# 捷众二期开发

pang.jiabao

2024-06-22 62af9acaccedaea4c4c7efd4e68c8b702cf5a27d

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

@@ -1,7 +1,5 @@
package com.zy.asrs.service.impl;

import HslCommunication.Core.Types.OperateResultExOne;
import HslCommunication.Profinet.Siemens.SiemensS7Net;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
@@ -93,7 +91,7 @@
    private WrkMastService wrkMastService;
    @Value("${wms.url}")
    private String wmsUrl;

    public short wrkNo = 9999;
    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -112,27 +110,94 @@
                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                // 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.isLoading()){
                String barcode = barcodeThread.getBarcode();
                if (Cools.isEmpty(barcode)) {
                    continue;
                }

                if(!staProtocol.isInEnable()) {
                    continue;
                }

                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }

                if (!back && devp.getId() == 2) {
                    if(staProtocol.getWorkNo() == 9907 && '5' != barcode.charAt(0)){
                        errMsg = "条码5只能入7排";
                        back = true;
                    }
                    if(staProtocol.getWorkNo() == 9906 && '5' == barcode.charAt(0)){
                        errMsg = "条码5不能入6排";
                        back = true;
                    }
                }

                //拣料、盘点任务，不进入新板入库方法，直接跳出
                if(staProtocol.getWorkNo() == 9995){
                    continue;
                }

                // 退回
                if (back) {
//                    News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                    if(!staProtocol.isOutEnable()){
//                        continue;
//                    }

                    if (!staProtocol.isLoading()){
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.warn("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errMsg));
                }

//                String barcode11 = barcodeThread.getBarcode();
//                if (Cools.isEmpty(barcode11)){
//                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()>=2){
//                if (Cools.isEmpty(barcode)){
//                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getStamp()>=2){
//                        staProtocol.setStamp(0);
//                        News.info(""+mark+" - 7"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
//                        staProtocol.setWorkNo((short) 9989);
@@ -147,81 +212,41 @@
//                        continue;
//                    }
//                }
                //超宽超高没扫到条码报警
                boolean fig=false;
                for(int i=0;i<8;i++){
                    switch (i){
                        case 0: if(devpThread.startSignal[i]){
                            log.error("前超报警");
                            fig=true;
                        };
                        case 1: if(devpThread.startSignal[i]){
                            log.error("后超报警");
                            fig=true;
                        };
                        case 2: if(devpThread.startSignal[i]){
                            log.error("高超报警");
                            fig=true;
                        };
                        case 3: if(devpThread.startSignal[i]){
                            log.error("左超报警");
                            fig=true;
                        };
                        case 4: if(devpThread.startSignal[i]){
                            log.error("右超报警");
                            fig=true;
                        };
                        case 5: if(devpThread.startSignal[i]){
                            log.error("超重报警");
                            fig=true;
                        };
                        case 6: if(devpThread.startSignal[i]){
                            log.error("未扫到码报警");
                            fig=true;
                        };

                    }
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9990)
                        && staProtocol.isPakMk() && !fig) { //&& staProtocol.getStamp()>=2) {// && !Cools.isEmpty(barcode)) {
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() > 9000
                        && staProtocol.isPakMk() && !back) { //&& staProtocol.getStamp()>=2) {// && !Cools.isEmpty(barcode)) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
//                    try {
//                        Thread.sleep(300);
//                    }catch (Exception e){}

                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);

                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            staProtocol.setWorkNo((short) 9999);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                            News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                            // led 异常显示
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                            }
                            continue;
                        }
                    } else {
                        staProtocol.setWorkNo((short) 9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                        News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }
//                    if(!Cools.isEmpty(barcode) ) {
////                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//
//                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
//                            staProtocol.setWorkNo((short) 9999);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                            News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
//                            // led 异常显示
//                            if (ledThread != null) {
//                                String errorMsg = "扫码失败，请重试";
//                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
//                            }
//                            continue;
//                        }
//                    } else {
//                        staProtocol.setWorkNo((short) 9999);
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//
//                        News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
//                        // led 异常显示
//                        if (ledThread != null) {
//                            String errorMsg = "扫码失败，请重试";
//                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
//                        }
//                        continue;
//                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -233,7 +258,7 @@
                        }
                    }
                    if (wrkMast != null) {
                        News.error(""+mark+" - 4"+" - 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());
                        News.warn(""+mark+" - 4"+" - 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());
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
@@ -406,7 +431,7 @@
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
@@ -440,18 +465,32 @@
                    }

                    // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    int stnNo = 0;
                    if (wrkMast.getIoType() == 103) { // 拣料出库
                        if(wrkMast.getCrnNo() == 1) {
                            stnNo = 104;
                        }else if(wrkMast.getCrnNo() == 2) {
                            stnNo =204;
                        }else if(wrkMast.getCrnNo() == 3) {
                            stnNo = 304;
                        }
                    } else if(wrkMast.getIoType() == 107){ //盘点出库
                        if(wrkMast.getCrnNo() == 1) {
                            stnNo = 101;
                        }else if(wrkMast.getCrnNo() == 2) {
                            stnNo =201;
                        }else if(wrkMast.getCrnNo() == 3) {
                            stnNo = 301;
                        }
                    }
                    if (stnNo == 0) {
                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
                        continue;
                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
                            .eq("stn_no", pickSta.getStaNo()) // 作业站点 = 拣料出库的目标站
                            .eq("stn_no", stnNo) // 作业站点 = 拣料出库的目标站
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
@@ -487,7 +526,7 @@
                        wrkMast.setIoTime(now);
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(100); // 源站
                        wrkMast.setSourceStaNo(wrkMast.getStaNo()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
@@ -656,13 +695,13 @@
            //mark - 3 - ....
            this.locToLoc(crn, crnProtocol,mark);

            if (!Cools.isEmpty(basCrnp.getMoveOrigin()) && basCrnp.getMoveOrigin().equals("Y")){
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                        && crnThread.isCmdFlag()) {
                    this.crnMoveIntXY(crn, crnProtocol, crnThread);
                    this.crnMoveOutXY(crn, crnProtocol, crnThread);
                }
            }
//            if (!Cools.isEmpty(basCrnp.getMoveOrigin()) && basCrnp.getMoveOrigin().equals("Y")){
//                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
//                        && crnThread.isCmdFlag()) {
//                    this.crnMoveIntXY(crn, crnProtocol, crnThread);
//                    this.crnMoveOutXY(crn, crnProtocol, crnThread);
//                }
//            }
//            this.crnRebackHp(crnProtocol, crnThread);

        }
@@ -934,6 +973,7 @@
                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.setCommand((short) 1);
                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 {
@@ -1101,6 +1141,7 @@
                        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.setCommand((short) 1);
                        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 {
@@ -1332,7 +1373,8 @@
                    crnThread.setResetFlag(true);
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    System.out.println("任务号"+crnProtocol.getTaskNo());
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(Integer.valueOf(crnProtocol.getTaskNo()));
                    if (wrkMast == null) {
                        News.error(""+mark+" - 1"+" - 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;
@@ -1513,8 +1555,9 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk() ) {
                        && (staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()
                ) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

                    try {
@@ -1669,33 +1712,33 @@
                continue;
            }
//             命令下发 -------------------------------------------------------------------------------
//            if (!commands.isEmpty()) {
//                if (led.getId() < 7) {
//                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
//                        News.error(""+mark+" - 2"+" - {}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))) {
//                        News.error(""+mark+" - 3"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                        continue;
//                    } else {
//                        ledThread.setLedMk(false);
//                    }
//                }
//
//            }
            // 命令下发 -------------------------------------------------------------------------------
            if (!commands.isEmpty()) {
                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                    continue;
                }else {
                    ledThread.setLedMk(false);
                if (led.getId() == 3) {
                    if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
                        News.error(""+mark+" - 2"+" - {}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))) {
                        News.error(""+mark+" - 3"+" - {}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
                        continue;
                    } else {
                        ledThread.setLedMk(false);
                    }
                }

            }
//            // 命令下发 -------------------------------------------------------------------------------
//            if (!commands.isEmpty()) {
//                if (!MessageQueue.offer(SlaveType.Led, led.getId(), new Task(3, commands))) {
//                    News.error("{}号LED命令下发失败！！！[ip：{}] [port：{}]", led.getId(), led.getIp(), led.getPort());
//                    continue;
//                }else {
//                    ledThread.setLedMk(false);
//                }
//            }

            try {
                // 修改主档led标记