WCS功能完善

pang.jiabao

7 天以前 bdd676ea0246acd555fff9c98c8d0bf24865437c

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

@@ -154,7 +154,7 @@
                    back = true;
                }
                // 退回
                if (back && (staProtocol.getWorkNo() >= 9993 && staProtocol.getWorkNo() <= 9995) && staProtocol.isLoading() && staProtocol.isPakMk()) {
                if (back && (staProtocol.getWorkNo() >= 9993 && staProtocol.getWorkNo() <= 9995 || staProtocol.getWorkNo() == 9997) && staProtocol.isLoading() && staProtocol.isPakMk()) {
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg,wrkNo);
@@ -169,9 +169,11 @@
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk() && staProtocol.getWorkNo() >= 9993 && staProtocol.getWorkNo() <= 9995) { // 9990-9992空托，9993-9995 满托，9999回退
                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) {
//                        && !staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && (staProtocol.getWorkNo() >= 9993 && staProtocol.getWorkNo() <= 9995|| staProtocol.getWorkNo() == 9997)) { // 9990-9992空托，9993-9995 满托，9999回退
                    log.info("入库请求：" + staProtocol);
                    if(Cools.isEmpty(barcode) || barcode.endsWith("NG") || "NoRead".equals(barcode) || barcode.startsWith("00000000")) {
                        News.info("{}条码扫描错误：{}",barcodeThread.getSlave().getId(),barcode);
                        staProtocol.setWorkNo(wrkNo);
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
@@ -257,7 +259,7 @@
                }
                String barcode = barcodeThread.getBarcode();
                if(!Cools.isEmpty(barcode)) {
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                    if(barcode.endsWith("NG") || barcode.equals("NoRead")) {
                        continue;
                    }
                } else {
@@ -274,7 +276,7 @@
                }

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()
                        && staProtocol.getWorkNo() >= 9993 && staProtocol.getWorkNo() <= 9995) {
                        && (staProtocol.getWorkNo() >= 9993 && staProtocol.getWorkNo() <= 9995 || staProtocol.getWorkNo() == 9997)) {
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行");
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
@@ -327,7 +329,7 @@
                        wrkMast.setIoType(wrkMast.getIoType() - 50); // 入出库类型: 103->53,104->54,107->57
                        wrkMast.setWrkSts(2L); // 工作状态: 2.设备上走
                        wrkMast.setSourceStaNo(staProtocol.getSiteId()); // 源站
                        wrkMast.setStaNo(staNo); // 目标站
                        wrkMast.setStaNo(staProtocol.getSiteId()); // 目标站
                        wrkMast.setLocNo(wrkMast.getSourceLocNo()); // 目标库位 = 出库时的源库位
                        wrkMast.setSourceLocNo(""); // 源库位清空
                        wrkMast.setModiTime(now);
@@ -354,7 +356,7 @@
                    staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                    log.info("输送线下发5："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
                    if (!result) {
                        News.error(""+mark+" - 3"+" - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
@@ -458,30 +460,46 @@

            // 只有当堆垛机空闲 并且 无任务时才继续执行
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0 && wrkMastMapper.selectWorking(crn.getId()) == null) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行堆垛机入出库作业下发");
                boolean success;
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        //mark - 1 - ....
                        this.crnStnToLoc(crn, crnProtocol,mark); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        success = this.crnStnToLoc(crn, crnProtocol,mark); //  入库
                        if(success) {
                            crnProtocol.setLastIo("O");
                            continue;
                        }
                    }
                    if (basCrnp.getOutEnable().equals("Y")) {
                        //mark - 2 - ....
                        this.locToCrnStn(crn, crnProtocol,mark); //  出库
                        crnProtocol.setLastIo("I");
                        success = this.locToCrnStn(crn, crnProtocol,mark); //  出库
                        if(success) {
                            crnProtocol.setLastIo("I");
                            continue;
                        }
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol,mark); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol,mark); //  入库
                        crnProtocol.setLastIo("O");
                        success = this.locToCrnStn(crn, crnProtocol,mark); //  出库
                        if(success) {
                            crnProtocol.setLastIo("I");
                            continue;
                        }
                    }
                    if (basCrnp.getInEnable().equals("Y")) {
                        success = this.crnStnToLoc(crn, crnProtocol,mark); //  入库
                        if(success) {
                            crnProtocol.setLastIo("O");
                            continue;
                        }
                    }
                }
//                log.info("堆垛机切换出入库模式为：{}",crnProtocol.getLastIo().equals("I") ? "入库" : "出库");
            }
            // 库位移转
            //mark - 3 - ....
@@ -493,7 +511,7 @@
    /**
     * 入库  ===>>  堆垛机站到库位
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
    public synchronized boolean crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
        News.warnNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发：执行入库");
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
@@ -626,20 +644,25 @@
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error(""+mark+" - 1"+" - 17"+" - 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());
                }
                return true;
            }
        }
        News.infoNoLog(""+mark+" - 1"+" - 0"+" - 堆垛机入出库作业下发 ： 入库执行完毕");
        return false;
    }

    @Resource
    private BasDevpMapper basDevpMapper;

    @Resource
    private ConfigService configService;

    /**
     * 出库  ===>>  库位到堆垛机站
     * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
     */
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
    public synchronized boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol,Integer mark) {
        News.warnNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发：执行出库");

        // 控制是否允许连续出库，不判断出库站点状态(根据状态启用)
        boolean crnAvailableOut = false;
        Config config = configService.selectOne(new EntityWrapper<Config>().eq("code","removeCrnAvailableOut"));
@@ -647,6 +670,15 @@
            crnAvailableOut = true;
        }
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 出入库任务控制，有入库任务不给堆垛机下发命令
            if (crnStn.getStaNo() == 205) {
                BasDevp basDevp = basDevpMapper.selectById(crnStn.getStaNo());
                Integer inQty = basDevp.getInQty();
                if (inQty != 0) {
                    log.warn("该出库站点:{},存在执行的入库任务:{}条", crnStn.getStaNo(), inQty);
                    continue;
                }
            }
            // 获取工作状态为11（生成出库ID）的出库工作档
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            for (WrkMast wrkMast : wrkMasts) {
@@ -685,7 +717,7 @@

                // 判断堆垛机出库站状态
                if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                    && (crnAvailableOut || !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable())) {
                        && (crnAvailableOut || !staProtocol.isLoading() && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable())) {
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
@@ -743,7 +775,7 @@

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
                        return false;
//                        return;
                    }

@@ -778,12 +810,13 @@
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error(""+mark+" - 2"+" - 14"+" - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                        break;
                        return true;
                    }
                }
            }
        }
        News.infoNoLog(""+mark+" - 2"+" - 0"+" - 堆垛机入出库作业下发 ： 出库执行完毕");
        return false;
    }

    /**
@@ -1040,6 +1073,7 @@
            for (DevpSlave.Sta emptyInSta : devp.getEmptyInSta()) {
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, emptyInSta.getBarcode());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInSta.getStaNo());
                if (staProtocol == null) {
                    continue;
@@ -1055,17 +1089,50 @@
                if (!staProtocol.isLoading()){
                    continue;
                }
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && (staProtocol.isBarcodeErr()||Cools.isEmpty(barcode))) {
                    errMsg = "扫码失败";
                    back = true;
                }

                // 站点条件判断
                if (staProtocol.isAutoing()
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && staProtocol.isPakMk()
                        && staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9992 // 9990-9992空托，9993-9995 满托，9999回退
//                        && staProtocol.isEmptyMk()
//                        && staProtocol.isPakMk()
                        && ((staProtocol.getWorkNo() >= 9990 && staProtocol.getWorkNo() <= 9992) || staProtocol.getWorkNo() == 9996) // 9990-9992空托，9993-9995 满托，9999回退
                        ) {
                    if(back){
                        MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, errMsg));
                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}入库回退：{}，任务号：{}", emptyInSta.getStaNo(), errMsg,wrkNo);
                        staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1："+wrkNo+","+emptyInSta.getBackSta());
                        return;
                    }
                    News.warnNoLog(""+mark+" - 0"+" - 开始执行：空栈板初始化入库,叉车入库站放货");

                    if(Cools.isEmpty(barcode) || barcode.endsWith("NG") || barcode.equals("NoRead") || barcode.startsWith("00000000") || barcode.contains("ERROR")) {
                        News.info("{}条码扫描错误：{}",barcodeThread.getSlave().getId(),barcode);
                        staProtocol.setWorkNo(wrkNo);
                        staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(3, "条码扫描错误"));
                        return;
                    }
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

@@ -1074,6 +1141,7 @@
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        param.setLocType2(locTypeDto.getLocType2());
                        param.setBarcode(barcode);
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
@@ -1090,7 +1158,7 @@
                            staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
                            log.info("输送线下发6："+dto.getWorkNo()+","+staProtocol.getSiteId());
                            if (!result) {
                                News.errorNoLog(""+mark+" - 1"+" - 更新plc站点信息失败");
                                throw new CoolException("SiemensDevp - 5");
@@ -1110,6 +1178,7 @@
                                MessageQueue.offer(SlaveType.Led, emptyInSta.getLed(), new Task(1, commands));
//                                ledThread.errorReset();
                            }
                            Thread.sleep(2000);
                        } else {
                            staProtocol.setWorkNo(wrkNo);
                            staProtocol.setStaNo(emptyInSta.getBackSta().shortValue());
@@ -1128,6 +1197,7 @@
                            }
//                            News.error(""+mark+" - 3"+" - 请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                        Thread.sleep(1000);
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
@@ -1362,7 +1432,7 @@
                        ledCommand.setEmptyMk(true);
                        break;
                    default:
                        News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
//                        News.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
                }
                ledCommand.setLocNo(wrkMast.getLocNo());
@@ -1610,7 +1680,7 @@
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                // 判断是不是已在原点
                if(crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) {
                if(crnProtocol.getBay() == 3 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                // 判断是不是空闲三分钟
@@ -1641,7 +1711,7 @@
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setTaskMode((short)8); // 任务模式:  回原点
                crnCommand.setSourcePosX((short) 1);     // 源库位排
                crnCommand.setSourcePosY((short) 1);     // 源库位列
                crnCommand.setSourcePosY((short) 3);     // 源库位列
                crnCommand.setSourcePosZ((short) 1);     // 源库位层
                crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列