#

LSH

2024-03-02 a84eadb43f793d74d39cc838b75a1aafd2885be4

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

@@ -572,16 +572,13 @@
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/pair/station/large/loc/v1")
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());


                            barcodeThread.setBarcode("");
                            staProtocol.setWorkNo(dto.getWorkNo());
@@ -598,17 +595,20 @@
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/pair/station/single/loc/v1", JSON.toJSONString(param), response);
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);

                            LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());

                            if (ledThread != null) {
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(5, "入库失败！"));
                            }
                        }

                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

                }


            }
        }
    }
@@ -1395,8 +1395,12 @@
                                case 2:
                                    this.crnStnToLoc1Single(crn, crnProtocol); //  入库
                                    break;
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol); //  入库
                                    this.crnStnToLoc1(crn, crnProtocol,1); //  入库
                            }
                            crnProtocol.setLastIo("O");
                        } else if (basCrnp.getOutEnable().equals("Y")) {
@@ -1405,8 +1409,12 @@
                                case 2:
                                    this.locToCrnStn1Single(crn, crnProtocol); //  出库
                                    break;
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                default:
                                    this.locToCrnStn1(crn, crnProtocol); //  出库
                                    this.locToCrnStn1(crn, crnProtocol,1); //  出库
                            }
                            crnProtocol.setLastIo("I");
                        }
@@ -1419,8 +1427,12 @@
                                case 2:
                                    this.locToCrnStn1Single(crn, crnProtocol); //  出库
                                    break;
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                default:
                                    this.locToCrnStn1(crn, crnProtocol); //  出库
                                    this.locToCrnStn1(crn, crnProtocol,1); //  出库
                            }
                            crnProtocol.setLastIo("I");
                        } else if (basCrnp.getInEnable().equals("Y")) {
@@ -1429,13 +1441,120 @@
                                case 2:
                                    this.crnStnToLoc1Single(crn, crnProtocol); //  入库
                                    break;
                                case 3:
                                case 4:
                                case 5:
                                    break;
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol); //  入库
                                    this.crnStnToLoc1(crn, crnProtocol,1); //  入库
                            }
                            crnProtocol.setLastIo("O");
                        }
                    }
                }
                // 库位移转
                this.locToLoc(crn, crnProtocol);
//            this.crnRebackHp(crnProtocol, crnThread);

            }
        }catch (Exception e){
            log.error("堆垛机出入库下发报错"+e);
        }
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecuteTwo() {
        try{
            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;
                }
                BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
                if (basCrnp == null) {
                    log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                    continue;
                }


                int[] sign = new int[]{0,0};
                // 只有当堆垛机空闲 并且 无任务时才继续执行
                if (crnProtocol.getModeType() == CrnModeType.AUTO) {
                    // 只有当堆垛机工位空闲 并且 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;
                    }
                }

                if (sign[0]==1){
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
                        if (basCrnp.getInEnable().equals("Y")) {
                            switch (crn.getId()){
                                case 3:
                                case 4:
                                case 5:
                                    this.crnStnToLoc1(crn, crnProtocol, sign[1]); //  入库
                                    break;
                                default:
                                    break;
                            }
                            crnProtocol.setLastIo("O");
                        } else if (basCrnp.getOutEnable().equals("Y")) {
                            switch (crn.getId()){
                                case 3:
                                case 4:
                                case 5:
                                    this.locToCrnStn1(crn, crnProtocol, sign[1]); //  出库
                                    break;
                                default:
                                    break;
                            }
                            crnProtocol.setLastIo("I");
                        }
                    }
                    // 如果最近一次是出库模式
                    else if (crnProtocol.getLastIo().equals("O")) {
                        if (basCrnp.getOutEnable().equals("Y")) {
                            switch (crn.getId()){
                                case 3:
                                case 4:
                                case 5:
                                    this.locToCrnStn1(crn, crnProtocol, sign[1]); //  出库
                                    break;
                                default:
                                    break;
                            }
                            crnProtocol.setLastIo("I");
                        } else if (basCrnp.getInEnable().equals("Y")) {
                            switch (crn.getId()){
                                case 3:
                                case 4:
                                case 5:
                                    this.crnStnToLoc1(crn, crnProtocol, sign[1]); //  入库
                                    break;
                                default:
                                    break;
                            }
                            crnProtocol.setLastIo("O");
                        }
                    }
                }

                // 库位移转
                this.locToLoc(crn, crnProtocol);
//            this.crnRebackHp(crnProtocol, crnThread);
@@ -1703,7 +1822,7 @@
     * 入库  ===>>  堆垛机站到库位
     * 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
    public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
        for(WrkMast wrkMast : wrkMasts){
            if (wrkMast == null) {
@@ -1755,10 +1874,21 @@
                continue;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                continue;
            //工位
            if (crnStation == 1){
                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                    break;
                }
            }else if(crnStation == 2){
                // 堆垛机控制过滤
                if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
                    break;
                }
            }else {
                break;
            }


            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
@@ -1815,7 +1945,7 @@
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
@@ -1828,7 +1958,6 @@
                }
            }
        }

    }

    /**
@@ -2107,7 +2236,7 @@
     * 出库  ===>>  库位到堆垛机站
     * 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
    public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol, Integer crnStation) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast == null) {
@@ -2171,9 +2300,21 @@
                    && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                // 命令下发区 --------------------------------------------------------------------------

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {

                //工位
                if (crnStation == 1){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                }else if(crnStation == 2){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusTypeTwo().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNoTwo() != 0) {
//                        continue;
                        break;
                    }
                }else {
                    break;
                }

@@ -2239,7 +2380,7 @@
                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
@@ -3053,6 +3194,62 @@
            }
        }
    }
    /**
     * 空栈板初始化入库,叉车入库站放货
     */
    public synchronized void storeEmptyPltLarge() {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历空板入库口
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInLargeSta()) {
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0)  && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo());
                            staProtocol.setStaNo(dto.getStaNo());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
        }
    }

    /**
     * 入库  ===>> 空栈板初始化入库,1楼叠盘机叠盘