zy-wcs.git - Gitblit

			@@ -1901,6 +1901,141 @@
			}
			}

			StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
			if (staProtocolOther == null) {
			continue;
			} else {
			staProtocolOther = staProtocolOther.clone();
			}

			// 查询站点详细信息
			BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
			if (staDetlOther == null) {
			log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
			continue;
			}
			if (staProtocolOther.getWorkNo()!=0){
			WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(staProtocolOther.getWorkNo());
			if (Cools.isEmpty(wrkMastOther)){
			log.error("Other查询工作档案无数据--工作号{},站点号：{}", staProtocolOther.getWorkNo(),staProtocolOther.getSiteId());
			continue;
			}
			// 获取库位信息
			LocMast locMastOther = locMastService.selectById(wrkMastOther.getLocNo());
			if (locMastOther == null) {
			log.error("查询库存无数据--库位号{}", locMastOther.getLocNo());
			continue;
			}
			if (!locMastOther.getLocSts().equals("S") && !locMastOther.getLocSts().equals("Q")) {
			log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMastOther.getLocNo(), locMastOther.getLocSts());
			continue;
			}
			if (locMastOther.getBay1()!=81){
			if (staProtocolOther.isAutoing() && staProtocolOther.isLoading()
			&& staProtocolOther.isInEnable() && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(slave.getId()); // 堆垛机编号

			crnCommandParam.setTaskNo2(wrkMast.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX2(crnStn.getRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY2(crnStn.getBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ2(crnStn.getLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX2((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY2((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ2((short)0); // 目标库位层

			crnCommandParam.setTaskNo(wrkMastOther.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommandParam));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			Date now = new Date();
			wrkMast.setWrkSts(3L);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,2,now);
			wrkMastSplitTwin.setWrkSts(1);
			wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
			wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
			wrkMastSplitTwin.setStartRow(crnStn.getRow());
			wrkMastSplitTwin.setStartBay(crnStn.getBay());
			wrkMastSplitTwin.setStartLev(crnStn.getLev());
			wrkMastSplitTwin.setEndRow(locMast.getRow1());
			wrkMastSplitTwin.setEndBay(locMast.getBay1());
			wrkMastSplitTwin.setEndLev(locMast.getLev1());
			wrkMastSplitTwin.setWrkType(1);
			wrkMastSplitTwin.setIoType(1);

			wrkMastOther.setWrkSts(3L);
			wrkMastOther.setCrnStrTime(now);
			wrkMastOther.setModiTime(now);
			WrkMastSplitTwin wrkMastSplitTwinOther = new WrkMastSplitTwin(wrkMastOther,1,now);
			wrkMastSplitTwinOther.setWrkSts(1);
			wrkMastSplitTwinOther.setWrkStart(wrkMastOther.getStaNo().toString());
			wrkMastSplitTwinOther.setWrkEnd(wrkMastOther.getLocNo());
			wrkMastSplitTwinOther.setStartRow(crnStn.getRow());
			wrkMastSplitTwinOther.setStartBay(crnStn.getBay());
			wrkMastSplitTwinOther.setStartLev(crnStn.getLev());
			wrkMastSplitTwinOther.setEndRow(locMastOther.getRow1());
			wrkMastSplitTwinOther.setEndBay(locMastOther.getBay1());
			wrkMastSplitTwinOther.setEndLev(locMastOther.getLev1());
			wrkMastSplitTwinOther.setWrkType(1);
			wrkMastSplitTwinOther.setIoType(1);

			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
			log.error("创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}

			if (wrkMastMapper.updateById(wrkMastOther) == 0) {
			log.error("Other修改工作档状态 2.设备上走 => 3.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			}

			if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwinOther)==0){
			log.error("Other创建堆垛机执行任务失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
			}
			return;
			}
			}
			}
			return;
			}
			StaProtocol staProtocolOther1 = devpThread.getStation().get(crnStn.getStaNoOther1());
			if (staProtocolOther1 == null) {
			continue;
			} else {
			staProtocolOther1 = staProtocolOther1.clone();
			}

			if (staProtocolOther1.isAutoing() && staProtocolOther1.getWorkNo()!=0){
			return;
			}


			StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
			if (staProtocolOther2 == null) {
			continue;
			} else {
			staProtocolOther2 = staProtocolOther2.clone();
			}
			if (staProtocolOther2.isAutoing() && staProtocolOther2.getWorkNo()!=0){
			return;
			}
			crnStation = 2;
			// 命令下发区 --------------------------------------------------------------------------
			CrnCommand crnCommand = new CrnCommand();
			crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
			@@ -1913,7 +2048,17 @@
			crnCommand.setDestinationPosX((short)0); // 目标库位排
			crnCommand.setDestinationPosY((short)0); // 目标库位列
			crnCommand.setDestinationPosZ((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {

			staProtocol.setWorkNo(wrkMast.getWrkNo());
			staProtocol.setStaNo(wrkMast.getStaNo());

			devpThread.setPakMk(staProtocol.getSiteId(), false);

			if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommand.getCrnNo()-2))) {
			log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommand.getCrnNo()-2);
			continue;
			}
			if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
			} else {
			// 修改工作档状态 2.设备上走 => 3.吊车入库中
			@@ -4474,6 +4619,84 @@
			crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSONString(crnCommand));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 堆垛机取货至工位任务
			* */
			public synchronized boolean crnExecuteTakeFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
			crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX(wrkMastSplitTwinOne.getStartRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY(wrkMastSplitTwinOne.getStartBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ(wrkMastSplitTwinOne.getStartLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ((short)0); // 目标库位层

			crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式: 单取货
			crnCommandParam.setSourcePosX2(wrkMastSplitTwinTwo.getStartRow().shortValue()); // 源库位排
			crnCommandParam.setSourcePosY2(wrkMastSplitTwinTwo.getStartBay().shortValue()); // 源库位列
			crnCommandParam.setSourcePosZ2(wrkMastSplitTwinTwo.getStartLev().shortValue()); // 源库位层
			crnCommandParam.setDestinationPosX2((short)0); // 目标库位排
			crnCommandParam.setDestinationPosY2((short)0); // 目标库位列
			crnCommandParam.setDestinationPosZ2((short)0); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
			return false;
			} else {
			return true;
			}
			}catch (Exception e){
			return false;
			}
			}

			/*
			* 堆垛机放货货至出库站点任务
			* */
			public synchronized boolean crnExecutePutFullPair(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwinOne,WrkMastSplitTwin wrkMastSplitTwinTwo, Integer crnStation){
			try{
			// 命令下发区 --------------------------------------------------------------------------
			// 1.堆垛机开始移动
			CrnCommandParam crnCommandParam = new CrnCommandParam();
			crnCommandParam.setCrnNo(crnNo); // 堆垛机编号
			crnCommandParam.setTaskNo(wrkMastSplitTwinOne.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommandParam.setSourcePosX((short)0); // 源库位排
			crnCommandParam.setSourcePosY((short)0); // 源库位列
			crnCommandParam.setSourcePosZ((short)0); // 源库位层
			crnCommandParam.setDestinationPosX(wrkMastSplitTwinOne.getEndRow().shortValue()); // 目标库位排
			crnCommandParam.setDestinationPosY(wrkMastSplitTwinOne.getEndBay().shortValue()); // 目标库位列
			crnCommandParam.setDestinationPosZ(wrkMastSplitTwinOne.getEndLev().shortValue()); // 目标库位层

			crnCommandParam.setTaskNo2(wrkMastSplitTwinTwo.getWrkNo().shortValue()); // 工作号
			crnCommandParam.setAckFinish2((short) 0); // 任务完成确认位
			crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_PUT); // 任务模式: 单放货
			crnCommandParam.setSourcePosX2((short)0); // 源库位排
			crnCommandParam.setSourcePosY2((short)0); // 源库位列
			crnCommandParam.setSourcePosZ2((short)0); // 源库位层
			crnCommandParam.setDestinationPosX2(wrkMastSplitTwinTwo.getEndRow().shortValue()); // 目标库位排
			crnCommandParam.setDestinationPosY2(wrkMastSplitTwinTwo.getEndBay().shortValue()); // 目标库位列
			crnCommandParam.setDestinationPosZ2(wrkMastSplitTwinTwo.getEndLev().shortValue()); // 目标库位层
			if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
			log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnCommandParam.getCrnNo(), JSON.toJSONString(crnCommandParam));
			return false;
			} else {
			return true;
			@@ -7678,7 +7901,7 @@

			if (steProtocol.getCharge()>95.0F \|\| steProtocol.getFullCharge()){
			} else if (steProtocol.getCharge()>50.0F){
			if (wrkMastExecuteService.selectNoStart(steSlave.getId())==0){
			if (wrkMastExecuteService.selectNoStartCharge(steSlave.getId())==0){
			if (wrkMastExecuteService.selectMoveStart(steSlave.getId())==0){
			continue;
			}