#双车+自动出入空板

zjj

2024-01-25 5e4d358ec9bf65501358ad43971b7c630494a435

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

@@ -173,6 +173,7 @@
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发1："+wrkNo+","+inSta.getBackSta());
                }

                // 判断是否满足入库条件
@@ -224,25 +225,26 @@
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
                            if (!result) {
                                News.error(methodName + ":更新plc站点信息失败");

                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            staProtocol.setWorkNo(wrkNo);
                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            if (ledThread != null) {
                                String errorMsg = jsonObject.getString("msg");
                                if (!Cools.isEmpty(errorMsg)) {
                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                                }
                            }
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
//                            staProtocol.setWorkNo(wrkNo);
//                            wrkNo++;
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            if (ledThread != null) {
//                                String errorMsg = jsonObject.getString("msg");
//                                if (!Cools.isEmpty(errorMsg)) {
//                                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
//                                }
//                            }
//                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }


@@ -304,6 +306,7 @@
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发3："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                    if (result) {
                        // 更新工作主档
                        wrkMast.setWrkSts(2L); // 工作状态：2.设备上走
@@ -394,6 +397,7 @@
                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue()-(short)1));
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发4："+9989+","+(pickSta.getStaNo().shortValue()-(short)1));
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -449,6 +453,7 @@
                    staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                    if (!result) {
                        News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
@@ -507,7 +512,7 @@

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
@@ -771,6 +776,7 @@
            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
            crnCommand.setTraySize(locMast.getLocType1() == 2);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error(""+mark+" - 1"+" - 16"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
@@ -932,6 +938,7 @@
                    crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                    crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                        News.error(""+mark+" - 2"+" - 13"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
@@ -1094,6 +1101,10 @@
            News.error(""+mark+" - 3"+" - 2"+" - 工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            return;
        }
        if(sta.getLocType1() != sourceSta.getLocType1()){
            News.error("移库目标库位类型与源库位类型不符");
            return;
        }
        // 获取堆垛机信息 并 判断是否可入出
        BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
        if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
@@ -1126,6 +1137,7 @@
        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
        crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
        } else {
@@ -1346,6 +1358,7 @@
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && (staProtocol.getWorkNo() !=0 && staProtocol.getWorkNo() > 9700)
                        ) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

@@ -1371,6 +1384,7 @@
                            staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
                            if (!result) {
                                News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
@@ -2026,79 +2040,104 @@

    public synchronized void autoEmptyOut() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoOutSite = 12;
        //如果站点可出禁用，则不生成空盘出库任务
        StaProtocol staProtocol = devpThread.getStation().get(autoOutSite);
        if (staProtocol == null) {
            return;
        } else {
            staProtocol = staProtocol.clone();
        }
        if (staProtocol.isAutoing()  //自动
                && !staProtocol.isLoading()  //无物
                && staProtocol.isOutEnable()  //可出信号
                && staProtocol.getWorkNo() == 0
        ) {
            WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(autoOutSite);
            if (null != pakoutEmpty) {
        List<Integer> list = new ArrayList<>();
        list.add(102);list.add(111);
        for (Integer site:list){
            //如果站点可出禁用，则不生成空盘出库任务
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            try {
                String response = new HttpHandler.Builder()
                        .setUri(wmsUrl)
                        .setPath("/rpc/auto/emptyOut/v1")
                        .build()
                        .doPost();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
                    JSONObject data = (JSONObject) jsonObject.get("data");
                    News.info((String) data.get("msg"));
                } else {
                    News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
            if (staProtocol.isAutoing()  //自动
                    && !staProtocol.isLoading()  //无物
                    && staProtocol.isOutEnable()  //可出信号
                    && staProtocol.getWorkNo() == 0
            ) {
                WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(site);
                if (null != pakoutEmpty) {
                    return;
                }
            } catch (Exception e) {
                e.printStackTrace();
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                Short loctype1 = 1;
                if (site == 102){
                    loctype1 = 2;
                }
                LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
                locTypeDto.setSiteId(site);
                try {
                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/emptyOut/v1")
                            .setJson(JSON.toJSONString(locTypeDto))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        JSONObject data = (JSONObject) jsonObject.get("data");
                        News.info((String) data.get("msg"));
                    } else {
                        News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
                    }
                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            }
        }

    }

    public synchronized void autoEmptyIn() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoInSite = 12;
        StaProtocol staProtocol = devpThread.getStation().get(autoInSite);
        if (staProtocol == null) {
            return;
        } else {
            staProtocol = staProtocol.clone();
        }
        if (staProtocol.isAutoing()  //自动
                && staProtocol.isLoading()  //有物
                && staProtocol.isInEnable()  //可入信号
                && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
        ) {

            try {
                LocTypeDto locTypeDto = new LocTypeDto((short) 1, (short) 1, (short) 1);


                String response = new HttpHandler.Builder()
                        .setUri(wmsUrl)
                        .setPath("/rpc/auto/emptyIn/v1")
                        .setJson(JSON.toJSONString(locTypeDto))
                        .build()
                        .doPost();
                JSONObject jsonObject = JSON.parseObject(response);
                if (jsonObject.getInteger("code").equals(200)) {
                    News.info((String) jsonObject.get("msg"));
                } else {
                    News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
                }
            } catch (Exception e) {
                e.printStackTrace();
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
        List<Integer> list = new ArrayList<>();
        list.add(153);list.add(157);
        for (Integer site:list){
            StaProtocol staProtocol = devpThread.getStation().get(site);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing()  //自动
                    && staProtocol.isLoading()  //有物
                    && staProtocol.isInEnable()  //可入信号
                    && staProtocol.isPakMk()
                    && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990) //工作号为0或者工作号是9991~9999（输送机留用）
            ) {

                try {
                    Short loctype1 = 1;
                    if (site == 153){
                        loctype1 = 2;
                    }
                    LocTypeDto locTypeDto = new LocTypeDto(loctype1, (short) 1, (short) 1);
                    locTypeDto.setSiteId(site);

                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/emptyIn/v1")
                            .setJson(JSON.toJSONString(locTypeDto))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        News.info((String) jsonObject.get("msg"));
                        staProtocol.setWorkNo(jsonObject.get("data").hashCode());
                        staProtocol.setStaNo(site.shortValue());
                        devpThread.setPakMk(site,false);
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                    } else {
                        News.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyIn/v1", JSON.toJSONString(locTypeDto), response);
                    }
                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            }

        }

    }

    /*
@@ -2189,7 +2228,7 @@
                ){
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0){
                        if (rgvProtocol.getTaskNo1()==9999){
                        if (rgvProtocol.getTaskNo1()==32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -2204,14 +2243,12 @@
                            log.error("未查到小车执行任务或者执行任务状态不符合！"+wrkMastSta);
                            continue;
                        }
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
//                        boolean rgvComplete = true;
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }

                        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                        StaProtocol staProtocol = devpThread.getStation().get(wrkMastSta.getStaEnd());
                        if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                            continue;
                        }
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            if (!staProtocol.isPakMk()){
@@ -2221,9 +2258,16 @@
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            log.error("rgv任务完成给输送线下发命令："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol))) {
                                continue;
                            }
                        }
                        boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
//                        boolean rgvComplete = true;
                        if (!rgvComplete){
                            log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
                            break;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
@@ -2246,6 +2290,7 @@
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
        boolean wrkEnable = false;
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
@@ -2277,6 +2322,7 @@
                            continue;
                        }
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta); //命令下发
                        wrkEnable = true;
                        if (sign){
                            boolean signMap = rgvMapUpdate(basRgvMap, wrkMastSta.getStaStart(), wrkMastSta.getStaEnd());
                            if (signMap){
@@ -2286,7 +2332,7 @@
                                }catch (Exception e){
                                    log.error("更新小车任务失败");
                                }
                                return;
                                break;
                            }else {
                                log.error("3864行，货物搬运任务：工作号{}所属任务下发后地图同步失败",wrkMastSta.getWrkNo());
                            }
@@ -2297,6 +2343,9 @@
                    }
                }

            }
            if (!wrkEnable){
                rgvRunWrkMastEmptyStaAvoidance();
            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
@@ -2464,6 +2513,11 @@
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                        continue;
                    }
                    if (rgvProtocol.getRgvNo()==1 && rgvProtocol.getRgvPosI().equals(100)){
                        continue;
                    } else if (rgvProtocol.getRgvNo()==2 && rgvProtocol.getRgvPosI().equals(157)  ){
                        continue;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                }
@@ -2511,7 +2565,7 @@
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( (short)161);
                rgvCommand.setSourceStaNo1( (short)157);
                rgvCommand.setCommand((short) 1);   //工位1任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                    //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务   step=9，回原点 9999任务号