#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);
@@ -689,12 +719,11 @@

    /**
     * 入库  ===>>  堆垛机站到库位
     * 根据优先级，入库时间进行排序入库
     * 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();
        List<Integer> wrkMasts= 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());
@@ -706,110 +735,69 @@
            // 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() >= 9990  && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                // 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) {
//                News.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                    continue;
                }
                wrkMasts.add(wrkMast.getWrkNo());
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining()!=null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
        }
                WrkMast wrkMast=wrkMastService.selectTop1(wrkMasts);


            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) {
                if (locMast.getLocSts().equals("S") && locMast.getLocSts().equals("Q")) {
                    // 堆垛机控制过滤
                    if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) == null) {
//                            // 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 --------------------------------------------------------------------------
//                            CrnCommand crnCommand = new CrnCommand();
//                            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.setSourcePosX(crnStn1.getRow().shortValue());     // 源库位排
//                            crnCommand.setSourcePosY(crnStn1.getBay().shortValue());     // 源库位列
//                            crnCommand.setSourcePosZ(crnStn1.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
//                            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));
//                            } else {
//
////                long startTime = System.currentTimeMillis();
////                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
////
////                    if (true) {
////                        break;
////                    }
////
////                    try{
////                        Thread.sleep(500);
////                    }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());
//                                }
                            }
                        }
                    }
                }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());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                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 (!crnProtocolNow.getStatusType().equals(CrnStatusType.IDLE) || crnProtocolNow.getTaskNo() != 0) {
                continue;
            }

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            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.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))) {
                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) {
                    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());
                }
            }
        }

    }

    /**
     * 入库  ===>>  堆垛机站到库位
@@ -861,6 +849,8 @@
                continue;
            }
        }


            if(!Cools.isEmpty(wrkMasts)){
            wrkMast=wrkMasts.get(i);
            // 获取库位信息
@@ -936,20 +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) {
@@ -1654,7 +1644,6 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 9996)
                        && staProtocol.isPakMk()) {

                    try {