#

TQS

2022-12-20 6f49bcc6b53e34ffd9a2c1fb28d761cf1f427a85

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

@@ -63,6 +63,8 @@
    @Autowired
    private WrkMastMapper wrkMastMapper;
    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private LocMastService locMastService;
@@ -609,6 +611,7 @@

                        // 更新工作档状态为 17.出库完成
                        wrkMast.setWrkSts(17L);
                        wrkMast.setSteNo(0);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
@@ -712,6 +715,18 @@
//                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }

            // 判断是否已存在小车绑定任务
            BasSte basSte = basSteService.findByCrnNo(wrkMast.getCrnNo());
            if(basSte == null) continue;
            WrkMast one1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                    .eq("ste_no",basSte.getSteNo())
                    .last(" and wrk_sts > 10"));
            if(one1 != null){
                log.error("{}入库任务无法作业，因出库任务已绑定小车!", wrkMast.getWrkNo());
                continue;
            }

            if (wrkMast.getWrkSts() < 3) {
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                        && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
@@ -869,7 +884,7 @@
                    }
                // 没有小车
                } else {
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                    if (wrkMast.getWrkSts() == 2L && (wrkMast.getSteNo() == null || wrkMast.getSteNo() == 0)) {
                        // 寻找当前堆垛机对应的小车
                        SteThread steThread = queryIdleCar(wrkMast);
                        if (steThread != null) {
@@ -902,22 +917,32 @@
                continue;
            }

            // 判断是否已存在小车绑定任务
            BasSte basSte = basSteService.findByCrnNo(wrkMast.getCrnNo());
            if(basSte == null) continue;
            WrkMast one1 = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                    .eq("ste_no",basSte.getSteNo())
                    .last(" and wrk_sts < 10"));
            if(one1 != null){
                log.error("{}出库任务无法作业，因入库任务已绑定小车!", wrkMast.getWrkNo());
                continue;
            }

            //加强判断，确保因出库导致的移库整套任务全部结束后，才能执行下一笔出库任务。只有库位完成移库回去全部任务后，才认为当组出库任务完成
            WrkMast one = wrkMastMapper.selectLocMoveData(slave.getId());
            if(!Cools.isEmpty(one)){
                //存在移库任务，且在移出中，且移库源库位与待出库库位不在同一库位组，时跳出，确保移库/出库全套任务完成后，再执行下一笔
                if(one.getWrkSts() > 10 && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getSourceLocNo())
                if(wrkMast.getWrkNo() ==11  && one.getWrkSts() > 10 && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getSourceLocNo())
                        || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getSourceLocNo())
                        || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getSourceLocNo()))){
                    continue;
                }
                //存在移库任务，且在移回中，且移库目标库位与待出库库位不在同一库位组，时跳出，确保移库/出库全套任务完成后，再执行下一笔
                if(one.getWrkSts() < 11  && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getLocNo())
                if(wrkMast.getWrkNo() ==11  && one.getWrkSts() < 11  && (Utils.getGroupRow(wrkMast.getSourceLocNo()) != Utils.getGroupRow(one.getLocNo())
                        || Utils.getBay(wrkMast.getSourceLocNo()) != Utils.getBay(one.getLocNo())
                        || Utils.getLev(wrkMast.getSourceLocNo()) != Utils.getLev(one.getLocNo()))){
                    continue;
                }
                log.info("");
            }

            //出库库位不是最外层库位，判断浅库位组是否都为空，或存在库位移转任务
@@ -1184,6 +1209,23 @@
        if (null == wrkMast) {
            return;
        }
        // 过滤
        if (null != wrkMastMapper.selectPakin(slave.getId(), null)) {
            log.error("{}出库任务无法作业，因存在入库中任务!", wrkMast.getWrkNo());
            return;
        }

        // 判断是否已存在小车绑定任务
        BasSte basSte = basSteService.findByCrnNo(wrkMast.getCrnNo());
        if(basSte == null) return;
        WrkMast one = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                .eq("ste_no",basSte.getSteNo())
                .last(" and io_type != 11 and wrk_sts < 10"));
        if(one != null){
            log.error("{}移库任务无法作业，因入库任务已绑定小车!", wrkMast.getWrkNo());
            return;
        }

        // 获取源库位信息
        LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
        if (null == sourceLoc) {
@@ -1367,7 +1409,13 @@
        if (wrkMast.getWrkSts() == 17) {
            //查找库位
            boolean flag = false;
            String[] deeplocs  = Utils.getDeepLocs(wrkMast.getSourceLocNo());
//            append
            Integer row = Utils.getGroupRow(wrkMast.getSourceLocNo());
            Integer bay = Utils.getBay(wrkMast.getSourceLocNo());
            Integer lev = Utils.getLev(wrkMast.getSourceLocNo());

            String locNo = Utils.append(row, bay, lev);
            String[] deeplocs  = Utils.getDeepLocs(locNo);
            if(!Cools.isEmpty(deeplocs)){
                for(String deepLocNo : deeplocs) {
                    LocMast deepLoc = locMastService.selectById(deepLocNo);
@@ -1383,7 +1431,7 @@
                        wrkMast.setIoPri((double)9999);
                        wrkMast.setWrkSts(2L);
                        wrkMast.setLocNo(deepLocNo);
                        wrkMast.setSteNo(null);
                        wrkMast.setSteNo(0);
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 17.移库完成 => 2.移库再入库中 失败！！，工作号={}", wrkMast.getWrkNo());
@@ -1461,10 +1509,23 @@
                // 有小车
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                    if (wrkMast.getWrkSts() == 2L && (wrkMast.getSteNo() == null || wrkMast.getSteNo() == 0)) {
                        // 没有其他任务
                        if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
                            this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { return; }
                            if(steProtocol.getLoca()==3 || steProtocol.getLoca()==4){
                                //小车已经在待机位时，无需下发到待机位任务，直接更新状态微3，同时绑定小车
                                wrkMast.setWrkSts(3L);
                                wrkMast.setSteNo(steNo);
                                wrkMast.setModiTime(new Date());
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    log.error("修改工作档状态 绑定穿梭车 失败！！，工作号={}", wrkMast.getWrkNo());
                                }
                            } else {
                                this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                            }
                        }
                    }
                    // 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入  ===>> 7.吊车入库中
@@ -1509,7 +1570,7 @@
                    }
                    // 没有小车
                } else {
                    if (wrkMast.getWrkSts() == 2L && wrkMast.getSteNo() == null) {
                    if (wrkMast.getWrkSts() == 2L && (wrkMast.getSteNo() == null || wrkMast.getSteNo() == 0)) {
                        // 寻找当前堆垛机对应的小车
                        SteThread steThread = queryIdleCar(wrkMast);
                        if (steThread != null) {
@@ -2472,8 +2533,9 @@
//                        }
                        if (locMastService.isOutMost(wrkMast.getLocNo())) {
                            wrkMast.setWrkSts(17L);
                            wrkMast.setSteNo(0);
                            // 默认目标库位是空板
                            String locSts = "D";
                            String locSts = "";
                            // 库位移转判断是否为空板移转
                            if (wrkMast.getEmptyMk().equals("N")) {
                                locSts = "F";
@@ -2483,6 +2545,11 @@
                                    continue;
                                }
                            }
                            if(Cools.isEmpty(locSts)){
                                log.error("库位移转 ===>> 库存状态为空；[源库位={}],[目标库位={}]", wrkMast.getSourceLocNo(), wrkMast.getLocNo());
                                continue;
                            }

                            // 修改源库位状态 ==> O
                            LocMast sourceLoc = locMastService.selectById(wrkMast.getSourceLocNo());
                            if (null != sourceLoc) {
@@ -3577,10 +3644,19 @@
                    rows = "18,19";
                    break;
            }
            LocMast loc = locMastService.selectOne(new EntityWrapper<LocMast>().eq("crn_no",crn.getId())
            LocMast loc = null;
            List<LocMast> locs = locMastService.selectList(new EntityWrapper<LocMast>().eq("crn_no",crn.getId())
                                                .eq("loc_type1",shallowLoc.getLocType1())
                                                .eq("loc_sts","O")
                                                .last(" and row1 in (" + rows + ") order by bay1,lev1"));
            for (LocMast one : locs){
                if(Utils.getGroupRow(one.getLocNo()) != Utils.getGroupRow(shallowLoc.getLocNo())
                    || Utils.getBay(one.getLocNo()) != Utils.getBay(shallowLoc.getLocNo())
                    || Utils.getLev(one.getLocNo()) != Utils.getLev(shallowLoc.getLocNo())){
                    loc = one;
                    break;
                }
            }

            if (null == loc) {
                log.error("深库位出库 --- 浅库位阻塞异常！ 待移转浅库位：" + shallowLoc.getLocNo());