#

lsh

2024-07-17 675ed4fa602e79e220e76fcdbc56e4630c0fb21c

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

@@ -1233,7 +1233,7 @@
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == null || staProtocol.getWorkNo() == 0)) {

                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn,crnNo);
@@ -1294,6 +1294,9 @@
                        }
                    }
                }else if (conStation==2){
                    if (crnProtocol.statusType != CrnStatusType.IDLE){
                        return false;
                    }
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2345(staProtocol.getSiteId(),crnProtocol.getTaskNoTwo().intValue());
                    if (wrkMast == null) {
@@ -1901,6 +1904,145 @@
                }
            }

            StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
            if (staProtocolOther == null) {
                continue;
            } else {
                staProtocolOther = staProtocolOther.clone();
            }

            // 查询站点详细信息
            BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
            if (staDetlOther == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
                continue;
            }
            if (staProtocolOther.getWorkNo()!=0){
                WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(staProtocolOther.getWorkNo());
                if (Cools.isEmpty(wrkMastOther)){
                    log.error("Other查询工作档案无数据--工作号{},站点号：{}", staProtocolOther.getWorkNo(),staProtocolOther.getSiteId());
                    continue;
                }
                // 获取库位信息
                LocMast locMastOther = locMastService.selectById(wrkMastOther.getLocNo());
                if (locMastOther == null) {
                    log.error("查询库存无数据--库位号{}", locMastOther.getLocNo());
                    continue;
                }
                if (!locMastOther.getLocSts().equals("S") && !locMastOther.getLocSts().equals("Q")) {
                    log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMastOther.getLocNo(), locMastOther.getLocSts());
                    continue;
                }
                if (locMastOther.getBay1()!=81){
                    if (staProtocolOther.isAutoing() && staProtocolOther.isLoading()
                            && staProtocolOther.isInEnable() && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
                        // 命令下发区 --------------------------------------------------------------------------
                        CrnCommandParam crnCommandParam = new CrnCommandParam();
                        crnCommandParam.setCrnNo(slave.getId()); // 堆垛机编号

                        crnCommandParam.setTaskNo2(wrkMast.getWrkNo().shortValue()); // 工作号
                        crnCommandParam.setAckFinish2((short) 0);  // 任务完成确认位
                        crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                        crnCommandParam.setSourcePosX2(crnStn.getRow().shortValue());     // 源库位排
                        crnCommandParam.setSourcePosY2(crnStn.getBay().shortValue());     // 源库位列
                        crnCommandParam.setSourcePosZ2(crnStn.getLev().shortValue());     // 源库位层
                        crnCommandParam.setDestinationPosX2((short)0);     // 目标库位排
                        crnCommandParam.setDestinationPosY2((short)0);     // 目标库位列
                        crnCommandParam.setDestinationPosZ2((short)0);     // 目标库位层

                        crnCommandParam.setTaskNo(wrkMastOther.getWrkNo().shortValue()); // 工作号
                        crnCommandParam.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                        crnCommandParam.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                        crnCommandParam.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                        crnCommandParam.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                        crnCommandParam.setDestinationPosX((short)0);     // 目标库位排
                        crnCommandParam.setDestinationPosY((short)0);     // 目标库位列
                        crnCommandParam.setDestinationPosZ((short)0);     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommandParam.getCrnNo()-2))) {
                            log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommandParam.getCrnNo()-2);
                            continue;
                        }
                        if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommandParam));
                        } else {
                            // 修改工作档状态 2.设备上走 => 3.吊车入库中
                            Date now = new Date();
                            wrkMast.setWrkSts(3L);
                            wrkMast.setCrnStrTime(now);
                            wrkMast.setModiTime(now);
                            WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,2,now);
                            wrkMastSplitTwin.setWrkSts(1);
                            wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
                            wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
                            wrkMastSplitTwin.setStartRow(crnStn.getRow());
                            wrkMastSplitTwin.setStartBay(crnStn.getBay());
                            wrkMastSplitTwin.setStartLev(crnStn.getLev());
                            wrkMastSplitTwin.setEndRow(locMast.getRow1());
                            wrkMastSplitTwin.setEndBay(locMast.getBay1());
                            wrkMastSplitTwin.setEndLev(locMast.getLev1());
                            wrkMastSplitTwin.setWrkType(1);
                            wrkMastSplitTwin.setIoType(1);

                            wrkMastOther.setWrkSts(3L);
                            wrkMastOther.setCrnStrTime(now);
                            wrkMastOther.setModiTime(now);
                            WrkMastSplitTwin wrkMastSplitTwinOther = new WrkMastSplitTwin(wrkMastOther,1,now);
                            wrkMastSplitTwinOther.setWrkSts(1);
                            wrkMastSplitTwinOther.setWrkStart(wrkMastOther.getStaNo().toString());
                            wrkMastSplitTwinOther.setWrkEnd(wrkMastOther.getLocNo());
                            wrkMastSplitTwinOther.setStartRow(crnStn.getRow());
                            wrkMastSplitTwinOther.setStartBay(crnStn.getBay());
                            wrkMastSplitTwinOther.setStartLev(crnStn.getLev());
                            wrkMastSplitTwinOther.setEndRow(locMastOther.getRow1());
                            wrkMastSplitTwinOther.setEndBay(locMastOther.getBay1());
                            wrkMastSplitTwinOther.setEndLev(locMastOther.getLev1());
                            wrkMastSplitTwinOther.setWrkType(1);
                            wrkMastSplitTwinOther.setIoType(1);

                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }

                            if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
                                log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
                            }

                            if (wrkMastMapper.updateById(wrkMastOther) == 0) {
                                log.error("Other修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }

                            if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwinOther)==0){
                                log.error("Other创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
                            }
                            return;
                        }
                    }
                }
                return;
            }
            StaProtocol staProtocolOther1 = devpThread.getStation().get(crnStn.getStaNoOther1());
            if (staProtocolOther1 == null) {
                continue;
            } else {
                staProtocolOther1 = staProtocolOther1.clone();
            }

            if (staProtocolOther1.isAutoing() && staProtocolOther1.getWorkNo()!=0){
                return;
            }


            StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
            if (staProtocolOther2 == null) {
                continue;
            } else {
                staProtocolOther2 = staProtocolOther2.clone();
            }
            if (staProtocolOther2.isAutoing() && staProtocolOther2.getWorkNo()!=0){
                return;
            }
            crnStation = 2;
            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -1913,7 +2055,17 @@
            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, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {

            staProtocol.setWorkNo(wrkMast.getWrkNo());
            staProtocol.setStaNo(wrkMast.getStaNo());

            devpThread.setPakMk(staProtocol.getSiteId(), false);

            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommand.getCrnNo()-2))) {
                log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommand.getCrnNo()-2);
                continue;
            }
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(5, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
@@ -4361,6 +4513,39 @@
            int[] sign = new int[]{0,0};
            // 只有当堆垛机自动时才继续执行
            if (crnProtocol.getModeType() == CrnModeType.AUTO) {
                //双
                if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 1
                        && crnProtocol.getForkPos() == 0) {
                    if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
                            && crnProtocol.getTaskNoTwo() == 0
                            && crnProtocol.getLoadedTwo() == 1
                            && crnProtocol.getForkPosTwo() == 0){
                        List<WrkMastSplitTwin> wrkMastSplitTwinList1 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),1,2,2,0);
                        List<WrkMastSplitTwin> wrkMastSplitTwinList2 = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),2,2,2,0);
                        if (!wrkMastSplitTwinList1.isEmpty() && !wrkMastSplitTwinList2.isEmpty() ){
                            if (wrkMastSplitTwinList1.size()>1 || wrkMastSplitTwinList2.size()>1 ){
                                log.error("Pair堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
                                return false;
                            }
                            WrkMastSplitTwin wrkMastSplitTwin1 = wrkMastSplitTwinList1.get(0);
                            WrkMastSplitTwin wrkMastSplitTwin2 = wrkMastSplitTwinList2.get(0);
                            boolean ack =  crnExecutePutFullPair(crn.getId(), wrkMastSplitTwin1,wrkMastSplitTwin2, sign[1]);
                            if (ack){
                                wrkMastSplitTwin1.setWrkSts(wrkMastSplitTwin1.getWrkType()==1? 1:3);
                                wrkMastSplitTwinService.updateById(wrkMastSplitTwin1);
                                wrkMastSplitTwin2.setWrkSts(wrkMastSplitTwin2.getWrkType()==1? 1:3);
                                wrkMastSplitTwinService.updateById(wrkMastSplitTwin2);
                            }else {
                                log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack);
                            }

                            return false;
                        }

                    }
                }
                // 只有当堆垛机工位1取货或者有物 并且 工位2无任务时才继续执行
                switch (i){
                    case 1:
@@ -4474,6 +4659,84 @@
            crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 堆垛机取货至工位任务
     * */
    public synchronized boolean crnExecuteTakeFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            // 1.堆垛机开始移动
            CrnCommandParam crnCommandParam = new CrnCommandParam();
            crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
            crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
            crnCommandParam.setSourcePosX(wrkMastSplitTwinOne.getStartRow().shortValue());     // 源库位排
            crnCommandParam.setSourcePosY(wrkMastSplitTwinOne.getStartBay().shortValue());     // 源库位列
            crnCommandParam.setSourcePosZ(wrkMastSplitTwinOne.getStartLev().shortValue());     // 源库位层
            crnCommandParam.setDestinationPosX((short)0);     // 目标库位排
            crnCommandParam.setDestinationPosY((short)0);     // 目标库位列
            crnCommandParam.setDestinationPosZ((short)0);     // 目标库位层

            crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish2((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
            crnCommandParam.setSourcePosX2(wrkMastSplitTwinTwo.getStartRow().shortValue());     // 源库位排
            crnCommandParam.setSourcePosY2(wrkMastSplitTwinTwo.getStartBay().shortValue());     // 源库位列
            crnCommandParam.setSourcePosZ2(wrkMastSplitTwinTwo.getStartLev().shortValue());     // 源库位层
            crnCommandParam.setDestinationPosX2((short)0);     // 目标库位排
            crnCommandParam.setDestinationPosY2((short)0);     // 目标库位列
            crnCommandParam.setDestinationPosZ2((short)0);     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 堆垛机放货货至出库站点任务
     * */
    public synchronized boolean crnExecutePutFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            // 1.堆垛机开始移动
            CrnCommandParam crnCommandParam = new CrnCommandParam();
            crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
            crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式:  单放货
            crnCommandParam.setSourcePosX((short)0);     // 源库位排
            crnCommandParam.setSourcePosY((short)0);     // 源库位列
            crnCommandParam.setSourcePosZ((short)0);     // 源库位层
            crnCommandParam.setDestinationPosX(wrkMastSplitTwinOne.getEndRow().shortValue());     // 目标库位排
            crnCommandParam.setDestinationPosY(wrkMastSplitTwinOne.getEndBay().shortValue());     // 目标库位列
            crnCommandParam.setDestinationPosZ(wrkMastSplitTwinOne.getEndLev().shortValue());     // 目标库位层

            crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
            crnCommandParam.setAckFinish2((short) 0);  // 任务完成确认位
            crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_PUT); // 任务模式:  单放货
            crnCommandParam.setSourcePosX2((short)0);     // 源库位排
            crnCommandParam.setSourcePosY2((short)0);     // 源库位列
            crnCommandParam.setSourcePosZ2((short)0);     // 源库位层
            crnCommandParam.setDestinationPosX2(wrkMastSplitTwinTwo.getEndRow().shortValue());     // 目标库位排
            crnCommandParam.setDestinationPosY2(wrkMastSplitTwinTwo.getEndBay().shortValue());     // 目标库位列
            crnCommandParam.setDestinationPosZ2(wrkMastSplitTwinTwo.getEndLev().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
                return false;
            } else {
                return true;
@@ -7579,6 +7842,14 @@
                        continue;
                    }
                } else if (steProtocol.getCharge()<80.0F){
                    List<BasJarMast> basJarMastList = basJarMastService.getJarMastByJarIdAndStatusListCharge(steSlave.getId(), new ArrayList<Integer>() {{
                        add(5);
                        add(11);
                        add(16);
                    }});
                    if(!basJarMastList.isEmpty()){
                        continue;
                    }
                    if (wrkMastExecuteService.selectNoStart(steSlave.getId())!=0){
                        continue;
                    }
@@ -7678,7 +7949,7 @@

                if (steProtocol.getCharge()>95.0F || steProtocol.getFullCharge()){
                } else if (steProtocol.getCharge()>50.0F){
                    if (wrkMastExecuteService.selectNoStart(steSlave.getId())==0){
                    if (wrkMastExecuteService.selectNoStartCharge(steSlave.getId())==0){
                        if (wrkMastExecuteService.selectMoveStart(steSlave.getId())==0){
                            continue;
                        }