#

LSH

2024-06-08 a4fdbb852841fcc9bcc78676e4551efcff384494

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

@@ -109,7 +109,8 @@

    @Value("${wms.url}")
    private String wmsUrl;
    private WrkMastSplitTwinServiceImpl wrkMastSplitTwinService;
    @Autowired
    private WrkMastSplitTwinService wrkMastSplitTwinService;

    /**
     * 组托
@@ -1408,7 +1409,7 @@
                            && crnProtocol.getLoaded()==0) {
                        List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
                        if (wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
                        }
                        for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                            if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -1453,7 +1454,7 @@
                            && crnProtocol.getLoadedTwo()==0) {
                        List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), conStation, null, 2, 3);
                        if (wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",conStation,2,3);
                        }
                        for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                            if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -3454,7 +3455,7 @@
                    // 堆垛机复位
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",1,2,3);
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,2,3);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -3487,7 +3488,7 @@
                } else {
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",1,1,1);
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",1,1,1);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        Date now = new Date();
@@ -3607,7 +3608,7 @@
                    // 堆垛机复位
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",2,2,3);
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,2,3);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
@@ -3639,7 +3640,7 @@
                } else {
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1);
                    if (wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",2,1,1);
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"不存在或者存在多笔可执行作业，请删除无效作业！！！",2,1,1);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        Date now = new Date();
@@ -6235,14 +6236,14 @@
    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecuteTwoExecute() {
    public synchronized void crnIoExecuteTwoExecute(Integer i) {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            try{
                switch (crn.getId()){
                    case 3:
                    case 4:
                    case 5:
                        crnWrkMastSplitTwinExecute(crn);
                        crnWrkMastSplitTwinExecute(crn,i);
                        continue;
                    default:
                        continue;
@@ -6254,7 +6255,7 @@
    }


    public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn){
    public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn,Integer i){
        try{
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -6273,40 +6274,61 @@
            // 只有当堆垛机自动时才继续执行
            if (crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 只有当堆垛机工位1取货或者有物 并且 工位2无任务时才继续执行
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 0
                        && crnProtocol.getForkPos() == 0) {
                    sign[0] = 1;
                    sign[1] = 1;
                } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                        && crnProtocol.getTaskNoTwo() == 0
                        && crnProtocol.getLoadedTwo() == 0
                        && crnProtocol.getForkPosTwo() == 0){
                    sign[0] = 1;
                    sign[1] = 2;
                } else if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 1
                        && crnProtocol.getForkPos() == 0) {
                    sign[0] = 2;
                    sign[1] = 1;
                } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNoTwo() == 0
                        && crnProtocol.getLoadedTwo() == 1
                        && crnProtocol.getForkPosTwo() == 0){
                    sign[0] = 2;
                    sign[1] = 2;
                switch (i){
                    case 1:
                        if (crnProtocol.getStatusType() == CrnStatusType.IDLE
                                && crnProtocol.getTaskNo() == 0
                                && crnProtocol.getLoaded() == 0
                                && crnProtocol.getForkPos() == 0) {
                            sign[0] = 1;
                            sign[1] = 1;
                        }
                        break;
                    case 2:
                        if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
                                && crnProtocol.getTaskNo() == 0
                                && crnProtocol.getLoaded() == 1
                                && crnProtocol.getForkPos() == 0) {
                            sign[0] = 2;
                            sign[1] = 1;
                        }
                        break;
                    case 3:
                        if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                                && crnProtocol.getTaskNoTwo() == 0
                                && crnProtocol.getLoadedTwo() == 0
                                && crnProtocol.getForkPosTwo() == 0){
                            sign[0] = 1;
                            sign[1] = 2;
                        }
                        break;
                    case 4:
                        if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
                                && crnProtocol.getTaskNoTwo() == 0
                                && crnProtocol.getLoadedTwo() == 1
                                && crnProtocol.getForkPosTwo() == 0){
                            sign[0] = 2;
                            sign[1] = 2;
                        }
                        break;
                    default:
                }
            }

            if (sign[0]!=0){
                List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0);
                if (wrkMastSplitTwinList.size()!=1){
                if (wrkMastSplitTwinList.size()>1){
                    log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
                    return false;
                }
                for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                    return sign[0] == 1? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
                    boolean ack = sign[0] == 1 ? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
                    if (ack){
                        wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkType()==1? 1:3);
                        wrkMastSplitTwinService.updateById(wrkMastSplitTwin);
                    }else {
                        log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),"下发任务返回值为："+ack);
                    }
                }
            }
        }catch (Exception e){