WCS功能完善

pang.jiabao

2026-04-24 7b8021d7ff94015d7034ead10fea5006d0032301

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

@@ -22,11 +22,14 @@
import com.zy.core.model.Task;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.entity.*;
import com.zy.mapper.*;
@@ -319,11 +322,12 @@
                        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(pickSta.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
                        wrkMast.setModiTime(now);
                        wrkMast.setWhsType(0);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }
@@ -344,7 +348,7 @@

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                    staProtocol.setStaNo(staDesc.getCrnStn().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
@@ -413,7 +417,13 @@
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            News.info("出库任务完成下发堆垛机复位,任务号：{}",wrkMast.getWrkNo());
                            crnThread.setResetFlag(true);
                            // 堆垛机复位
                            if (!MessageQueue.offer(SlaveType.Crn, crnThread.getCrnProtocol().getCrnNo(), new Task(3, null))) {
                                News.error(crnThread.getCrnProtocol().getCrnNo() + "出库任务完成下发堆垛机复位，下发复位命令失败");
                            } else {
                                News.warnNoLog(""+mark+" - 2"+" - 出库任务完成下发堆垛机复位成功 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
                            }
//                            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());
                        }
@@ -451,7 +461,7 @@

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0 && crnProtocol.getAlarm() == 0) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发");
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
@@ -550,6 +560,7 @@
                News.warnNoLog(""+mark+" - 1"+" - 8"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo());
                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                if(shallowLoc != null) {
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    News.warnNoLog(""+mark+" - 1"+" - 9"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}",shallowLoc.getLocSts());
@@ -587,6 +598,7 @@
                    }
                }
            }
            }
            News.warnNoLog(""+mark+" - 1"+" - 15"+" - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}",wrkMast.getWrkNo().shortValue()
                    ,crnStn.getRow().shortValue(),crnStn.getBay().shortValue(),crnStn.getLev().shortValue()
                    ,locMast.getRow1().shortValue(),locMast.getBay1().shortValue(),locMast.getLev1().shortValue());
@@ -603,7 +615,8 @@
            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.setTraySize(locMast.getLocType1() == 2);
            crnCommand.setCommand((short) 1);     // 任务确认
//            crnCommand.setTraySize(locMast.getLocType1() == 2);
            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 {
@@ -688,6 +701,7 @@
                        News.warnNoLog(""+mark+" - 2"+" - 6"+" - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}",wrkMast.getWrkNo());
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        if (shallowLoc != null) {
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            News.warnNoLog(""+mark+" - 2"+" - 7"+" - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}",shallowLoc.getLocSts());
@@ -731,6 +745,7 @@
                            }
                        }
                    }
                    }

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
@@ -754,7 +769,8 @@
                    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.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    crnCommand.setCommand((short)1);     // 任务确认
//                    crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    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 {
@@ -828,7 +844,7 @@
        CrnCommand crnCommand = new CrnCommand();
        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
        crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
        crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
        crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
        crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
@@ -836,7 +852,8 @@
        crnCommand.setDestinationPosX(sta.getRow1().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
        crnCommand.setCommand((short)1);     // 任务确认
//        crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
        if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            News.error(""+mark+" - 3"+" - 4"+" - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
        } else {
@@ -866,11 +883,12 @@
                continue;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
            if (crnProtocol.getMode().intValue() == CrnModeType.AUTO.id && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作");
                if (crnProtocol.getTaskNo() == 9999) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                    if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(3, null))) {
                        News.error(crn.getId() + "堆垛机回原点任务，下发复位命令失败");
                    }
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
@@ -890,8 +908,11 @@
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
                        crnThread.setResetFlag(true);
                        if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(3, null))) {
                            News.error(crn.getId() + "入库完成，下发复位命令失败");
                        } else {
                            News.warnNoLog(""+mark+" - 2"+" - 入库完成复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
                        }
                    }
                }

@@ -1073,7 +1094,7 @@

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
@@ -1585,7 +1606,10 @@
     * 堆垛机回原点
     */
    public synchronized void originGo() throws InterruptedException {

        Config config = configService.selectOne(new EntityWrapper<Config>().eq("code", "crnAutoHome").eq("status", 1));
        if (config == null || Cools.isEmpty(config.getValue()) || !config.getValue().equals("Y")) {
            return;
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -1625,13 +1649,15 @@
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crn.getId()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short)0);
                crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) (crn.getId() == 1 ? 3 : 6));     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setSourcePosX((short) 0);     // 源库位排
                crnCommand.setSourcePosY((short) 0);     // 源库位列
                crnCommand.setSourcePosZ((short) 0);     // 源库位层
                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
                crnCommand.setCommand((short)1);
                if (!MessageQueue.offer(SlaveType.Crn, crn.getId(), new Task(2, crnCommand))) {
                    News.error("回原点任务下发失败", crn.getId(), JSON.toJSON(crnCommand));
                } else {
@@ -1644,4 +1670,82 @@
        }
    }

    public static final HashMap<Integer,Integer> wrkStaNoToRgvStaMap = new HashMap<>();
    static {
        wrkStaNoToRgvStaMap.put(1101,1114);
        wrkStaNoToRgvStaMap.put(1201,1203);
        wrkStaNoToRgvStaMap.put(1206,1203);
        wrkStaNoToRgvStaMap.put(1301,1303);
        wrkStaNoToRgvStaMap.put(1306,1303);
        wrkStaNoToRgvStaMap.put(1408,1413);
    }

    public static final HashMap<Integer,Integer> wrkSourceStaNoToRgvStaMap = new HashMap<>();
    static {
        wrkSourceStaNoToRgvStaMap.put(1112,1114);
        wrkSourceStaNoToRgvStaMap.put(1109,1114);
        wrkSourceStaNoToRgvStaMap.put(1209,1213);
        wrkSourceStaNoToRgvStaMap.put(1309,1313);
        wrkSourceStaNoToRgvStaMap.put(1402,1403);
        wrkSourceStaNoToRgvStaMap.put(1407,1403);
    }

    public synchronized void rgvCarry() {
        for(int i = 1; i <= 4; i ++) {
            List<Integer> rgvCarrySiteList;
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, i);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, i);

            if(rgvProtocol.modeType == RgvModeType.AUTO && rgvProtocol.statusType == RgvStatusType.IDLE && rgvProtocol.loaded1 == 0
            && rgvProtocol.alarm == 0 && rgvProtocol.getTaskNo1() == 0) {
                switch (i) {
                    case 1: rgvCarrySiteList = Arrays.asList(1114,1118,1120); break;
                    case 2: rgvCarrySiteList = Arrays.asList(1213,1216,1218,1220); break;
                    case 3: rgvCarrySiteList = Arrays.asList(1313,1316,1318,1320); break;
                    case 4: rgvCarrySiteList = Arrays.asList(1403,1418,1420); break;
                    default:
                        return;
                }
                List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<BasDevp>().ne("wrk_no", 0).in("dev_no", rgvCarrySiteList));
                if(!basDevps.isEmpty()) {
                    List<Integer> wrkNos = basDevps.stream().map(BasDevp::getWrkNo).distinct().collect(Collectors.toList());
                    List<WrkMast> wrkMastList = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_no", wrkNos)
                            .last("ORDER BY CASE WHEN crn_end_time IS NULL THEN 0 ELSE 1 END,crn_end_time ASC"));
                    Optional<WrkMast> first = wrkMastList.stream().filter(wrkMast -> wrkMast.getWhsType() == 1).findFirst();
                    if(first.isPresent()) {
                        log.warn("有任务处在{}号小车搬运中，任务号{}",i,first.get().getWrkNo());
                        continue;
                    }
                    for(WrkMast wrkMast:wrkMastList) {
                        // 判断目标站点是否可用
                        StaProtocol staProtocol = devpThread.getStation().get(wrkStaNoToRgvStaMap.get(wrkMast.getStaNo()) == null ?
                                wrkMast.getStaNo() : wrkStaNoToRgvStaMap.get(wrkMast.getStaNo()));
                        if (staProtocol != null && staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo() == 0) {

                            RgvCommand rgvCommand = new RgvCommand();
                            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());
//                            rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                            rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());
                            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
                            Integer sourcesStaNo = wrkSourceStaNoToRgvStaMap.get(wrkMast.getSourceStaNo());
                            rgvCommand.setSourceStaNo1(sourcesStaNo == null ? wrkMast.getSourceStaNo().shortValue() : sourcesStaNo.shortValue());   //工位1起点
                            rgvCommand.setDestinationStaNo1(wrkMast.getStaNo().shortValue());   //工位1目标站点
                            rgvCommand.setCommand((short) 1);   //工位1任务确认
                            if (!MessageQueue.offer(SlaveType.Rgv, rgvProtocol.getRgvNo(), new Task(2, rgvCommand))) {
                                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                                break;
                            }
                            wrkMast.setWhsType(1);
                            wrkMastService.updateById(wrkMast);
                            break;
                        }
                    }
                }
            }
        }
    }
}