zy-wcs.git - Gitblit

			@@ -68,6 +68,10 @@
			@Autowired
			private BasSteErrLogService basSteErrLogService;
			@Autowired
			private BasShuttleErrLogService basShuttleErrLogService;
			@Autowired
			private BasShuttleErrService basShuttleErrService;
			@Autowired
			private BasCrnErrorMapper basCrnErrorMapper;
			@Autowired
			private BasSteService basSteService;
			@@ -602,115 +606,6 @@
			}
			}

			// /**
			// * 入库 ===>> 四向穿梭车入库作业下发
			// */
			// public synchronized void shuttleIoInExecute() {
			// // 根据输送线plc遍历
			// for (DevpSlave devp : slaveProperties.getDevp()) {
			// // 遍历入库站
			// for (DevpSlave.StaRack rackInStn : devp.getRackInStn()) {
			// // 获取入库站信息
			// DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
			//
			// StaProtocol staProtocol = devpThread.getStation().get(rackInStn.getStaNo());
			// StaProtocol staProtocol105 = devpThread.getStation().get(105);
			// staProtocol105.setWorkNo((short) 752);
			// staProtocol105.setStaNo((short) 100);
			//
			// StaProtocol staProtocol106 = devpThread.getStation().get(106);
			// staProtocol106.setWorkNo((short) 753);
			// staProtocol106.setStaNo((short) 100);
			//
			// if (staProtocol == null) {
			// continue;
			// } else {
			// staProtocol = staProtocol.clone();
			// }
			// Short workNo = staProtocol.getWorkNo();
			//
			// // 判断是否满足入库条件
			// if (true \|\| staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()) {
			// WrkMast wrkMast = wrkMastMapper.selectRackInStep48(workNo, staProtocol.getSiteId());
			// if (wrkMast != null) {
			// if (wrkMast.getWrkSts() == 4 \|\| wrkMast.getWrkSts() == 8) {
			// ShuttleThread shuttleThread = null;
			// HashMap<String, Object> searchIdleShuttle = null;
			// if (wrkMast.getWrkSts() == 4) {
			// //寻找最近且空闲的四向穿梭车
			// searchIdleShuttle = this.searchIdleShuttle(wrkMast);
			// shuttleThread = (ShuttleThread) searchIdleShuttle.get("result");
			// }else {
			// //状态8，四向穿梭车已在提升机口，等待命令进行入库搬运动作
			// Integer shuttleNo = wrkMast.getShuttleNo();//四向穿梭车号
			// shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleNo);
			// }
			//
			// if (shuttleThread == null) {
			// continue;
			// }
			//
			// ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			// if (!shuttleProtocol.isIdle()) {
			// continue;
			// }
			//
			// wrkMast.setShuttleNo(shuttleProtocol.getShuttleNo().intValue());//给工作档分配四向穿梭车号
			//
			// //分配任务号
			// shuttleProtocol.setTaskNo(wrkMast.getWrkNo().shortValue());
			// //分配源库位
			// shuttleProtocol.setSourceLocNo(wrkMast.getSourceLocNo());
			//
			// ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();
			// //四向穿梭车号
			// assignCommand.setShuttleNo(shuttleProtocol.getShuttleNo());
			// //任务号
			// assignCommand.setTaskNo(wrkMast.getWrkNo().shortValue());
			// //入出库模式
			// assignCommand.setTaskMode(ShuttleTaskModeType.PAK_IN.id.shortValue());
			// //源库位(小车当前位置)
			// String currentLocNo = shuttleProtocol.getCurrentLocNo();
			// assignCommand.setSourceLocNo(currentLocNo);
			//
			// if (wrkMast.getWrkSts() == 8 \|\| Boolean.parseBoolean(searchIdleShuttle.get("sameLay").toString())) {
			// //同一层
			// //分配目标库位
			// shuttleProtocol.setLocNo(wrkMast.getLocNo());
			// //目标库位
			// assignCommand.setLocNo(wrkMast.getLocNo());
			// wrkMast.setWrkSts(9L);//小车入库中
			//
			// //获取从小车
			// }else {
			// //不同层，将目标库位分配成提升机库位号
			//
			// //小车当前层高
			// Integer currentLev = Integer.parseInt(currentLocNo.substring(currentLocNo.length() - 2, currentLocNo.length()));
			//
			// //获取提升机
			// LiftSlave liftSlave = slaveProperties.getLift().get(0);
			// //提升机库位号
			// String liftLocNo = liftSlave.getLiftLocNo(currentLev);
			// shuttleProtocol.setLocNo(liftLocNo);
			// //目标库位
			// assignCommand.setLocNo(liftLocNo);
			// wrkMast.setWrkSts(5L);//小车迁移状态
			// }
			//
			// if (wrkMastMapper.updateById(wrkMast) > 0) {
			// //下发任务
			// MessageQueue.offer(SlaveType.Shuttle, assignCommand.getShuttleNo().intValue(), new Task(3, assignCommand));
			// }
			// }
			//
			// }
			// }
			//
			// }
			// }
			//
			// }

			/**
			* 入库 ===>> 四向穿梭车入库作业下发
			@@ -793,6 +688,19 @@
			//同一层直接取货无需经过提升机
			//直接计算车到提升机取货再到库位路径指令
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, liftLocNo, locNo);
			if (wrkMast.getWrkSts() == 8) {
			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
			ShuttleCommand moveCommand = new ShuttleCommand();
			moveCommand.setCommandWord((short) 1);
			moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机内部二维码
			moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());//提升机口二维码
			moveCommand.setStartToDistDistance(1300);
			moveCommand.setMiddleToDistDistance(0);
			moveCommand.setRunDirection(commands.get(0).getRunDirection());
			moveCommand.setCommandEnd((short) 1);
			commands.add(0, moveCommand);//将该指令添加到队头
			}
			assignCommand.setCommands(commands);
			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getLocNo());
			@@ -847,17 +755,24 @@

			ShuttleCommand command = new ShuttleCommand();
			command.setCommandWord((short) 1);
			command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
			command.setMiddleCodeNum((short) 0);
			command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			command.setStartCodeNum(startCodeNum);

			command.setMiddleCodeNum((short) 1);

			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			command.setDistCodeNum(distCodeNum);

			command.setStartToDistDistance(allDistance);
			command.setMiddleToDistDistance(1000);
			command.setMiddleToDistDistance(0);
			command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
			command.setPalletLift((short) 1);
			command.setForceMoveDistance(1000);
			command.setForceMoveDistance(0);
			command.setChargeSwitch((short) 2);
			command.setIOControl((short) 0);
			command.setRunSpeed((short) 1000);
			command.setRadarTmp((short) 0);
			command.setCommandEnd((short) 1);
			commands.add(command);
			@@ -886,17 +801,24 @@

			ShuttleCommand command = new ShuttleCommand();
			command.setCommandWord((short) 1);
			command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
			command.setMiddleCodeNum((short) 0);
			command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			command.setStartCodeNum(startCodeNum);

			command.setMiddleCodeNum((short) 1);

			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			command.setDistCodeNum(distCodeNum);

			command.setStartToDistDistance(allDistance);
			command.setMiddleToDistDistance(1000);
			command.setMiddleToDistDistance(0);
			command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
			command.setPalletLift((short) 1);
			command.setForceMoveDistance(1000);
			command.setForceMoveDistance(0);
			command.setChargeSwitch((short) 2);
			command.setIOControl((short) 0);
			command.setRunSpeed((short) 1000);
			command.setRadarTmp((short) 0);
			command.setCommandEnd((short) 1);
			commands.add(command);
			@@ -926,17 +848,24 @@

			command = new ShuttleCommand();
			command.setCommandWord((short) 1);
			command.setStartCodeNum(NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY()));
			command.setMiddleCodeNum((short) 0);
			command.setDistCodeNum(NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY()));

			//通过xy坐标小车二维码
			Short startCodeNum = NavigatePositionConvert.xyToPosition(startPath.getX(), startPath.getY(), startPath.getZ());
			command.setStartCodeNum(startCodeNum);

			command.setMiddleCodeNum((short) 1);

			//通过xy坐标小车二维码
			Short distCodeNum = NavigatePositionConvert.xyToPosition(endPath.getX(), endPath.getY(), endPath.getZ());
			command.setDistCodeNum(distCodeNum);

			command.setStartToDistDistance(allDistance);
			command.setMiddleToDistDistance(1000);
			command.setMiddleToDistDistance(0);
			command.setRunDirection(ShuttleRunDirection.get(startPath.getDirection()).id);
			command.setPalletLift((short) 1);
			command.setForceMoveDistance(1000);
			command.setForceMoveDistance(0);
			command.setChargeSwitch((short) 2);
			command.setIOControl((short) 0);
			command.setRunSpeed((short) 1000);
			command.setRadarTmp((short) 0);
			command.setCommandEnd((short) 1);
			commands.add(command);
			@@ -1052,6 +981,18 @@
			}
			} else if (wrkMast.getWrkSts() == 25) {
			List<ShuttleCommand> commands = this.shuttleAssignCommand(currentLocNo, wrkMast.getSourceLocNo(), liftLocNo);
			//此时车在提升机内部，需要多下达一步指令让车移动到提升机口
			BasDevp basDevp = basDevpService.selectById(109);//获取提升机信息
			ShuttleCommand moveCommand = new ShuttleCommand();
			moveCommand.setCommandWord((short) 1);//小车移动指令字
			moveCommand.setStartCodeNum(Short.parseShort(basDevp.getQrCodeValue()));//提升机二维码
			moveCommand.setDistCodeNum(commands.get(0).getStartCodeNum());
			moveCommand.setStartToDistDistance(1300);
			moveCommand.setMiddleToDistDistance(0);
			moveCommand.setRunDirection(commands.get(0).getRunDirection());
			moveCommand.setCommandEnd((short) 1);
			commands.add(0, moveCommand);//将该指令添加到队头

			//分配目标库位
			shuttleProtocol.setLocNo(wrkMast.getSourceLocNo());
			//目标库位
			@@ -2918,10 +2859,129 @@
			*/
			public void recErr() {
			try {
			this.recShuttleErr();
			this.recCrnErr();
			this.recSteErr();
			} catch (Exception e) {
			News.error("recErr fail", e);
			}
			}

			/**
			* 四向穿梭车异常信息记录
			*/
			private void recShuttleErr() {
			Date now = new Date();
			for (ShuttleSlave shuttleSlave : slaveProperties.getShuttle()) {
			// 获取堆垛机信息
			ShuttleThread shuttleThread = (ShuttleThread) SlaveConnection.get(SlaveType.Shuttle, shuttleSlave.getId());
			if (shuttleThread == null) {
			continue;
			}
			ShuttleProtocol shuttleProtocol = shuttleThread.getShuttleProtocol();
			if (shuttleProtocol == null) {
			continue;
			}

			if (shuttleProtocol.getTaskNo() != 0) {
			//有任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatestByTaskNo(shuttleSlave.getId(), shuttleProtocol.getTaskNo().intValue());
			// 有异常
			if (latest == null) {
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			WrkMast wrkMast = wrkMastMapper.selectById(shuttleProtocol.getTaskNo());
			if (wrkMast == null) {
			continue;
			}
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			wrkMast.getWrkNo(), // 工作号
			now, // 发生时间
			null, // 结束时间
			wrkMast.getWrkSts(), // 工作状态
			wrkMast.getIoType(), // 入出库类型
			shuttleSlave.getId(), // 四向穿梭车
			null, // plc
			wrkMast.getLocNo(), // 目标库位
			wrkMast.getStaNo(), // 目标站
			wrkMast.getSourceStaNo(), // 源站
			wrkMast.getSourceLocNo(), // 源库位
			wrkMast.getBarcode(), // 条码
			(int) shuttleProtocol.getStatusErrorCode(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"任务中异常" // 备注
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			}
			}
			} else {
			// 异常修复
			if (shuttleProtocol.getStatusErrorCode() == null \|\| shuttleProtocol.getStatusErrorCode() == 0) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			}
			}
			}
			}else {
			//无任务
			BasShuttleErrLog latest = basShuttleErrLogService.findLatest(shuttleSlave.getId());
			// 有异常
			if (shuttleProtocol.getStatusErrorCode() != null && shuttleProtocol.getStatusErrorCode() > 0) {
			// 记录新异常
			if (latest == null \|\| (latest.getErrCode() != shuttleProtocol.getStatusErrorCode().intValue())) {
			BasShuttleErr basShuttleErr = basShuttleErrService.queryByCode(shuttleProtocol.getStatusErrorCode().intValue());
			String errName = basShuttleErr==null? "未知异常":basShuttleErr.getErrName();
			BasShuttleErrLog basShuttleErrLog = new BasShuttleErrLog(
			null, // 编号
			null, // 工作号
			now, // 发生时间
			null, // 结束时间
			null, // 工作状态
			null, // 入出库类型
			shuttleSlave.getId(), // 四向穿梭车
			null, // plc
			null, // 目标库位
			null, // 目标站
			null, // 源站
			null, // 源库位
			null, // 条码
			(int)shuttleProtocol.getStatusErrorCode(), // 异常码
			errName, // 异常
			1, // 异常情况
			now, // 添加时间
			null, // 添加人员
			now, // 修改时间
			null, // 修改人员
			"无任务异常" // 备注
			);
			if (!basShuttleErrLogService.insert(basShuttleErrLog)) {
			News.error("四向穿梭车plc异常记录失败 ===>> [id:{}] [error:{}]", shuttleSlave.getId(), errName);
			}
			}
			// 无异常
			} else {
			// 异常修复
			if (latest != null && latest.getStatus() == 1) {
			latest.setEndTime(now);
			latest.setUpdateTime(now);
			latest.setStatus(2);
			if (!basShuttleErrLogService.updateById(latest)) {
			News.error("四向穿梭车plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", shuttleSlave.getId(), latest.getId());
			}
			}
			}
			}
			}
			}

			@@ -3643,8 +3703,8 @@

			} else if (wrkCharge.getWrkSts() == 56) {
			//充电中
			//判断小车是否充满电量
			if (shuttleProtocol.getBatteryPower() == 1000) {
			//判断小车是否充满电量，满电1000或电压54V以上
			if (shuttleProtocol.getBatteryPower() >= 1000 \|\| shuttleProtocol.getCurrentVoltage() >= 540) {
			//充满，断开充电
			List<ShuttleCommand> commands = new ArrayList<>();
			ShuttleAssignCommand assignCommand = new ShuttleAssignCommand();