#输送报警对接+回退

zjj

2024-01-07 bdf490f12fa38c99593fdace907fa5379cc04413

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

@@ -90,6 +90,8 @@
    @Value("${wms.url}")
    private String wmsUrl;

    public short wrkNo = 10000;

    /**
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
@@ -116,23 +118,51 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                //9998退回，9996空板
                if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        String errorMsg = "15站扫码失败，已退回14站";
                        staProtocol.setWorkNo((short) 9998);
                        staProtocol.setStaNo((short) 14);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        // led 异常显示
                        if (ledThread != null) {
                            News.error(methodName + ":扫码失败，请重试");
                            MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                        }
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                    if (!staProtocol.isLoading()){
                        continue;
                    }
                } else {
                    continue;
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    wrkNo++;
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                }

                // 判断是否满足入库条件
@@ -380,7 +410,7 @@
                String barcode = barcodeThread.getBarcode();

                if (!Cools.isEmpty(barcode) && (staProtocol.getWorkNo() != 9998 || staProtocol.getWorkNo() != 9996)) {
                    log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                    log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                    if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        staProtocol.setWorkNo((short) 9998);
                        staProtocol.setStaNo((short) 14);
@@ -692,41 +722,7 @@
     * 根据入库时间进行排序入库,同一堆垛机先查询所有工作档任务号，再根据优先级、时间排序，确保先进先出
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();

        //得到堆垛机入库站工作任务LIST
        List<Integer> wrkNos= new ArrayList<>();
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }

            WrkMast wrkMast1 = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            wrkNos.add(wrkMast1.getWrkNo());
        }

        List<WrkMast> wrkMasts=wrkMastService.selectWaitPakIn(wrkNos);

        for(WrkMast wrkMast : wrkMasts) {
            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
                if(crnStn1.getStaNo() == wrkMast.getStaNo()){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
@@ -739,74 +735,38 @@
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                News.error(methodName + ":入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                    && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                continue;
            }

            // 获取工作状态为2（设备上走）的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(),crnStn.getStaNo());
            if(null == wrkMast) {
                log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                continue;
            }
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                News.error(methodName + ":查询库存无数据--库位号{}", wrkMast.getLocNo());
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                News.error(methodName + ":入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }
            CrnThread crnThreadNow = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
            CrnProtocol crnProtocolNow = crnThreadNow.getCrnProtocol();

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

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

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        News.error(methodName + ":{}库位异常，未检索到相应工作档！", shallowLocNo);
                    } else {
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            News.error(methodName + ":调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                        continue;
                    }

                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc);
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        continue;
                    }
                }
            }

            // 命令下发区 --------------------------------------------------------------------------
@@ -814,27 +774,27 @@
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
            crnCommand.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            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
            log.error("1"+crnCommand+crnProtocol);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error(methodName + ":堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(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 {

                System.err.println("入库到库位命令下发");
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error(methodName + ":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());
                    log.error("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());
                }
            }

        }

    }
@@ -966,20 +926,20 @@
//                    }catch(Exception ignore){}
//                }

                        // 修改工作档状态 2.设备上走 => 3.吊车入库中
                        Date now = new Date();
                        wrkMast.setWrkSts(3L);
                        wrkMast.setCrnStrTime(now);
                        wrkMast.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast) == 0) {
                            News.error(methodName + ":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());
                        }
                    }
                                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                                Date now = new Date();
                                wrkMast.setWrkSts(3L);
                                wrkMast.setCrnStrTime(now);
                                wrkMast.setModiTime(now);
                                if (wrkMastMapper.updateById(wrkMast) == 0) {
                                    News.error(methodName + ":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());
                                }
                            }
                        }
                    }
                }else News.error(methodName + ":入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
            }else News.error(methodName + ":查询库存无数据--库位号{}", wrkMast.getLocNo());
            }
        }
    }

    public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
@@ -1684,7 +1644,6 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 9996)
                        && staProtocol.isPakMk()) {

                    try {