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1

昨天 6cdfae15cde1a3141203c35c5f9835f0d45dbfbb

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

@@ -314,7 +314,7 @@
                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
                            .in("io_type", 107,103,57));
                            .in("io_type", 107,103,57,53));
                    if (!Cools.isEmpty(checkPick)) {
                        continue;
                    }
@@ -339,9 +339,9 @@
                            staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
                            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());
                            log.info("输送线下发2："+dto.getWorkNo()+","+dto.getStaNo());
                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");
                            log.info("组托请求后LED错误清除");

                            if (!result) {
                                News.error(methodName + ":更新plc站点信息失败");
@@ -537,6 +537,44 @@
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    // 判断重复工作档
                    WrkMast wrkMast1 = wrkMastMapper.selectPakInStep1(pickSta.getStaNo(), barcode);
                    if (wrkMast1 != null) {
                        int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast1.getWrkNo()));
                        if (wrkNo1 != 0){
                            News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast1.getWrkNo());
                            StaProtocol staProtocolNew = new StaProtocol();
                            staProtocolNew.setWorkNo(wrkMast1.getWrkNo());
                            staProtocolNew.setStaNo(RouteUtils.SouStaEnd(wrkMast1.getStaNo(),wrkMast1.getSourceStaNo()));
                            staProtocolNew.setSiteId(staProtocol.getSiteId());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            staProtocolNew.setBarcode(barcode);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolNew));
                            if (ledThread != null) {
                                MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号="+ wrkMast1.getWrkNo()));
                            }
                            continue;
                        }
                        barcodeThread.setBarcode("");
                        staProtocol.setWorkNo(wrkMast1.getWrkNo());
                        staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast1.getSourceStaNo()));
                        staProtocol.setBarcode(barcode);

                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast1.getWrkNo()+","+wrkMast1.getStaNo());

                        ledThread.errorReset();
                        log.info("组托请求后LED错误清除");

                        if (!result) {
                            News.error( ":更新plc站点信息失败");
                            log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
                            continue;
                        }
                        continue;

                    }
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
@@ -605,7 +643,7 @@
                        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(wrkMast.getStaNo()); // 源站
                        wrkMast.setSourceStaNo(staDesc.getStnNo()); // 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
@@ -865,7 +903,7 @@
                            wrkMast9997.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast9997) != 0) {
                                // 复位堆垛机
                                log.error("出库任务完成下发堆垛机复位,{}", wrkMast9997.getWrkNo());
                                log.info("出库任务完成下发堆垛机复位,{}", wrkMast9997.getWrkNo());
                                crnThread.setResetFlag(true);
                            } else {
                                News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9997.getWrkNo());
@@ -911,7 +949,7 @@
                            wrkMast9996.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast9996) != 0) {
                                // 复位堆垛机
                                log.error("出库任务完成下发堆垛机复位,{}", wrkMast9996.getWrkNo());
                                log.info("出库任务完成下发堆垛机复位,{}", wrkMast9996.getWrkNo());
                                crnThread.setResetFlag(true);
                            } else {
                                News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast9996.getWrkNo());
@@ -965,7 +1003,7 @@
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
                            log.info("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo());
                            crnThread.setResetFlag(true);
                        } else {
                            News.error(""+mark+" - 1"+" - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
@@ -1544,14 +1582,14 @@
                // 判断堆垛机出库站状态
//                     if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
//                        && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {

                if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && !staProtocol.isLoading()
                boolean unLoading = !staProtocol.isLoading();
                Config configAGVAUTOIN = configService.selectConfigByCode("COB");
                if(Boolean.parseBoolean(configAGVAUTOIN.getValue())){
                    unLoading = true;
                }
                if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && unLoading
                        ) {
//                    if (slave.getId() == 1 || slave.getId() == 2){
//                        if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
//                            continue;
//                        }
//                    }
//
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -3025,6 +3063,8 @@
            } else {
                staProtocol = staProtocol.clone();
            }


            if (staProtocol.isAutoing()  //自动
                    && !staProtocol.isLoading()  //无物
//                    && staProtocol.isOutEnable()  //可出信号
@@ -3545,7 +3585,7 @@
                            }
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
                            log.info("更新小车任务成功");
                        }catch (Exception e){
                            log.error("更新小车任务失败"+ e);
                        }
@@ -3614,7 +3654,7 @@
                            }
                            wrkMastSta.setWrkSts(2);
                            wrkMastStaMapper.updateById(wrkMastSta);
                            log.error("更新小车任务成功");
                            log.info("更新小车任务成功");
                        }catch (Exception e){
                            log.error("更新小车任务失败");
                        }
@@ -3787,7 +3827,6 @@
            if(rgvProtocol.getStatusType1() == RgvStatusType.WORKING){
                rgvThread.setPaking(true);
            }

            if(rgvProtocol.isLoaded1ing() && rgvProtocol.isLoaded2ing()){
                basRgv.setPakAll("1");
                basRgvService.updateById(basRgv);
@@ -3795,6 +3834,9 @@
            if(rgvProtocol.getStatusType1() == RgvStatusType.IDLE &&
                    rgvProtocol.getModeType() == RgvModeType.AUTO && rgvThread.isPakMk()
                    && rgvThread.isPaking() && basRgv.getPakAll().equals("1")){
                if(rgvProtocol.isLoaded1ing() || rgvProtocol.isLoaded2ing()){
                    continue;
                }
                if(basRgv.getPakOut().equals("1") && basRgv.getPakIn().equals("1")){
                    rgvPreSchedulingIn(rgv, rgvProtocol);//若暂无下发任务预调度提前到取货点
                    if (rgvProtocol.getLastIo().equals("I")) {
@@ -3944,10 +3986,11 @@
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功{}",wrkMastSta);
                    log.info("更新小车任务成功{}",wrkMastSta);
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
                break;  // 新增：下发成功后退出循环，防止连续下发多个
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }
@@ -4093,10 +4136,11 @@
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功{}",wrkMastSta);
                    log.info("更新小车任务成功{}",wrkMastSta);
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
                break;  // 新增：下发成功后退出循环，防止连续下发多个
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }
@@ -4242,10 +4286,11 @@
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功{}",wrkMastSta);
                    log.info("更新小车任务成功{}",wrkMastSta);
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
                break;  // 新增：下发成功后退出循环，防止连续下发多个
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }
@@ -4377,7 +4422,7 @@
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功");
                    log.info("更新小车任务成功");
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
@@ -4533,7 +4578,7 @@
            //遍历rgv入库取货站点
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(rgvStn.getStaNo2()==1043?1044:1103); //倒数第二个
            StaProtocol staProtocol2 = null;  //连续取货任务站点
            StaProtocol staProtocol1 = devpThread.getStation().get(rgvStn.getStaNo());  //第一个站点判断
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, (int) rgvProtocol.getRgvNo());
//            WrkMastSta wrkMastSta3 = null;//连取两个
//            Integer staNo = null;  //与调度
@@ -4569,6 +4614,15 @@
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol1 == null) {
                News.infoNoLog( " - Rgv入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol);
                continue;
            } else {
                staProtocol1 = staProtocol1.clone();
            }
            if(staProtocol1.isLoading() || staProtocol1.getWorkNo()!=0){
                continue;
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(rgvStn.getStaNo());
@@ -4642,10 +4696,11 @@
                try{
                    wrkMastSta.setWrkSts(1);
                    wrkMastStaMapper.updateById(wrkMastSta);
                    log.error("更新小车任务成功{}",wrkMastSta);
                    log.info("更新小车任务成功{}",wrkMastSta);
                }catch (Exception e){
                    log.error("更新小车任务失败");
                }
                break;  // 新增：下发成功后退出循环，防止连续下发多个
            } else {
                log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
            }
@@ -4679,11 +4734,12 @@
            BasRgvOpt basRgvOpt = basRgvOptService.getBasRgvOpt(rgvId);
            // 防止重复下发命令
            if (basRgvOpt != null) {
                if (typeNo.equals(basRgvOpt.getMode()) && basRgvOpt.getPosSta().equals(wrkMastSta.getWorkSta())) {
                if (basRgvOpt.getMode().equals(typeNo) && basRgvOpt.getPosSta().equals(wrkMastSta.getWorkSta())) {
                    // 如果最新记录的 mode 和 posSta 与当前命令相同，认为是重复命令
                    log.error("命令重复下发，当前命令与最新记录相同，任务不下发！");
                    return false;
                }
                log.info("rgv命令日志wrkNo={},posSta={},mode={}",wrkMastSta.getWrkNo(),basRgvOpt.getPosSta(),basRgvOpt.getMode());
            }
            rgvCommand.setTaskNo(Math.toIntExact(wrkMastSta.getWrkNo())); // 工位工作号
            rgvCommand.setTaskStatus(type); // 工位任务模式:  取货
@@ -4851,10 +4907,16 @@
                    }
                    if(!Cools.isEmpty(barcode)) {
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "0".equals(barcode) || barcode.length()<5) {
                            if(!staProtocol.isLoading()){
                                continue;
                            }
                            armTaskAssignmentCallApiLogSave(staProtocol, "拆垛条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
                            continue;
                        }
                    } else {
                        if(!staProtocol.isLoading()){
                            continue;
                        }
                        armTaskAssignmentCallApiLogSave(staProtocol, "拆垛条码为空", staProtocol.getSiteId()+"码垛位置，===》托盘条码为空", false);
                        continue;
                    }
@@ -5052,7 +5114,7 @@
                    }

                    if(barcode.length()!=6){
                        armTaskAssignmentCallApiLogSave(staProtocol, "条码长度不是6位", staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode, false);
                        armTaskAssignmentCallApiLogSave(staProtocol, "条码长度不是6位", staProtocol.getSiteId()+"码垛位置，条码长度不是6位===>>" + barcode, true);
                        continue;
                    }

@@ -5060,7 +5122,7 @@
                    int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",barcode));
                    int countwait = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet",barcode));
                    if (countLoc > 0 || countWrk > 0 || countwait > 0) {
                        armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在", staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, false);
                        armTaskAssignmentCallApiLogSave(staProtocol, "条码数据已存在", staProtocol.getSiteId()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, true);
                        continue;
                    }

@@ -5239,7 +5301,7 @@
                    }

                    if(barcode.length()!=6){
                        armTaskAssignmentCallApiLogSave(locMastEnd, "条码长度不是6位", basArm.getStaNoSou()+"码垛位置，条码长度不是6位===>>" + barcode, false);
                        armTaskAssignmentCallApiLogSave(locMastEnd, "条码长度不是6位", basArm.getStaNoSou()+"码垛位置，条码长度不是6位===>>" + barcode, true);
                        continue;
                    }

@@ -5247,7 +5309,7 @@
                    int countWrk = wrkDetlService.selectCount(new EntityWrapper<WrkDetl>().eq("zpallet",barcode));
                    int countwait = waitPakinMapper.selectCount(new EntityWrapper<WaitPakin>().eq("zpallet",barcode));
                    if (countLoc > 0 || countWrk > 0 || countwait > 0) {
                        armTaskAssignmentCallApiLogSave(locMastEnd, "条码数据已存在", basArm.getStaNoSou()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, false);
                        armTaskAssignmentCallApiLogSave(locMastEnd, "条码数据已存在", basArm.getStaNoSou()+"码垛位置，组托档/工作档/库存条码数据已存在===>>" + barcode, true);
                        continue;
                    }

@@ -5370,7 +5432,7 @@
        // 遍历结果集，检查时间戳差值是否小于 5 分钟
        for (ApiLog apiLog : apiLogs) {
            long parseLong = Long.parseLong(apiLog.getTimestamp());
            if (new Date().getTime() - parseLong < 5 * 1000 * 60) {
            if (new Date().getTime() - parseLong < 30 * 1000 * 60) {
                // 如果找到符合条件的记录且时间差小于 5 分钟，则不保存新记录，直接返回
                return;
            }
@@ -5397,7 +5459,7 @@
        // 遍历结果集，检查时间戳差值是否小于 5 分钟
        for (ApiLog apiLog : apiLogs) {
            long parseLong = Long.parseLong(apiLog.getTimestamp());
            if (new Date().getTime() - parseLong < 5 * 1000 * 60) {
            if (new Date().getTime() - parseLong < 30 * 1000 * 60) {
                // 如果找到符合条件的记录且时间差小于 5 分钟，则不保存新记录，直接返回
                return;
            }
@@ -5612,6 +5674,10 @@
     * agv任务生成  Empty
     * */
    public synchronized void agvTaskCreateEmpty() {
        Config configAGVAUTOIN = configService.selectConfigByCode("AGVAUTOIN");
        if(!Boolean.parseBoolean(configAGVAUTOIN.getValue())){
            return;
        }
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历出库口
@@ -5877,6 +5943,10 @@
                    // 获取站点信息
                    SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, basAgvMast.getFloorNo() !=1?2:1);
                    StaProtocol staProtocol = devpThread.getStation().get(basAgvMast.getStaNo());
                    List<BasAgvMast> basAgvMastList1 = basAgvMastService.selectList(new EntityWrapper<BasAgvMast>().eq("status", 1).eq("sta_no", basAgvMast.getStaNo()));
                    if(basAgvMastList1.size()>0){
                        continue;
                    }
                    if (staProtocol == null) {
                        continue;
                    } else {