#

lsh

2025-01-07 71e8276010f2c78a428acc08750075461a4c2729

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

@@ -105,6 +105,9 @@
    @Value("${wms.url}")
    private String wmsUrl;

    @Value("${wms.rgvOpen}")
    private boolean rgvOpen;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -427,9 +430,10 @@
//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk() && staProtocol.getWorkNo()!=0) {
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep5(staProtocol.getSiteId(),"7");
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -482,7 +486,7 @@
                                    staProtocol.setStaNo(dto.getStaNo());
                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    ledThread.errorReset();
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
                                    if (!result) {
                                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                                    }
@@ -2318,6 +2322,7 @@
                        param.setIoType(10);
                        param.setSourceStaNo(122);
                        param.setLocType1((short)1);
                        param.setRgvNo(rgvProtocol.getRgvNo());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/empty/loc/v1")
@@ -2363,7 +2368,8 @@
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, led.getDevpPlcId());
            // 命令集合
            List<LedCommand> commands = new ArrayList<>();
            // 工作档集合
            String orderNo = null;
                    // 工作档集合
            List<WrkMast> wrkMasts = new ArrayList<>();
            for (Integer staNo : led.getStaArr()) {
                // 获取叉车站点
@@ -2423,7 +2429,13 @@
//                ledCommand.setSourceStaNo(wrkMast.getSourceStaNo());
                if (wrkMast.getIoType() != 110 && wrkMast.getIoType() != 10) {
                    List<WrkDetl> wrkDetls = wrkDetlService.findByWorkNo(wrkMast.getWrkNo());
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl)));
                    if (Cools.isEmpty(wrkDetls)){
                        continue;
                    }
                    Integer count1 = wrkDetlService.count1();
                    Integer count2 = wrkDetlService.count2(wrkDetls.get(0).getOrderNo());
                    Integer count3 = wrkDetlService.count3();
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl,count1,count2,count3)));
                }
                commands.add(ledCommand);
            }
@@ -3344,6 +3356,14 @@
                if (basDevp135.getReportSign()!=0){
                    continue;
                }
                BasDevp basDevp121 = basDevpService.selectById(121);
                if (basDevp121.getReportSign()!=0){
                    continue;
                }
                BasDevp basDevp120 = basDevpService.selectById(120);
                if (basDevp120.getReportSign()!=0){
                    continue;
                }
                WrkMast wrkMast131 = wrkMastMapper.selectWrkMastUnstackingOne202Two(131);
                if (Cools.isEmpty(wrkMast131)){
                    continue;
@@ -3368,6 +3388,26 @@
                }

                if (!staProtocol.isLoading()){
                    continue;
                }
                StaProtocol staProtocol120 = devpThread.getStation().get(120);
                if (staProtocol120 == null) {
                    continue;
                } else {
                    staProtocol120 = staProtocol120.clone();
                }

                if (staProtocol120.isLoading()){
                    continue;
                }
                StaProtocol staProtocol121 = devpThread.getStation().get(121);
                if (staProtocol121 == null) {
                    continue;
                } else {
                    staProtocol121 = staProtocol121.clone();
                }

                if (staProtocol121.isLoading()){
                    continue;
                }
//                if (!staProtocol.getWorkNo().equals(wrkMast131.getWrkNo())){
@@ -3696,12 +3736,51 @@
                        if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (basDevp.getLoadingSuper().equals("Y")){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!basDevp.getEmptyMk().equals("Y")){
                                continue;
                            }
                        }
                        Date date = new Date();

                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                        StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                        if (staProtocol == null) {
                            log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                            continue;
                        }
                        if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                            if (staProtocol.isLoadingSuper()){
                                continue;
                            }
                        }
                        if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                            if (!staProtocol.isEmptyMk()){
                                continue;
                            }
                        }
                        BasDevp basDevpS = basDevpService.selectById(wrkMastSta.getStaStart());
                        if (!basDevpS.getAutoing().equals("Y") || !basDevpS.getLoading().equals("Y") || basDevpS.getWrkNo()!=wrkMastSta.getWrkNo().intValue()){
                            continue;
                        }
                        StaProtocol staProtocols = devpThread.getStation().get(basDevpS.getDevNo());
                        if (staProtocols == null) {
                            log.info(date+"取放任务下发：未查询到站点信息："+wrkMastSta);
                            continue;
                        }
                        if (!staProtocols.isAutoing() || !staProtocols.isLoading() || staProtocols.getWorkNo() != wrkMastSta.getWrkNo().intValue()){
                            continue;
                        }


                        log.info(date+"取放任务下发：小车工作档："+wrkMastSta);
                        log.info(date+"取放任务下发：目标站状态："+basDevp);
                        boolean sign = rgvTakeFullAll(basRgvMap.getRgvNo(), wrkMastSta);
@@ -3774,12 +3853,38 @@
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                continue;
                            }
                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                                if (basDevp.getLoadingSuper().equals("Y")){
                                    continue;
                                }
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"拆盘任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                                continue;
                            }
                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                                if (staProtocol.isLoadingSuper()){
                                    continue;
                                }
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!staProtocol.isEmptyMk()){
                                    continue;
                                }
                            }

                            log.info(date+"拆盘任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"拆盘任务下发：目标站状态："+basDevp);
                            sign = rgvPutEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//拆盘
@@ -3856,12 +3961,38 @@
                            if (!basDevp.getAutoing().equals("Y") || basDevp.getLoading().equals("Y") || basDevp.getWrkNo()!=0){
                                continue;
                            }
                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                                if (basDevp.getLoadingSuper().equals("Y")){
                                    continue;
                                }
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!basDevp.getEmptyMk().equals("Y")){
                                    continue;
                                }
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"满放任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading() || staProtocol.getWorkNo() != 0){
                                continue;
                            }
                            if (basDevp.getDevNo()>117 && basDevp.getDevNo()<124){
                                if (staProtocol.isLoadingSuper()){
                                    continue;
                                }
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!staProtocol.isEmptyMk()){
                                    continue;
                                }
                            }

                            log.info(date+"满放任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满放任务下发：目标站状态："+basDevp);
                            sign = rgvPutEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
@@ -3941,6 +4072,22 @@
                                }
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"叠盘任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || !staProtocol.isLoading()){
                                continue;
                            }
                            if (basDevp.getDevNo()>=118 && basDevp.getDevNo()<=123){
                                if (!staProtocol.isEmptyMk()){
                                    continue;
                                }
                            }

                            log.info(date+"叠盘任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"叠盘任务下发：目标站状态："+basDevp);
                            sign = rgvTakeEmpty(rgvProtocol.getRgvNo(),wrkMastSta);//叠盘
@@ -4022,6 +4169,17 @@
                                continue;
                            }
                            Date date = new Date();

                            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, rgvSlave.getDevpPlcId());
                            StaProtocol staProtocol = devpThread.getStation().get(basDevp.getDevNo());
                            if (staProtocol == null) {
                                log.info(date+"满取任务下发：未查询到站点信息："+wrkMastSta);
                                continue;
                            }
                            if (!staProtocol.isAutoing() || staProtocol.isLoading()){
                                continue;
                            }

                            log.info(date+"满取任务下发：小车工作档："+wrkMastSta);
                            log.info(date+"满取任务下发：目标站状态："+basDevp);
                            sign = rgvTakeEmptyFull(rgvProtocol.getRgvNo(),wrkMastSta);
@@ -4060,10 +4218,17 @@
    * */
    public synchronized void rgvRunWrkMastEmptyStaAvoidance() {
        try{
            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
            if (integer==0){
//            Integer integer = wrkMastStaMapper.selectAllWrkStsCount(null,0);//查询状态为0的任务
//            if (integer==0){
//                return;
//            }
            WrkMastSta wrkMastSta = wrkMastStaMapper.selectAllWrkStsCountWrkMastSta(null, 0);
            if (Cools.isEmpty(wrkMastSta)){
                return;
            }
            boolean signRgv = true;
            boolean signRgv1 = true;
            boolean signRgv2 = true;
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -4085,19 +4250,85 @@
                        && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                        && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
                    if (rgvProtocol.getRgvNo()!=1){
                        if (!rgvProtocol.getRgvPosI().equals(120) && !rgvProtocol.getRgvPosI().equals(110)){
                            continue;
                        }
                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                        return;
                        continue;
                    }
                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
                    if (!rgvProtocol.getRgvPosI().equals(108) &&  !rgvProtocol.getRgvPosI().equals(119)){
                        continue;
                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
                    }
                    Integer count108Y = wrkMastStaMapper.selectAllWrkCount108Y();
                    if (count108Y==0){
                        continue;
                    }
                    Integer count108 = wrkMastStaMapper.selectAllWrkCount108();
                    if (count108==0){
                        continue;
                    }
                    rgvAvoidanceXY(rgvProtocol.getRgvNo());
                    rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    continue;
//                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                    Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMap.getRgvNo(), basRgvMap.getEndRoute()); //获取合并干涉项
//                    List<Integer> route = RouteUtils.getRoute(basRgvMap.getStartRoute(),fallMerge);
//                    List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectNoInterfereList(route ,route);
//                    if (!wrkMastStaList.isEmpty()){
//                        log.info("小车存在可执行任务，跳过避让！！4214");
//                        return;
//                    }
//                    if (rgvProtocol.getRgvPosI().equals(basRgvMap.getStartRoute())){
////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),RouteUtils.RouteIndexFarMas(rgvProtocol.getRgvNo(),rgvRunSta[rgvProtocol.getRgvNo()-1]),rgvProtocol.getRgvNo())){
////                    if (!RouteUtils.RgvRunStaSign(rgvProtocol.getRgvPosI(),rgvRunSta[rgvProtocol.getRgvNo()-1],rgvProtocol.getRgvNo())){
//                        if (rgvProtocol.getRgvNo()==1){
//                            signRgv1 = false;
//                        }else {
//                            signRgv2 = false;
//                        }
//                    }
//                    if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
//                        signRgv1 = false;
//                        continue;
//                    } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
//                        signRgv2 = false;
//                        continue;
//                    }
                }else {
                    signRgv = false;
                    break;
                }
            }
//            if (signRgv &&  (signRgv1 || signRgv2)){
//                for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
//                    RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
//                    RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
//                    if (rgvProtocol == null) {
//                        continue;
//                    }
//
//                    // 只有当RGV空闲、自动,工位一无物//rgv可用
//                    if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
//                            && rgvProtocol.getModeType() == RgvModeType.AUTO
//                            && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
//                            && rgvProtocol.getTaskNo1()==0
//                            && rgvProtocol.getTaskNo2()==0
//                            && rgvProtocol.getStatusType1() == RgvStatusType.IDLE
//                            && rgvProtocol.getStatusType2() == RgvStatusType.IDLE
//                    ) {
//                        if (rgvProtocol.getRgvNo()==1 && (rgvProtocol.getRgvPosI().equals(101) || rgvProtocol.getRgvPosI().equals(102) )){
//                            continue;
//                        } else if (rgvProtocol.getRgvNo()==2 && (rgvProtocol.getRgvPosI().equals(116) || rgvProtocol.getRgvPosI().equals(117) ) ){
//                            continue;
//                        }
//                        BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
//                        rgvAvoidanceXY(rgvProtocol.getRgvNo());
//                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
//
//                    }
//                }
//            }
        }catch (Exception e){
            log.error("4109行执行小车初始化任务下发失败");
            log.error("4109行"+e);
@@ -4153,7 +4384,7 @@
                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)101);
                rgvCommand.setSourceStaNo1( (short)104);
                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
@@ -4175,7 +4406,7 @@
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)117);
                rgvCommand.setSourceStaNo2((short)114);
                rgvCommand.setCommand((short) 2);   //工位2任务确认
                if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(5, 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
@@ -4392,12 +4623,15 @@
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
        if (rgvOpen){
            return true;
        }

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁
        try{
//            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staStart, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getNowRoute(), staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
//            Integer farCurrentStaNo = RouteUtils.RouteIndexFarMas(staEnd, staStart, staEnd, basRgvMapCurrent.getLockStartRoute());//获取最远站点
            Integer fallMerge = RouteUtils.RouteIndexFarMas(basRgvMapCurrent.getRgvNo(), farCurrentStaNo); //获取合并干涉项
            basRgvMapCurrent.setLockEndRoute(fallMerge);
            basRgvMapMapper.updateById(basRgvMapCurrent);
@@ -4407,7 +4641,8 @@
            BasRgvMap basRgvMapOther = basRgvMapMapper.selectById(rgvNoOther);
            List<Integer> integers = RouteUtils.RouteMapCurrentFar(fallMerge, basRgvMapCurrent.getLockStartRoute());
            Integer lockEndRoute = RouteUtils.RouteMapOtherFarStnNo(integers, basRgvMapCurrent.getLockStartRoute());//另一台小车可活动最远位置
            basRgvMapOther.setEndRoute(lockEndRoute);
            Integer lockEndRouteL = RouteUtils.RouteIndexFarMasL(rgvNoOther, lockEndRoute);//另一台小车可活动最远位置
            basRgvMapOther.setEndRoute(lockEndRouteL);
            basRgvMapMapper.updateById(basRgvMapOther);
            return true;
        }catch (Exception e){