zy-wcs.git - Gitblit

			@@ -39,7 +39,6 @@
			import lombok.extern.slf4j.Slf4j;
			import org.springframework.beans.factory.annotation.Autowired;
			import org.springframework.beans.factory.annotation.Value;
			import org.springframework.scheduling.annotation.Async;
			import org.springframework.stereotype.Service;
			import org.springframework.transaction.annotation.Transactional;
			import org.springframework.transaction.interceptor.TransactionAspectSupport;
			@@ -537,7 +536,6 @@
			/**
			* 堆垛机站出库到出库站
			*/
			@Async
			public void crnStnToOutStn() {
			for (CrnSlave crnSlave : slaveProperties.getCrn()) {
			// 遍历堆垛机出库站
			@@ -777,8 +775,9 @@
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 {} => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
			} else {
			return true;
			}
			return true;
			}
			}
			} else {
			@@ -793,11 +792,13 @@
			// 没有其他任务
			if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
			this.letCarBeReady(wrkMast, steNo, wrkMast.getLocNo());
			return true;
			}
			}
			// 小车搬走
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveOut(wrkMast, steNo, crnProtocol);
			return true;
			}
			// 没有小车
			} else {
			@@ -834,8 +835,9 @@
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 {} => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkSts$(), wrkMast.getWrkNo());
			} else {
			return true;
			}
			return true;
			}
			}

			@@ -852,6 +854,8 @@
			// 没有其他任务
			if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
			this.letCarBeWaiting(wrkMast, steNo, wrkMast.getLocNo());
			} else {
			return true;
			}
			}
			// 堆垛机将货放至小车上 3.小车待搬（小车不用搬运，已经在当前组库位） / 6.小车待入 ===>> 7.吊车入库中
			@@ -888,8 +892,9 @@
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 3.小车待搬/6.小车待入 => 7.吊车入库中失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			return true;
			}
			return true;
			}
			}
			}
			@@ -903,12 +908,14 @@
			if (null == wrkMastMapper.selectPakin(slave.getId(), steNo)) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getLocNo());
			return true;
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 3L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			return true;
			}
			}
			}
			@@ -921,7 +928,7 @@
			/**
			* 出库 ===>> 库位到堆垛机站
			*/
			public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			public synchronized boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
			for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
			// 获取工作状态为11（生成出库ID）的出库工作档
			WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
			@@ -939,6 +946,16 @@
			log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
			continue;
			}

			// 判断是否有同库位组的出库任务，如果有，则暂停
			List<String> outsideLoc = Utils.getGroupOutsideLoc(wrkMast.getSourceLocNo());
			if (!Cools.isEmpty(outsideLoc)) {
			if (!Cools.isEmpty(wrkMastMapper.selectWorkingOfPakOutBySource(outsideLoc))) {
			// log.warn("{}工作档出库失败，原因：外层库位{}正在执行出库任务！", wrkMast.getWrkNo(), JSON.toJSONString(outsideLoc));
			continue;
			}
			}

			// 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());
			@@ -970,7 +987,7 @@
			}

			// 置顶任务
			wrkMast.setIoPri((double) 9999);
			wrkMast.setIoPri((double) 9998);
			wrkMastMapper.updateById(wrkMast);

			// 判断是否为穿梭库
			@@ -987,7 +1004,7 @@
			log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
			} else {
			if(waitWrkMast.getWrkSts() == 11) {
			waitWrkMast.setIoPri(20D);
			waitWrkMast.setIoPri(wrkMast.getIoPri() + 1);
			waitWrkMast.setModiTime(new Date());
			if (wrkMastMapper.updateById(waitWrkMast) == 0) {
			log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
			@@ -1035,8 +1052,9 @@
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			return true;
			}
			break;
			}

			} else {
			@@ -1070,8 +1088,9 @@
			wrkMast.setModiTime(now);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 16.吊车出库中失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			return true;
			}
			return true;
			}
			// 不是最外层库位，需要使用穿梭车搬运后，再堆垛机出库
			} else {
			@@ -1106,8 +1125,13 @@
			wrkMast.setSteNo(steNo);
			wrkMast.setCrnStrTime(now);
			wrkMast.setModiTime(now);
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			Integer outCrnNo = locMastService.getOutCrnNo(locMast);
			wrkMast.setCrnNo(outCrnNo);
			if (wrkMastMapper.updateById(wrkMast) == 0) {
			log.error("修改工作档状态 11.生成出库ID => 14.小车搬出库失败！！，工作号={}", wrkMast.getWrkNo());
			} else {
			return true;
			}
			}
			}
			@@ -1140,8 +1164,9 @@
			wrkMast.setModiTime(now);
			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());
			} else {
			return true;
			}
			return true;
			}
			}

			@@ -1155,12 +1180,14 @@
			if (null == wrkMastMapper.selectPakout(slave.getId(), steNo)) {
			// 让小车等待搬运待续
			this.letCarBeReady(wrkMast, steThread.getSlave().getId(), wrkMast.getSourceLocNo());
			return true;
			}
			}
			}
			// 堆垛机搬运小车
			if (wrkMast.getWrkSts() == 12L) {
			this.carMoveIn(wrkMast, wrkMast.getSteNo(), crnProtocol);
			return true;
			}
			}
			}
			@@ -1327,7 +1354,14 @@
			SteProtocol steProtocol = steThread.getSteProtocol();
			if (steProtocol == null) { continue; }
			if (!steProtocol.isIdle()) { continue; }
			if (steProtocol.getRow() == 1) { continue; }
			String locNo = wrkMast.getWrkSts() < 10 ? wrkMast.getLocNo() : wrkMast.getSourceLocNo();
			// 如果在同一个库位组
			if (Utils.getGroupRow(locNo, true).equals(Utils.getGroupRow(steProtocol.getRow().intValue(), true))
			&& steProtocol.getBay().intValue() == Utils.getBay(locNo)
			&& steProtocol.getLev().intValue() == Utils.getLev(locNo)) {
			return steThread;
			}
			LocMast locMast = locMastService.selectById(locNo);
			int lev = locMast.getLev1();
			int bay = locMast.getBay1();
			@@ -1610,7 +1644,6 @@
			/**
			* 执行对工作档的完成操作
			*/
			@Async
			@Transactional
			public void storeFinished() {
			for (CrnSlave crn : slaveProperties.getCrn()) {
			@@ -1853,6 +1886,9 @@
			Date now = new Date();
			wrkMast.setCrnEndTime(now);
			wrkMast.setModiTime(now);
			LocMast locMast = locMastService.selectById(wrkMast.getSourceLocNo());
			Integer outCrnNo = locMastService.getOutCrnNo(locMast);
			wrkMast.setCrnNo(outCrnNo);
			// 修改成功后复位堆垛机
			if (wrkMastMapper.updateById(wrkMast) > 0) {
			// 堆垛机复位
			@@ -2273,7 +2309,6 @@
			/**
			* 空栈板初始化入库,叉车入库站放货
			*/
			@Async
			public void storeEmptyPlt(){
			for (DevpSlave devp : slaveProperties.getDevp()) {
			// 遍历空板入库口
			@@ -2362,7 +2397,6 @@
			/**
			* 出库 ===>> 工作档信息写入led显示器
			*/
			@Async
			public void ledExecute() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			@@ -2463,7 +2497,6 @@
			/**
			* 其他 ===>> LED显示器复位，显示默认信息
			*/
			@Async
			public void ledReset() {
			for (LedSlave led : slaveProperties.getLed()) {
			// 获取输送线plc线程
			@@ -2534,7 +2567,7 @@
			SteChargeType first = SteChargeType.FIRST;
			locNo = first.locNo;
			if (basSteService.hasCarOfLocNo(locNo) == null
			&& wrkChargeService.selectWorkingOfCharge(first.ssbm) != null) {
			&& wrkChargeService.selectWorkingOfCharge(first.ssbm) == null) {
			steCharge = first;
			break;
			}
			@@ -2543,7 +2576,7 @@
			SteChargeType second = SteChargeType.SECOND;
			locNo = second.locNo;
			if (basSteService.hasCarOfLocNo(locNo) == null
			&& wrkChargeService.selectWorkingOfCharge(second.ssbm) != null) {
			&& wrkChargeService.selectWorkingOfCharge(second.ssbm) == null) {
			steCharge = second;
			break;
			}
			@@ -2552,7 +2585,7 @@
			SteChargeType third = SteChargeType.THIRD;
			locNo = third.locNo;
			if (basSteService.hasCarOfLocNo(locNo) == null
			&& wrkChargeService.selectWorkingOfCharge(third.ssbm) != null) {
			&& wrkChargeService.selectWorkingOfCharge(third.ssbm) == null) {
			steCharge = third;
			break;
			}
			@@ -2578,6 +2611,40 @@
			if (!wrkChargeService.insert(wrkCharge)) {
			log.error("保存{}号穿梭车充电任务失败!!!", ste.getId());
			continue;
			}

			// 小车处于通道
			List<String> channel = slaveProperties.getChannel();
			for (String channelLocNo : channel) {
			if (steProtocol.getRow().intValue() == Utils.getRow(channelLocNo)
			&& steProtocol.getBay().intValue() == Utils.getBay(channelLocNo)
			&& steProtocol.getLev().intValue() == Utils.getLev(channelLocNo)) {
			Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
			if (null != otherSte) {
			log.warn("{}号小车充电阻断，原因：通道存在{}号穿梭车！", wrkCharge.getSteNo(), otherSte);
			} else {
			// 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.GO_ORIGIN); // 去右端

			steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
			steCommand.setBay(steProtocol.getBay());
			steCommand.setLev(steProtocol.getLev());
			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 21.准备充电 ===> 25.小车走行
			wrkCharge.setWrkSts(25L);
			Date now = new Date();
			wrkCharge.setModiTime(now);
			if (!wrkChargeService.updateById(wrkCharge)) {
			log.error("修改充电任务状态 21.准备充电 ===> 25.小车走行失败！！，工作号={}", wrkCharge.getWrkNo());
			}
			}
			}
			}
			}

			// 处于充电库位组
			@@ -2638,6 +2705,11 @@

			// 22.小车待搬
			if (wrkCharge.getWrkSts() == 22) {

			// 入出库任务优先
			if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
			return;
			}

			// 搬小车至小车走向通道
			List<String> channel = slaveProperties.getChannel();
			@@ -2714,6 +2786,11 @@
			} else if (wrkCharge.getWrkSts() == 26) {
			// 固定堆垛机
			int crnNo = 1;
			// 入出库任务优先
			if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
			return;
			}

			// 充电位
			LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());

			@@ -2788,22 +2865,31 @@
			if (Cools.isEmpty(steProtocol, basSte)) {
			continue;
			}
			// 1号充电桩
			if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
			if (steProtocol.getCharge() < 99) {
			continue;
			}
			// 2号充电桩
			if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
			if (steProtocol.getMode() == 0) {
			continue;
			}
			// 3号充电桩
			if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
			if (!steProtocol.getStatusType().equals(SteStatusType.IDLE)) {
			continue;
			}
			// 小车是否处于充电状态
			if (steProtocol.getChargeStatus() == 1) {
			continue;
			}
			// // 1号充电桩
			// if (value.equals(SteChargeType.FIRST) && devpThread.charge0) {
			// continue;
			// }
			// // 2号充电桩
			// if (value.equals(SteChargeType.SECOND) && devpThread.charge1) {
			// continue;
			// }
			// // 3号充电桩
			// if (value.equals(SteChargeType.THIRD) && devpThread.charge2) {
			// continue;
			// }
			// // 小车是否处于充电状态
			// if (steProtocol.getChargeStatus() == 1) {
			// continue;
			// }
			// case 1 : 自动充电开馈电 ×
			// case 2 : 自动充电开满电 ✔
			// case 3 : 自动充电关馈电 ✔
			@@ -2860,6 +2946,10 @@
			} else {
			// 固定堆垛机
			int crnNo = 1;
			if (null != wrkMastMapper.selectWorkingByCrn(crnNo)) {
			return;
			}

			LocMast channelLoc = locMastService.selectById(channelLocNo);

			CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
			@@ -2873,7 +2963,7 @@
			crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
			crnCommand.setAckFinish((short) 0); // 任务完成确认位
			crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式: 库位移转
			crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue()); // 源库位排
			crnCommand.setSourcePosX(steProtocol.getRow()); // 源库位排
			crnCommand.setSourcePosY(steProtocol.getBay()); // 源库位列
			crnCommand.setSourcePosZ(steProtocol.getLev()); // 源库位层
			crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), false).shortValue()); // 目标库位排
			@@ -2924,6 +3014,10 @@
			}
			}
			} else if (wrkCharge.getWrkSts() == 45L) {
			if (null != wrkMastMapper.selectWorkingByCrn(wrkCharge.getCrnNo())) {
			return;
			}

			LocMast idleLoc = locMastService.selectById(basSte.getIdleLoc());

			Integer otherSte = existOtherSte(idleLoc.getLocNo(), wrkCharge.getSteNo());