    rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
                    && basRgv.getPakToCrn().equals("1") && rgvThread.isPaking()) {
                     && rgvThread.isPaking()) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行RGV入出库作业下发");
                // 如果最近一次是入库模式
//                rgvRunWrkMastInTest();
@@ -3650,7 +3722,7 @@

                if(wrkMastSta3 != null ){
                    List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
                    if(wrkMastStaPaking.size() < 1 ){//已有标记不再标记
                    if(wrkMastStaPaking.size() < 1 && !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){//已有标记不再标记
                        wrkMastSta3.setMk(1);
                        basRgv.setPakAll("0");
                        basRgvService.updateById(basRgv);
@@ -3749,13 +3821,13 @@
            basRgvMap.setNowRoute(rgvProtocol.getRgvNo() == 1?rgvProtocol.getRgvPosI1():rgvProtocol.getRgvPosI2()); //更新小车当前位置站点号
            basRgvMapService.updateById(basRgvMap);
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectNoInterfere(route, route, Long.valueOf(staProtocol.getWorkNo()));//根据站点工作号和小车工作范围检索任务档
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            WrkMastSta wrkMastSta1 = wrkMastStaMapper.selectByWrkNo( rgvProtocol.getTaskNo1());
            if(basRgv.getPakToCrn().equals("0")){
                wrkMastSta = wrkMastStaMapper.selectNoInterfereCrn(route, route, Long.valueOf(staProtocol.getWorkNo()));//处理接驳任务时，连续只取接驳任务
            }
            if( null == wrkMastSta ) {
                News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts0, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            boolean result = false;
            if(wrkMastSta1!= null && rgvProtocol.getRgvNo() == 1){ //距离计算   2楼单入库口不需要计算
@@ -3767,11 +3839,28 @@

                continue;
            }
            if(wrkMastSta != null &&LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                StaProtocol staProtocolSta = devpThread.getStation().get(wrkMastSta.getStaEnd());
                if (staProtocolSta == null) {
                    News.infoNoLog("" + mark + " - 1" + " - 1" + " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                    continue;
                } else {
                    staProtocolSta = staProtocolSta.clone();
                }
                if(staProtocolSta.isLoading()){
                    continue;
                }
            }
            wrkMastSta.setWorkSta(wrkMastSta1 !=null ? 2 : 1);//若1号工位有任务给2号工位
            wrkMastSta.setRgvNo((int) rgvProtocol.getRgvNo());
            boolean sign = false;

            sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
            if (sign){
                if(wrkMastSta.getMk() == 1){//若已执行
                    basRgv.setPakAll("1");
                    basRgvService.updateById(basRgv);
                }
                if(LEFT_POSITION.contains(wrkMastSta.getStaEnd())){
                    basRgv.setPakToCrn("0");
                    basRgvService.updateById(basRgv);
@@ -3781,8 +3870,7 @@
                        }
                    }
                }

                if(wrkMastSta3 != null ){
                if(wrkMastSta3 != null &&  !wrkMastSta3.getWrkNo().equals(wrkMastSta.getWrkNo())){
                    List<WrkMastSta> wrkMastStaPaking = wrkMastStaService.selectPakingWrk(wrkMastSta3.getStaStart());
                    if(wrkMastStaPaking.size() < 1){
                        wrkMastSta3.setMk(1);
@@ -3790,7 +3878,7 @@
                        basRgvService.updateById(basRgv);
                        try{
                            wrkMastStaMapper.updateById(wrkMastSta3);
                            log.error("锁定相隔站点任务");
                            log.error("锁定相隔站点任务:"+ wrkMastSta3.getWrkNo());
                        }catch (Exception e){
                            log.error("锁定相隔站点任务失败");
                        }
@@ -3800,7 +3888,6 @@
                basRgvService.updateById(basRgv);

                rgvThread.setPaking(false);
//                rgvThread.setPakIn(false);//入库不允许
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
@@ -4292,7 +4379,7 @@
                            //arm任务完成自动组托
                            ReturnT<String> result = new PostMesDataUtils().postMesData("arm任务完成自动组托",wmsUrl, wmsComb, combParam);
                            if (result.getCode()==200){
                                basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,4);
                                basArmMastService.updateArmMastStatus(basArm.getArmNo(),basArm.getSortingLineSou(),3,5);
                            } else {
                                armTaskAssignmentCallApiLogSave(staProtocol, "自动组托失败", staProtocol.getSiteId()+"码垛位置，===》自动组托失败，等待重试", false);
//                                log.error("机械臂抓取任务完成："+JSON.toJSON(basArmMastList)+"===》自动组托失败，等待重试");
@@ -4461,7 +4548,7 @@
                                new EntityWrapper<BasArmMast>()
                                        .eq("arm_no", basArm.getArmNo())
                                        .eq("sorting_line", basArm.getSortingLineSou())
                                        .eq("sku", basArmMast.getSku())
                                        .eq("matnr", basArmMast.getMatnr())
                                        .eq("order_no", basArmMast.getOrderNo())
                                        .eq("binding_tags", basArmMast.getBindingTags())
                        );
@@ -4486,7 +4573,7 @@
                                                    .eq("status", 2)
                                                    .eq("binding_tags", basArmMast.getBindingTags())
                                    );
                                    Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getSku(),basArmMastOne.getBindingTags());
                                    Double anfmeSignOne = basArmMastService.selectBasArmMastSignValue(basArmMastOne.getOrderNo(), basArmMastOne.getMatnr(),basArmMastOne.getBindingTags());

                                    if (anfmeSignOne>1D){
                                        armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在！！！", staProtocol.getSiteId()+"码垛位置，条码数据正在自动组托===>>" + barcode, false);
@@ -4495,12 +4582,12 @@

                                }
                            }
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getSku());
                            OrderDetlValueResultUtil orderDetlValueResultUtil = basArmMastService.selectOrderDetlValue(basArmMast.getOrderNo(), basArmMast.getMatnr());

                            if (Cools.isEmpty(orderDetlValueResultUtil)){
                                continue;
                            }
                            Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getSku(),basArmMast.getBindingTags());
                            Double anfmeSign = basArmMastService.selectBasArmMastSignValue(basArmMast.getOrderNo(), basArmMast.getMatnr(),basArmMast.getBindingTags());
                            orderDetlValueResultUtil.setAnfme(anfmeSign);
                            //订单下发
                            try{
@@ -4691,7 +4778,9 @@
//                        News.info("{}号站点存在任务执行中，请等待任务执行完毕：{}", outStaAgv.getStaNo(), barcode);
                        continue;
                    }

                    if(barcode.equals("0")){
                        continue;
                    }
                    List<LocMast> locMastList = locMastService.selectList(new EntityWrapper<LocMast>().eq("barcode", barcode));
                    if (!locMastList.isEmpty()) {
                        News.info("{}号站点条码信息重复：{}", outStaAgv.getStaNo(), barcode);
@@ -4797,6 +4886,52 @@
        }
    }

    /*
     * agv任务生成 异常送到入库口
     * */
    public synchronized void agvTaskCreateException() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            Integer outStaAgv = 1041;
            // 获取入库站信息
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            StaProtocol staProtocol = devpThread.getStation().get(outStaAgv);
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 判断是否满足入库条件
            if (!staProtocol.isLoading()){
                continue;
            }

            if (staProtocol.isAutoing() && staProtocol.getWorkNo() > 10000) {

                // 判断重复工作档
                List<BasAgvMast> basAgvMastList = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("sta_no", 1037));
                if (!basAgvMastList.isEmpty()) {
                    News.info("{}号站点存在任务执行中，等待任务执行完毕!!!", outStaAgv);
                    continue;
                }
                // 任务生成区 --------------------------------------------------------------------------

                BasAgvMast basAgvMast = new BasAgvMast();
                try {
                    basAgvMast.setTaskNo(staProtocol.getWorkNo());
                    basAgvMast.setSourceStaNo(1041);
                    basAgvMast.setStaNo(1037);
                    basAgvMast.setDevpId(devp.getId());
                    basAgvMast.setIoType(3);//输送==》输送线站点 3
                    basAgvMastService.insert(basAgvMast);
                    break;
                } catch (Exception e) {
                    News.error(JSON.toJSONString(e.getMessage()));
                }
            }
        }
    }


    /*
     * agv任务下发:AGV库位==》输送线站点
@@ -4840,6 +4975,8 @@
        }
    }



    /*
     * agv任务下发:AGV库位==》AGV库位
     * */