修复解决双工位堆垛机移库任务下发后瞬间完成问题

czkh

2 天以前 7f8a8351ecb3634f3decb58057daf24e59dd8d49

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

@@ -24,6 +24,7 @@
import com.zy.common.utils.News;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.ThreadHandler;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -59,7 +60,6 @@
 */
@Slf4j
@Service("mainService")
@Transactional
public class MainServiceImpl {

    public static final long COMMAND_TIMEOUT = 5 * 1000;
@@ -453,9 +453,11 @@
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
                        // 无拣料数据
                        log.info("无拣料数据,托盘码：{}",barcode);
                        continue;
                    }
                    if ((wrkMast.getIoType() != 103 && wrkMast.getIoType() != 104 && wrkMast.getIoType() != 107) || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        log.info("工作档入出库类型不符合,入出库类型：{},工作档目标站{}，工作档源站{}",wrkMast.getIoType(),wrkMast.getStaNo(),wrkMast.getSourceStaNo());
                        continue;
                    }
                    // 获取目标站
@@ -736,6 +738,12 @@
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue()) && crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                        log.info("堆垛机出库完成 - 开始执行");

                        Date date = new Date();
                        long diffInMillis = date.getTime() - wrkMast.getCrnStrTime().getTime();
                        if (!(diffInMillis >= 30000)){
                            continue;
                        }

                        // 命令下发区 --------------------------------------------------------------------------

                        // 下发站点信息
@@ -834,6 +842,9 @@
    public synchronized void crnIoExecute(Integer mark) {

        for (CrnSlave crn : slaveProperties.getCrn()) {
            //获取堆垛机出库站的下一站信息
            SiemensDevpThread devpThread =(SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crn.getId());
            StaProtocol staProtocol = devpThread.getStation().get(1002);
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
@@ -852,7 +863,14 @@
//            }

            // 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.getModeType() == CrnModeType.AUTO && crnProtocol.getForkPos() == 0 && crnProtocol.getTaskNo() == 0 && crnProtocol.getTaskNoTwo() == 0) {
            if (
                    crnProtocol.getStatusType() == CrnStatusType.IDLE
                    && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getForkPos() == 0
                    && crnProtocol.getTaskNo() == 0
                    && crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                    && crnProtocol.getForkPosTwo() == 0
                    && crnProtocol.getTaskNoTwo() == 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
                if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 0) {
                    //News.error("工位1无物，工位2无物");
@@ -903,7 +921,7 @@
                        if (wrkMast.getIoType() >= 100) {
                            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo());
                            if (wrkMast1 != null) {
                                if (Integer.parseInt(wrkMast1.getSourceLocNo().substring(2,5)) == 1){
                                if (Integer.parseInt(wrkMast1.getSourceLocNo().substring(2,5)) == 1 || (staProtocol.isAutoing()&&staProtocol.isLoading())){
                                    this.outPut(crn, crnProtocol, mark);
                                    continue;
                                }
@@ -932,7 +950,7 @@
                        if (wrkMast.getIoType() >= 100) {
                            WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo());
                            if (wrkMast1 != null) {
                                if (Integer.parseInt(wrkMast1.getSourceLocNo().substring(2,5)) == 29){
                                if (Integer.parseInt(wrkMast1.getSourceLocNo().substring(2,5)) == 29 || (staProtocol.isAutoing()&&staProtocol.isLoading())){
                                    this.outPut(crn, crnProtocol, mark);
                                    continue;
                                }
@@ -969,16 +987,17 @@
     * @return
     */
    private Integer getCrnStation(String locNo) {
        String bay = locNo.substring(2, 5);
        String bay = locNo.substring(2, 5);//0100203
        if (Integer.parseInt(bay) == 1) {
            return 1;
        } else if (Integer.parseInt(bay) == 29) {
            return 2;
        }
        if (Integer.parseInt(locNo.substring(0, 2)) >= 14) {
            return 1;
        } else {
//        if (Integer.parseInt(locNo.substring(0, 2)) >= 14) {
        if (Integer.parseInt(bay) >= 14) {
            return 2;
        } else {
            return 1;
        }
    }

@@ -1197,6 +1216,8 @@
                // 获取堆垛机出库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                //堆垛机出库站点的下一站
                StaProtocol staProtocol1 = devpThread.getStation().get(1002);
                if (staProtocol == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol);
                    break;
@@ -1212,7 +1233,7 @@
                    break;
                }
                // 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() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()&&staProtocol1.isAutoing()&&!staProtocol1.isLoading()) {
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1991,11 +2012,6 @@
            return;
        }

        // 堆垛机控制过滤
        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
            return;
        }

        // 已经存在吊车执行任务时，则过滤
        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
            return;
@@ -2027,7 +2043,20 @@
            }
        }


        if (crnStation == 0) {
            return;
        }else if(crnStation == 1) {
            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                return;
            }
        }else if(crnStation == 2) {
            // 堆垛机控制过滤
            if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
                return;
            }
        }else {
            }

        News.warnNoLog("" + mark + " - 3" + " - 3" + " - 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(), sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue(), sta.getRow1().shortValue(), sta.getBay1().shortValue(), sta.getLev1().shortValue());

@@ -2078,17 +2107,32 @@
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
                if (crnProtocol.getTaskNo() == 9999) {
                    crnThread.setResetFlag(true);
                    continue;
                }

                if ((System.currentTimeMillis() - crnProtocol.getLastCommandTime()) < 1000 * 6) {
                    News.error("" + mark + " - 0" + " - 堆垛机指令等待确认完成过快异常，任务号:" + crnProtocol.getTaskNo());
                    continue;
                }

                News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());
//                if (crnProtocol.getTaskNo() == 9999) {
//                    crnThread.setResetFlag(true);
//                    continue;
//                }
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                Date date = new Date();
                long diffInMillis = date.getTime() - wrkMast.getCrnStrTime().getTime();
                if (!(diffInMillis >= 30000)){
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3) {
                    wrkMast.setWrkSts(4L);