#

lsh

2024-05-21 9a0d024ef76899b1721d82739fa66f9b528efc85

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

@@ -1364,6 +1364,67 @@
    }

    /**
     * 堆垛机站出库到出库站
     */
    public synchronized void crnStnToOutStnTwo() {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                // 获取堆垛机出库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        continue;
                    }
                    // 判断工作档条件
                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                        continue;
                    }
                    // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                    if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING || crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
                        // 移动中
                        continue;
                    }

                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusTypeTwo == CrnStatusType.WAITING
                            && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME) {

                        // 命令下发区 --------------------------------------------------------------------------
                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }

                        // 更新工作档状态为14失败
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            crnThread.setResetFlagTwo(true);
                        } else {
                            log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }
                    }
                }
            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute() {
@@ -1398,7 +1459,7 @@
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                    continue;
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol,1); //  入库
                            }
@@ -1412,7 +1473,7 @@
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                    continue;
                                default:
                                    this.locToCrnStn1(crn, crnProtocol,1); //  出库
                            }
@@ -1430,7 +1491,7 @@
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                    continue;
                                default:
                                    this.locToCrnStn1(crn, crnProtocol,1); //  出库
                            }
@@ -1444,7 +1505,7 @@
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                    continue;
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol,1); //  入库
                            }
@@ -1511,7 +1572,7 @@
                                    this.crnStnToLoc1(crn, crnProtocol, sign[1]); //  入库
                                    break;
                                default:
                                    break;
                                    continue;
                            }
                            crnProtocol.setLastIo("O");
                        } else if (basCrnp.getOutEnable().equals("Y")) {
@@ -1522,7 +1583,7 @@
                                    this.locToCrnStn1(crn, crnProtocol, sign[1]); //  出库
                                    break;
                                default:
                                    break;
                                    continue;
                            }
                            crnProtocol.setLastIo("I");
                        }
@@ -1537,7 +1598,7 @@
                                    this.locToCrnStn1(crn, crnProtocol, sign[1]); //  出库
                                    break;
                                default:
                                    break;
                                    continue;
                            }
                            crnProtocol.setLastIo("I");
                        } else if (basCrnp.getInEnable().equals("Y")) {
@@ -1548,7 +1609,7 @@
                                    this.crnStnToLoc1(crn, crnProtocol, sign[1]); //  入库
                                    break;
                                default:
                                    break;
                                    continue;
                            }
                            crnProtocol.setLastIo("O");
                        }
@@ -2821,6 +2882,48 @@
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                    }
                }

            }
        }
    }
    /**
     * 执行对工作档的完成操作
     */
    public synchronized void storeFinishedTwo() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                continue;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) {
                if (crnProtocol.getTaskNoTwo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlagTwo(true);
                } else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().intValue());
                    if (wrkMast == null) {
                        log.error("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.getTaskNoTwo());
                        continue;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    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.setResetFlagTwo(true);
                    }
                }

@@ -5361,6 +5464,9 @@
     * 小车地图更新  更新锁
     * */
    public synchronized boolean rgvMapUpdate(BasRgvMap basRgvMapCurrent,Integer staStart,Integer staEnd){
        if (true){
            return true;
        }

//        List<Integer> integers = RouteUtils.RouteMapCurrentFar(basRgvMapCurrent.getNowRoute(),staStart,staEnd, basRgvMapCurrent.getLockStartRoute());
        //更新当前小车锁