#

luxiaotao1123

2022-09-23 9998b685bb080dc212d2861bfba819da2e79be8e

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

@@ -869,6 +869,11 @@
                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 +1005,7 @@
                            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 +1548,37 @@
                        } 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())) {
@@ -1655,46 +1691,12 @@
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 25) {
                                // 25.小车行驶 ===>> 26.等待充电
                                // 25.小车去充电 ===>> 26.等待充电
                                wrkCharge.setWrkSts(26L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 25.小车行驶 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    log.error("修改充电任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 26) {
                                if (steProtocol.getChargeStatus() == 0) { continue; }
                                // 穿梭车充电命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
                                steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.CHARGE);
                                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                                } else {
                                    // 修改工作档状态  26.等待充电 ===> 27.输送线上电
                                    wrkCharge.setWrkSts(27L);
                                    wrkCharge.setModiTime(now);
                                    if (!wrkChargeService.updateById(wrkCharge)) {
                                        log.error("修改充电任务状态 26.等待充电 ===> 27.输送线上电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    }
                                }
                            } else if (wrkCharge.getWrkSts() == 27) {
                                // 给输送线下发充电任务
                                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                                SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo());
                                if (null != steChargeType) {
                                    if (devpThread.charge(steChargeType.ssbm - 1, true)) {
                                        // 修改工作档状态 27.输送线上电 ===> 28.完成充电
                                        wrkCharge.setWrkSts(28L);
                                        if (!wrkChargeService.updateById(wrkCharge)) {
                                            log.error("修改充电任务状态 27.输送线上电 ===> 28.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                        } else {
                                            steThread.setResetFlag(true);
                                        }
                                    }
                                } else {
                                    log.error("获取充电桩号失败，解析库位：{}", wrkCharge.getLocNo());
                                }
                            }
                        }
@@ -2084,15 +2086,19 @@
    /**
     * 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();
            BasSte basSte = basSteService.selectById(ste.getId());
            if (Cools.isEmpty(steProtocol, basSte)) { continue; }
            try {
                // 空闲   无作业标记   不在充电
                if (!steProtocol.statusType.equals(SteStatusType.IDLE) || basSte.getPakMk().equals("Y") || steProtocol.getChargeStatus() == 1) {
                // 在线 空闲   无作业标记   不在充电
                if (steProtocol.getMode() == 0
                        || !steProtocol.statusType.equals(SteStatusType.IDLE)
                        || basSte.getPakMk().equals("Y")
//                        || steProtocol.getChargeStatus() == 1
                ) {
                    continue;
                }
                if (!steProtocol.isEnable()) {
@@ -2103,7 +2109,7 @@
                }
                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());
@@ -2130,6 +2136,11 @@
                    }

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

                    // 22.小车待搬
                    if (wrkCharge.getWrkSts() == 22) {
                        // 搬小车至充电库位
@@ -2165,6 +2176,7 @@
                    } else if (wrkCharge.getWrkSts() == 24L) {
                        // 小车行驶至充电位
                        if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
                            if (steProtocol.getChargeStatus() == 1) { continue; }
                            // 命令下发区 --------------------------------------------------------------------------
                            SteCommand steCommand = new SteCommand();
                            steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
@@ -2173,16 +2185,34 @@
                            if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                            } else {
                                // 修改工作档状态 24.小车到达 ===> 25.小车行驶
                                // 修改工作档状态 24.小车到达 ===> 25.小车去充电
                                wrkCharge.setWrkSts(25L);
                                Date now = new Date();
                                wrkCharge.setCrnEndTime(now);
                                wrkCharge.setModiTime(now);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 24.小车到达 ===> 25.小车行驶 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    log.error("修改充电任务状态 24.小车到达 ===> 25.小车去充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            }
                        }
                    } else if (wrkCharge.getWrkSts() == 26) {
                        if (steProtocol.getChargeStatus() == 0) { continue; }
                        // 给输送线下发充电任务
                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo());
                        if (null != steChargeType) {
                            if (devpThread.charge(steChargeType.ssbm - 1, true)) {
                                // 修改工作档状态 26.等待充电 ===> 28.完成充电
                                wrkCharge.setWrkSts(28L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 26.等待充电 ===> 28.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            }
                        } else {
                            log.error("获取充电桩号失败，解析库位：{}", wrkCharge.getLocNo());
                        }
                    }
                }
            } catch (Exception e) {