#
LSH
2024-06-16 7e11c0b06cb884c5748dc8e522a67e20c9b00d52
src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java
@@ -32,6 +32,7 @@
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.cpmmandParam.CrnCommandParam;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
@@ -109,7 +110,8 @@
    @Value("${wms.url}")
    private String wmsUrl;
    private WrkMastSplitTwinServiceImpl wrkMastSplitTwinService;
    @Autowired
    private WrkMastSplitTwinService wrkMastSplitTwinService;
    /**
     * 组托
@@ -1407,8 +1409,8 @@
                            && crnProtocol.forkPosType == CrnForkPosType.HOME
                            && crnProtocol.getLoaded()==0) {
                        List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
                        if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业,请删除无效作业!!!",conStation,2,3);
                        if (wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",conStation,2,3);
                        }
                        for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                            if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -1452,8 +1454,8 @@
                            && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME
                            && crnProtocol.getLoadedTwo()==0) {
                        List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
                        if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业,请删除无效作业!!!",conStation,2,3);
                        if (wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",conStation,2,3);
                        }
                        for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                            if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -1696,8 +1698,6 @@
                            && crnProtocol.getTaskNo() == 0
                            && crnProtocol.getLoaded() == 0
                            && crnProtocol.getForkPos() == 0) {
//                        sign[0] = 1;
//                        sign[1] = 1;
                        /*
                        * 任务拆分特殊处理
                        * */
@@ -1708,16 +1708,10 @@
                            sign[0] = 1;
                            sign[1] = 1;
                        }
                    }else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                            && crnProtocol.getTaskNoTwo() == 0
                            && crnProtocol.getLoadedTwo() == 0
                            && crnProtocol.getForkPosTwo() == 0){
                        sign[0] = 1;
                        sign[1] = 2;
                    }
                }
                if (sign[0]==1 && sign[1] == 1){
                if (sign[0]==1){
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
                        if (basCrnp.getInEnable().equals("Y")) {
@@ -3072,47 +3066,93 @@
//                        return;
                }
                // 1.堆垛机开始移动
                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.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
                    wrkMastSplitTwin.setWrkSts(1);
                    wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
                    wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
                    wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
                    wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
                    wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
                    wrkMastSplitTwin.setEndRow(crnStn.getRow());
                    wrkMastSplitTwin.setEndBay(crnStn.getBay());
                    wrkMastSplitTwin.setEndLev(crnStn.getLev());
                    wrkMastSplitTwin.setWrkType(1);
                    wrkMastSplitTwin.setIoType(2);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败!!,工作号={}", wrkMast.getWrkNo());
                    }
                if (true){
                    // 1.堆垛机开始移动
                    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.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                    crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                    } else {
                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                        Date now = new Date();
                        wrkMast.setWrkSts(12L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
                        wrkMastSplitTwin.setWrkSts(1);
                        wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
                        wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
                        wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
                        wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
                        wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
                        wrkMastSplitTwin.setEndRow(crnStn.getRow());
                        wrkMastSplitTwin.setEndBay(crnStn.getBay());
                        wrkMastSplitTwin.setEndLev(crnStn.getLev());
                        wrkMastSplitTwin.setWrkType(1);
                        wrkMastSplitTwin.setIoType(2);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 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 (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());
                        }
                        break;
                    }
                    break;
                }
//                else {
//                    // 1.堆垛机开始移动
//                    CrnCommandParam crnCommandParam = new CrnCommandParam();
//                    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.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
//                    crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
//                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
//                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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
//                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
//                    } else {
//                        // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                        Date now = new Date();
//                        wrkMast.setWrkSts(12L);
//                        wrkMast.setCrnStrTime(now);
//                        wrkMast.setModiTime(now);
//                        WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,crnStation,now);
//                        wrkMastSplitTwin.setWrkSts(1);
//                        wrkMastSplitTwin.setWrkStart(wrkMast.getSourceLocNo());
//                        wrkMastSplitTwin.setWrkEnd(wrkMast.getSourceStaNo().toString());
//                        wrkMastSplitTwin.setStartRow(sourceSta.getRow1());
//                        wrkMastSplitTwin.setStartBay(sourceSta.getBay1());
//                        wrkMastSplitTwin.setStartLev(sourceSta.getLev1());
//                        wrkMastSplitTwin.setEndRow(crnStn.getRow());
//                        wrkMastSplitTwin.setEndBay(crnStn.getBay());
//                        wrkMastSplitTwin.setEndLev(crnStn.getLev());
//                        wrkMastSplitTwin.setWrkType(1);
//                        wrkMastSplitTwin.setIoType(2);
//                        if (wrkMastMapper.updateById(wrkMast) == 0) {
//                            log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 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());
//                        }
//                        break;
//                    }
//                }
            }
        }
@@ -3453,8 +3493,8 @@
                    wrkMast.setModiTime(now);
                    // 堆垛机复位
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",1,2,3);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",1,2,3);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -3486,8 +3526,8 @@
                    return true;
                } else {
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",1,1,1);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",1,1,1);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        Date now = new Date();
@@ -3606,8 +3646,8 @@
                    wrkMast.setModiTime(now);
                    // 堆垛机复位
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",2,2,3);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",2,2,3);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -3638,8 +3678,8 @@
                    crnThread.setResetFlagTwo(true);
                } else {
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业,请删除无效作业!!!",2,1,1);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业,请删除无效作业!!!",2,1,1);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        Date now = new Date();
@@ -6235,14 +6275,14 @@
    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecuteTwoExecute() {
    public synchronized void crnIoExecuteTwoExecute(Integer i) {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            try{
                switch (crn.getId()){
                    case 3:
                    case 4:
                    case 5:
                        crnWrkMastSplitTwinExecute(crn);
                        crnWrkMastSplitTwinExecute(crn,i);
                        continue;
                    default:
                        continue;
@@ -6254,7 +6294,7 @@
    }
    public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn){
    public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn,Integer i){
        try{
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -6273,40 +6313,61 @@
            // 只有当堆垛机自动时才继续执行
            if (crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 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
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 0
                        && crnProtocol.getForkPos() == 0) {
                    sign[0] = 1;
                    sign[1] = 1;
                } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                        && crnProtocol.getTaskNoTwo() == 0
                        && crnProtocol.getLoadedTwo() == 0
                        && crnProtocol.getForkPosTwo() == 0){
                    sign[0] = 1;
                    sign[1] = 2;
                } else if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 1
                        && crnProtocol.getForkPos() == 0) {
                    sign[0] = 2;
                    sign[1] = 1;
                } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNoTwo() == 0
                        && crnProtocol.getLoadedTwo() == 1
                        && crnProtocol.getForkPosTwo() == 0){
                    sign[0] = 2;
                    sign[1] = 2;
                switch (i){
                    case 1:
                        if (crnProtocol.getStatusType() == CrnStatusType.IDLE
                                && crnProtocol.getTaskNo() == 0
                                && crnProtocol.getLoaded() == 0
                                && crnProtocol.getForkPos() == 0) {
                            sign[0] = 1;
                            sign[1] = 1;
                        }
                        break;
                    case 2:
                        if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
                                && crnProtocol.getTaskNo() == 0
                                && crnProtocol.getLoaded() == 1
                                && crnProtocol.getForkPos() == 0) {
                            sign[0] = 2;
                            sign[1] = 1;
                        }
                        break;
                    case 3:
                        if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                                && crnProtocol.getTaskNoTwo() == 0
                                && crnProtocol.getLoadedTwo() == 0
                                && crnProtocol.getForkPosTwo() == 0){
                            sign[0] = 1;
                            sign[1] = 2;
                        }
                        break;
                    case 4:
                        if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
                                && crnProtocol.getTaskNoTwo() == 0
                                && crnProtocol.getLoadedTwo() == 1
                                && crnProtocol.getForkPosTwo() == 0){
                            sign[0] = 2;
                            sign[1] = 2;
                        }
                        break;
                    default:
                }
            }
            if (sign[0]!=0){
                List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0);
                if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                if (wrkMastSplitTwinList.size()>1){
                    log.error("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;
                }
                for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                    return sign[0] == 1? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
                    boolean ack = sign[0] == 1 ? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
                    if (ack){
                        wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkType()==1? 1:3);
                        wrkMastSplitTwinService.updateById(wrkMastSplitTwin);
                    }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);
                    }
                }
            }
        }catch (Exception e){