#

luxiaotao1123

2022-09-28 94860d0ab6d9fedf9413b2083eb9af17d8bd7d54

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

@@ -43,10 +43,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -117,11 +114,33 @@
                    }
                    String barcode = barcodeThread.getBarcode();
                    if(!Cools.isEmpty(barcode)) {
                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}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) 9995);
                            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
                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                            if (ledThread != null) {
                                String errorMsg = "扫码失败，请重试";
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
                            continue;
                        }
                    } else {
                        staProtocol.setWorkNo((short) 9995);
                        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
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            String errorMsg = "扫码失败，请重试";
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
                        continue;
                    }

@@ -238,21 +257,21 @@
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){

                    // 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)) {
                        log.info("{}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;
                    }
//                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
//                    if (barcodeThread == null) {
//                        continue;
//                    }
//                    String barcode = barcodeThread.getBarcode();
//                    if(!Cools.isEmpty(barcode)) {
//                        log.info("{}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.selectPickStep(staProtocol.getWorkNo());
                    if (wrkMast == null) {
                        // 无拣料数据
                        continue;
@@ -295,6 +314,9 @@
                        wrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            throw new CoolException("更新工作档数据状态失败");
                        }
                        if (wrkMastMapper.setSteEmpty(wrkMast.getWrkNo()) == 0) {
//                            throw new CoolException("更新工作档数据状态失败");
                        }
                        // 修改库位状态 Q.拣料/盘点/并板再入库
                        LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
@@ -869,6 +891,11 @@
                if (steNo != null) {
                    // 小车行走到堆垛机待搬移点
                    if (wrkMast.getWrkSts() == 11L && wrkMast.getSteNo() == null) {
                        // 标记移库当前流程
                        wrkMast.setMk("I");
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            log.error("标记移库当前流程 I 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
                    }
                    // 堆垛机将货放至小车上 6.小车待入  ===>> 7.吊车入库中
@@ -1000,7 +1027,7 @@
                            if (wrkMastMapper.updateById(wrkMast) == 0) {
                                log.error("修改工作档状态 15.等待吊车 => 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                            wrkMastMapper.setSteEmpty(wrkMast.getWrkNo());
//                            wrkMastMapper.setSteEmpty(wrkMast.getWrkNo());
                        }
                    } else {

@@ -1543,6 +1570,37 @@
                        } else {
                            log.error("修改工作档状态 16.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    } else if (wrkMast.getWrkSts() == 4) {
                        // 4.迁入小车 ==> 6.小车待入
                        wrkMast.setWrkSts(6L);
                        Date now = new Date();
                        wrkMast.setCrnEndTime(now);
                        wrkMast.setModiTime(now);
                        // 修改成功后复位堆垛机
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            // 堆垛机复位
                            crnThread.setResetFlag(true);
                            // 穿梭车重新定位排列层
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());
                            if (!steThread.confirmPos()) {
                                log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                            }
                            // 穿梭车去待机位
                            BasSte basSte = basSteService.selectById(wrkMast.getSteNo());
                            SteCommand steCommand = new SteCommand();
                            steCommand.setSteNo(wrkMast.getSteNo()); // 穿梭车编号
                            steCommand.setTaskNo(9999); // 工作号
                            steCommand.setTaskMode(SteTaskModeType.findWaiting(basSte.getRow())); // 任务模式:  去近点 等待堆垛机叉取
//                        steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
//                        steCommand.setBay(steProtocol.getBay());
//                        steCommand.setLev(steProtocol.getLev());
                            if (!MessageQueue.offer(SlaveType.Ste, wrkMast.getSteNo(), new Task(2, steCommand))) {
                                log.error("穿梭车待机位命令下发失败，穿梭车号={}，任务数据={}", wrkMast.getSteNo(), JSON.toJSON(steCommand));
                            }
                        } else {
                            log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        // 入库 ===>> 迁出小车 完成
                    } else if (wrkMast.getWrkSts() == 7){
                        // 判断是否需要小车入库
                        if (locMastService.isOutMost(wrkMast.getLocNo())) {
@@ -2050,7 +2108,7 @@
    /**
     * 小车电量检测 ===>> 发起充电
     */
    public void loopSteCharge() {
    public synchronized void loopSteCharge() {
        for (SteSlave ste : slaveProperties.getSte()) {
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
@@ -2073,7 +2131,7 @@
                }
                WrkCharge wrkCharge = wrkChargeService.selectWorking(steProtocol.getSteNo().intValue());

                if (wrkCharge == null) {
                if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
                    String idleLoc = basSte.getIdleLoc();
                    wrkCharge = new WrkCharge();
                    wrkCharge.setSteNo(ste.getId());
@@ -2101,7 +2159,7 @@

                } else {
                    // filter
                    if (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1) {
                    if (wrkCharge == null || (wrkCharge.getWrkSts() < 26 && steProtocol.getChargeStatus() == 1)) {
                        continue;
                    }

@@ -2185,4 +2243,209 @@
        }
    }


    public List<String> crn1DemoLocs = new ArrayList<String>(); public String crn1LastLoc = "";
    public List<String> crn2DemoLocs = new ArrayList<String>(); public String crn2LastLoc = "";
    public List<String> crn3DemoLocs = new ArrayList<String>(); public String crn3LastLoc = "";
    public synchronized void demo() {
        if (Cools.isEmpty(crn1DemoLocs)) {
            crn1DemoLocs = locMastService.getDemoNextLoc(1);
        }
        if (Cools.isEmpty(crn2DemoLocs)) {
            crn2DemoLocs = locMastService.getDemoNextLoc(2);
        }
        if (Cools.isEmpty(crn3DemoLocs)) {
            crn3DemoLocs = locMastService.getDemoNextLoc(3);
        }
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) {
                continue;
            }   // 必须为演示状态

//            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
//            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
//            if (crnProtocol == null) {
//                continue;
//            }

            // 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) {

                String locNo = null;
                Iterator<String> iterator = crn1DemoLocs.iterator();
                if (crn.getId() == 1) {
                    iterator = crn1DemoLocs.iterator();
                } else if (crn.getId() == 2) {
                    iterator = crn2DemoLocs.iterator();
                } else if (crn.getId() == 3) {
                    iterator = crn3DemoLocs.iterator();
                }
                while (iterator.hasNext()) {
                    String next = iterator.next();
                    String lastLoc = "";
                    if (crn.getId() == 1) {
                        lastLoc = crn1LastLoc;
                    } else if (crn.getId() == 2) {
                        lastLoc = crn2LastLoc;
                    } else if (crn.getId() == 3) {
                        lastLoc = crn3LastLoc;
                    }
                    if (!Cools.isEmpty(lastLoc)) {
                        if (!lastLoc.substring(2, 7).equals(next.substring(2, 7)) || !Utils.getGroupRow(lastLoc).equals(Utils.getGroupRow(next))) {
                            locNo = next;
                            iterator.remove();
                            break;
                        } else {
                            iterator.remove();
                        }
                    } else {
                        locNo = next;
                        iterator.remove();
                        break;
                    }

                }
                if (!Cools.isEmpty(locNo)) {
                    if (crn.getId() == 1) {
                        crn1LastLoc = locNo;
                    } else if (crn.getId() == 2) {
                        crn2LastLoc = locNo;
                    } else if (crn.getId() == 3) {
                        crn3LastLoc = locNo;
                    }
                }

//                log.info("{}号堆垛机对{}库位进行演示", crn.getId(), locNo);

            // 获取移库工作档信息
//                WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
//                if (null != wrkMast) { continue; }
//
//                LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
//                LocMast loc = locMastService.queryDemoLoc(crn.getId());
//                if (null == sourceLoc || null == loc) { continue; }
//
//                String sourceLocNo = sourceLoc.getLocNo();
//                String locNo = loc.getLocNo();
//
//                // 获取工作号
//                int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
//                // 保存工作档
//                wrkMast = new WrkMast();
//                wrkMast.setWrkNo(workNo);
//                wrkMast.setIoTime(new Date());
//                wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
//                wrkMast.setIoType(11); // 入出库状态： 11.库格移载
//                wrkMast.setIoPri(13D);
//                wrkMast.setCrnNo(crn.getId());
//                wrkMast.setSourceLocNo(sourceLocNo); // 源库位
//                wrkMast.setLocNo(locNo); // 目标库位
//                wrkMast.setFullPlt("N"); // 满板：Y
//                wrkMast.setPicking("N"); // 拣料
//                wrkMast.setExitMk("N"); // 退出
//                wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
//                wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
//                wrkMast.setLinkMis("N");
//                wrkMast.setAppeTime(new Date());
//                wrkMast.setModiTime(new Date());
//                int res = wrkMastMapper.insert(wrkMast);
//                if (res == 0) {
//                    throw new CoolException("保存工作档失败");
//                }

            }

//        }
    }

    /**
     * 堆垛机演示  ===>> 库位移转
     */
    public synchronized void crnDemoOfLocMove(){
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (!crn.getDemo()) { continue; }   // 必须为演示状态

            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) { continue; }

            log.info("{}号堆垛机正在演示", crn.getId());

            // 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) {
//                // 获取移库工作档信息
//                WrkMast wrkMast = wrkMastMapper.selectLocMove(crn.getId());
//                if (null != wrkMast) { continue; }
//
//                LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
//                LocMast loc = locMastService.queryDemoLoc(crn.getId());
//                if (null == sourceLoc || null == loc) { continue; }
//
//                String sourceLocNo = sourceLoc.getLocNo();
//                String locNo = loc.getLocNo();
//
//                // 获取工作号
//                int workNo = commonService.getWorkNo(WorkNoType.PICK.type);
//                // 保存工作档
//                wrkMast = new WrkMast();
//                wrkMast.setWrkNo(workNo);
//                wrkMast.setIoTime(new Date());
//                wrkMast.setWrkSts(11L); // 工作状态：11.生成出库ID
//                wrkMast.setIoType(11); // 入出库状态： 11.库格移载
//                wrkMast.setIoPri(13D);
//                wrkMast.setCrnNo(crn.getId());
//                wrkMast.setSourceLocNo(sourceLocNo); // 源库位
//                wrkMast.setLocNo(locNo); // 目标库位
//                wrkMast.setFullPlt("N"); // 满板：Y
//                wrkMast.setPicking("N"); // 拣料
//                wrkMast.setExitMk("N"); // 退出
//                wrkMast.setEmptyMk(sourceLoc.getLocSts().equals("D")?"Y":"N"); // 空板
//                wrkMast.setBarcode(sourceLoc.getBarcode()); // 托盘码
//                wrkMast.setLinkMis("N");
//                wrkMast.setAppeTime(new Date());
//                wrkMast.setModiTime(new Date());
//                int res = wrkMastMapper.insert(wrkMast);
//                if (res == 0) {
//                    throw new CoolException("保存工作档失败");
//                }
//                // 工作档明细保存
//                List<LocDetl> locDetls = locDetlService.selectList(new EntityWrapper<LocDetl>().eq("loc_no", sourceLocNo));
//                for (LocDetl locDetl : locDetls) {
//                    WrkDetl wrkDetl = new WrkDetl();
//                    wrkDetl.sync(locDetl);
//                    wrkDetl.setWrkNo(workNo);
//                    wrkDetl.setIoTime(new Date());
//                    wrkDetl.setAnfme(locDetl.getAnfme());
//                    wrkDetl.setAppeTime(new Date());
//                    wrkDetl.setModiTime(new Date());
//                    if (!wrkDetlService.insert(wrkDetl)) {
//                        throw new CoolException("保存工作档明细失败");
//                    }
//                }
//                // 修改源库位状态
//                if (sourceLoc.getLocSts().equals("D") || sourceLoc.getLocSts().equals("F")) {
//                    sourceLoc.setLocSts("R"); // R.出库预约
//                    sourceLoc.setModiTime(new Date());
//                    if (!locMastService.updateById(sourceLoc)){
//                        throw new CoolException("更新源库位状态失败");
//                    }
//                } else {
//                    throw new CoolException("源库位出库失败");
//                }
//                // 修改目标库位状态
//                if (loc.getLocSts().equals("O")) {
//                    loc.setLocSts("S"); // S.入库预约
//                    loc.setModiTime(new Date());
//                    if (!locMastService.updateById(loc)) {
//                        throw new CoolException("更新目标库位状态失败");
//                    }
//                } else {
//                    throw new CoolException("移转失败");
//                }

            }

        }
    }

}