#

Junjie

2025-06-09 84dc7fa60ba6c5c412f194bfe22c14e3eceebde4

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

@@ -87,6 +87,8 @@
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private WrkMastService wrkMastService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -117,51 +119,27 @@

                //LED
                LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                // 入出库模式判断
//                if ( inSta.getStaNo()==203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) { continue; }
//                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F == IoModeType.PAKOUT_MODE) {
//                    continue;
//                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }
                String barcode11 = barcodeThread.getBarcode();
                if (Cools.isEmpty(barcode11)){
                    if (staProtocol.isAutoing()&& !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 9999 && staProtocol.isPakMk() && staProtocol.getStamp()==2){
                        staProtocol.setStamp(3);
                        News.info(""+mark+" - 7"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode11, inSta.getStaNo());
                        staProtocol.setWorkNo((short) 9989);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        // led 异常显示
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, errorMsg));
                        }
                        continue;
                    }
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() > 9990
                        && staProtocol.getWorkNo()!=9999 && staProtocol.getWorkNo()!=9992 && staProtocol.getWorkNo()!=0
                        && staProtocol.isPakMk() && staProtocol.getStamp()>=2 && staProtocol.getStamp()!=3) {// && !Cools.isEmpty(barcode)) {

                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() == 9999
                        && staProtocol.isPakMk()) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
//                    try {
//                        Thread.sleep(300);
//                    }catch (Exception e){}

                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode) || "empty".equals(barcode)) {
                            staProtocol.setWorkNo((short) 9992);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

//                            staProtocol.setWorkNo((short) 9992);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            News.info(""+mark+" - 2"+" - 扫码失败1 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                            // led 异常显示
                            if (ledThread != null) {
@@ -171,10 +149,10 @@
                            continue;
                        }
                    } else {
                        staProtocol.setWorkNo((short) 9992);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        staProtocol.setWorkNo((short) 9992);
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));

                        News.info(""+mark+" - 3"+" - 扫码失败2 ===>> {}号条码扫描器检测条码信息：{},站点:{}", inSta.getBarcode(), barcode, inSta.getStaNo());
                        // led 异常显示
@@ -196,13 +174,13 @@
                    }
                    if (wrkMast != null) {
                        News.error(""+mark+" - 4"+" - 工作档中已存在该站状态为（ 2.设备上走 ）的数据,工作号={}", wrkMast.getWrkNo());
                        staProtocol.setWorkNo((short)9992);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
//                        staProtocol.setWorkNo((short)9992);
//                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }

                        // led 异常显示
                        if (ledThread != null) {
@@ -230,9 +208,13 @@
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                    .eq("loc_no", dto.getLocNo()));

                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            staProtocol.setPalletSize(locMast.getLocType2());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
@@ -256,13 +238,13 @@
                            }
                        } else {
                            News.error(""+mark+" - 5"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                            staProtocol.setWorkNo((short)9992);
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
//                            staProtocol.setWorkNo((short)9992);
//                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                            devpThread.setPakMk(staProtocol.getSiteId(), false);
//                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                            if (!result) {
//                                throw new CoolException("更新plc站点信息失败");
//                            }

                            // led 异常显示
                            if (ledThread != null) {
@@ -279,7 +261,7 @@
                }else {
                    News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isAutoing()+"、可入信号：" + staProtocol.isInEnable()
                            +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
                            +"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
                            +"、锁定标记"+ staProtocol.isPakMk());
                }

            }
@@ -306,17 +288,15 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
                    continue;
                }

                // 判断是否满足入库条件
                if (!staProtocol.isLoading()){
                    continue;
                }
                if (staProtocol.isAutoing() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)

                if (staProtocol.isAutoing()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.getWorkNo() > 0
                        && staProtocol.isPakMk()) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
                    // 判断重复工作档
@@ -346,7 +326,7 @@
                }else {
                    News.errorNoLog(""+mark+" - 6"+" - 站点信息不符合入库条件！！！"+" 自动信号："+staProtocol.isLoading()+"、可入信号：" + staProtocol.isInEnable()
                            +"、空板信号："+ staProtocol.isEmptyMk()+"、工作号：" + staProtocol.getWorkNo()
                            +"、锁定标记"+ staProtocol.isPakMk()+"、入库印记：" + staProtocol.getStamp());
                            +"、锁定标记"+ staProtocol.isPakMk());
                }
            }
        }
@@ -361,21 +341,6 @@
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());
@@ -385,11 +350,24 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");

                    // 获取条码扫描仪信息
                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                    if (barcodeThread == null) {
                        continue;
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }

                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
@@ -533,9 +511,13 @@

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

                        LocMast locMast = locMastService.selectOne(new EntityWrapper<LocMast>()
                                .eq("loc_no", wrkMast.getSourceLocNo()));

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        staProtocol.setPalletSize(locMast.getLocType2());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
@@ -742,6 +724,17 @@
                continue;
            }

            if (crnProtocol.getCrnNo() == 1) {
                //判断堆垛机和当前任务是否处于一个巷道
                if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
                    //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
                    List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
                    if (!currentWrkMasts.isEmpty()) {
                        continue;//当前堆垛机所在巷道存在任务
                    }
                }
            }

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                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());
@@ -893,6 +886,17 @@
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }

                    if (crnProtocol.getCrnNo() == 1) {
                        //判断堆垛机和当前任务是否处于一个巷道
                        if (Utils.getLaneByLocNo(wrkMast.getLocNo()) != crnProtocol.getCrnLane()) {
                            //判断堆垛机所在巷道是否存在其他任务，如存在则优先执行
                            List<WrkMast> currentWrkMasts = wrkMastService.selectLaneWrkMast(crnProtocol.getCrnLane(), false);
                            if (!currentWrkMasts.isEmpty()) {
                                continue;//当前堆垛机所在巷道存在任务
                            }
                        }
                    }

                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
@@ -1467,7 +1471,7 @@
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() > 9990 && staProtocol.getWorkNo() <= 9999)
                        && staProtocol.isPakMk()&& staProtocol.getStamp()>=2) {
                        && staProtocol.isPakMk()) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

                    try {
@@ -1633,7 +1637,7 @@
                    }catch (Exception e){
                        log.error("工作档案明细输入电视机失败1：异常信息==》"+e);
                    }
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getWeight(),wrkDetl.getSpecs())));
                    wrkDetls.forEach(wrkDetl -> ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getAnfme(),wrkDetl.getWeight(),wrkDetl.getSpecs(),wrkDetl.getSku())));
                }
                commands.add(ledCommand);
            }
@@ -1876,7 +1880,8 @@
                    wrkMast.setCrnNo(crn.getId());
                    wrkMast.setSourceLocNo(shallowLoc.getLocNo()); // 源库位
                    wrkMast.setLocNo(loc.getLocNo()); // 目标库位
                    wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
//                    wrkMast.setFullPlt(shallowLoc.getFullPlt()); // 满板
                    wrkMast.setFullPlt(shallowLoc.getLocSts().equals("D") ? "N" : "Y"); // 满板
                    wrkMast.setPicking("N"); // 拣料
                    wrkMast.setExitMk("N"); // 退出
                    wrkMast.setEmptyMk(shallowLoc.getLocSts().equals("D") ? "Y" : "N"); // 空板
@@ -1893,6 +1898,7 @@
                    // 工作档明细保存
                    if (shallowLoc.getLocSts().equals("F")) {
                        List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", shallowLoc.getLocNo()));

                        for (LocDetl locDetl : locDetls) {
                            WrkDetl wrkDetl = new WrkDetl();
                            wrkDetl.setWrkNo(workNo);