任务类型

Junjie

2023-05-19 5be703454588c433e9a33ac5c9cfd68c38caa89b

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

@@ -124,8 +124,9 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
//                if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
@@ -280,7 +281,7 @@
                }

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
@@ -323,20 +324,20 @@
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.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：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }
//                // 获取条码扫描仪信息
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.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：{}", pickSta.getBarcode(), barcode);
//                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        continue;
//                    }
//                } else {
//                    continue;
//                }

                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -351,21 +352,8 @@
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }

                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -486,9 +474,8 @@
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.getTaskFinish() == 1
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {

                        // 命令下发区 --------------------------------------------------------------------------

                        // 下发站点信息
@@ -530,11 +517,6 @@
                continue;
            }

            //堆垛机回原点任务中
            if(crnThread.isBackHpFlag()){
                continue;
            }

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
@@ -564,62 +546,6 @@
//            this.crnRebackHp(crnProtocol, crnThread);

        }
    }

    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     */
    public synchronized void crnRebackHp(CrnProtocol crnProtocol, CrnThread crnThread){
//        for (CrnSlave crn : slaveProperties.getCrn()) {
//            // 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){
                    return;
                }

                // 已经存在吊车执行任务时，则过滤3,12
                if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                //堆垛机有执行中任务，过滤3,4,11,12
                if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                //输送线没有入库任务，过滤2
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                    return;
                }
                log.info("堆垛机召回原点==>>" + crnProtocol.getCrnNo() + "号堆垛机有入库任务,召回原点");
                // 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.GO_ORIGIN); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 0);     // 源库位排
                crnCommand.setSourcePosY((short) 0);     // 源库位列
                crnCommand.setSourcePosZ((short) 0);     // 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))) {
                    log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
                crnThread.setBackHpFlag(true);
            }
//        }
    }

    /**
@@ -790,6 +716,9 @@

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
                if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                    continue;
                }

                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
@@ -827,20 +756,22 @@
                                    }
                                    continue;
                                } else {

                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                            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(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！", wrkMast.getWrkNo());
                            log.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")){
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
@@ -1082,33 +1013,28 @@
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                if(crnProtocol.getTaskNo()==9999){
            if (crnProtocol.getTaskFinish() == 1 && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    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  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                    wrkMast.setWrkSts(4L);
                } else {
                    continue;
                }
                Date now = new Date();
                wrkMast.setCrnEndTime(now);
                wrkMast.setModiTime(now);
                Integer integerWrkMast = wrkMastMapper.updateById(wrkMast);
                // 修改成功后复位堆垛机
                if (integerWrkMast > 0) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                }else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null) {
                        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  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                    }
                }

            }
        }
    }
@@ -1133,13 +1059,13 @@
                    BasErrLog latest = basErrLogService.findLatestByTaskNo(crn.getId(), crnProtocol.getTaskNo().intValue());
                    // 有异常
                    if (latest == null) {
                        if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                        if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(crnProtocol.getTaskNo());
                            if (wrkMast == null) {
                                continue;
                            }
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
@@ -1154,7 +1080,7 @@
                                    wrkMast.getSourceStaNo(),    // 源站
                                    wrkMast.getSourceLocNo(),    // 源库位
                                    wrkMast.getBarcode(),    // 条码
                                    (int) crnProtocol.getAlarm(),    // 异常码
                                    (int) crnProtocol.getAlarm1(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
@@ -1169,7 +1095,7 @@
                        }
                    } else {
                        // 异常修复
                        if (crnProtocol.getAlarm() == null || crnProtocol.getAlarm() == 0) {
                        if (crnProtocol.getAlarm1() == null || crnProtocol.getAlarm1() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
@@ -1182,11 +1108,11 @@
                } else {
                    BasErrLog latest = basErrLogService.findLatest(crn.getId());
                    // 有异常
                    if (crnProtocol.getAlarm() != null && crnProtocol.getAlarm() > 0) {
                    if (crnProtocol.getAlarm1() != null && crnProtocol.getAlarm1() > 0) {
                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm()):crnError.getErrName();
                        if (latest == null || (latest.getErrCode() != crnProtocol.getAlarm1().intValue())) {
                            BasCrnError crnError = basCrnErrorMapper.selectById(crnProtocol.getAlarm1());
                            String errName = crnError==null? String.valueOf(crnProtocol.getAlarm1()):crnError.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
@@ -1201,7 +1127,7 @@
                                    null,    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    (int)crnProtocol.getAlarm(),    // 异常码
                                    (int)crnProtocol.getAlarm1(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
@@ -1253,7 +1179,8 @@
                }

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
//                if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
                if ( emptyInSta.getStaNo()==203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) { continue; }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
@@ -1377,13 +1304,21 @@
                }
                // 获取工作档数据
                WrkMast wrkMast = wrkMastMapper.selectById(staProtocol.getWorkNo());
                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
//                if (null == wrkMast || wrkMast.getWrkSts() < 14 || wrkMast.getIoType() < 100) { continue; }
                if (null == wrkMast) { continue; }
                wrkMasts.add(wrkMast);
                // 组装命令
                LedCommand ledCommand = new LedCommand();
                ledCommand.setWorkNo(wrkMast.getWrkNo());
                ledCommand.setIoType(wrkMast.getIoType());
                // 出库模式
                switch (wrkMast.getIoType()) {
                    case 1:
                        ledCommand.setTitle("全板入库");
                        break;
                    case 10:
                        ledCommand.setTitle("空板入库");
                        break;
                    case 101:
                        ledCommand.setTitle("全板出库");
                        break;
@@ -1405,8 +1340,10 @@
                        break;
                }
                ledCommand.setSourceLocNo(wrkMast.getSourceLocNo());
                ledCommand.setLocNo(wrkMast.getLocNo());
                ledCommand.setStaNo(wrkMast.getStaNo());
                if (wrkMast.getIoType() != 110) {
//                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())));
                }
@@ -1493,7 +1430,7 @@
                if (staProtocol == null) {
                    continue;
                }
                if (staProtocol.getWorkNo() != 0) {
                if (staProtocol.getWorkNo() != 0 && staProtocol.isLoading()) {
                    reset = false;
                    break;
                }
@@ -1864,22 +1801,33 @@
            for (DevpSlave devp : slaveProperties.getDevp()) {
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

                WrkMast pakout = wrkMastMapper.selectWorkingPakout();
                if (pakout != null) {
                    if (devpThread.ioMode != IoModeType.PAKOUT_MODE) {
                        // 出库切换中
                        devpThread.ioMode = IoModeType.PAKOUT_BOOTING;

                        WrkMast pakin = wrkMastMapper.selectWorkingPakin();
                        if (pakin == null) {
                            // 出库模式
                            devpThread.ioMode = IoModeType.PAKOUT_MODE;
                        }
                for (DevpSlave.Sta inSta : devp.getInSta()) {
                    if (inSta.getStaNo() == 2) {
                        continue;
                    }
                } else {
                    // 入库模式
                    devpThread.ioMode = IoModeType.PAKIN_MODE;
                    WrkMast pakout = wrkMastMapper.selectWorkingPakout(inSta.getStaNo());
                    switch (inSta.getStaNo()) {
                        case 203://1F
                            if (pakout != null) {
                                if (devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                                    // 出库切换中
                                    devpThread.ioModeOf2F = IoModeType.PAKOUT_BOOTING;
                                    WrkMast pakin = wrkMastMapper.selectWorkingPakin(inSta.getStaNo());
                                    if (pakin == null && !devpThread.getStation().get(inSta.getStaNo()).isLoading()
                                            && !devpThread.getStation().get(inSta.getStaNo()+1).isLoading()
                                            && devpThread.getStation().get(inSta.getStaNo()+1).getWorkNo()==0) {
                                        // 出库模式
                                        devpThread.ioModeOf2F = IoModeType.PAKOUT_MODE;
                                    }
                                }
                            } else {
                                // 入库模式
                                devpThread.ioModeOf2F = IoModeType.PAKIN_MODE;
                            }
                            break;
                    }
                }

            }

        } catch (Exception e) {