自动化立体仓库 - WCS系统
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
luxiaotao1123
2022-03-16 c03523f8a00512b7423fede798ae72988c3af4d6 
 src/main/java/com/zy/asrs/service/impl/MainServiceImpl.java


@@ -8,7 +8,6 @@


import com.core.exception.CoolException;


import com.zy.asrs.entity.*;


import com.zy.asrs.mapper.BasCrnErrorMapper;


import com.zy.asrs.mapper.WaitPakinMapper;


import com.zy.asrs.mapper.WrkMastMapper;


import com.zy.asrs.service.*;


import com.zy.asrs.utils.Utils;


@@ -16,7 +15,6 @@


import com.zy.common.model.MatDto;


import com.zy.common.model.SearchLocParam;


import com.zy.common.model.StartupDto;


import com.zy.common.service.CommonService;


import com.zy.common.utils.CollectionUtils;


import com.zy.common.utils.HttpHandler;


import com.zy.core.CrnThread;


@@ -58,18 +56,14 @@


@Transactional


public class MainServiceImpl {




    public static final long COMMAND_TIMEOUT = 5 * 1000;




    @Autowired


    private CommonService commonService;


    @Value("${wms.url}")


    private String wmsUrl;


    @Autowired


    private SlaveProperties slaveProperties;


    @Autowired


    private WrkMastMapper wrkMastMapper;


    @Autowired


    private WrkDetlService wrkDetlService;


    @Autowired


    private WaitPakinMapper waitPakinMapper;


    @Autowired


    private LocMastService locMastService;


    @Autowired


@@ -79,15 +73,11 @@


    @Autowired


    private BasDevpService basDevpService;


    @Autowired


    private LocDetlService locDetlService;


    @Autowired


    private BasErrLogService basErrLogService;


    @Autowired


    private BasCrnErrorMapper basCrnErrorMapper;


    @Autowired


    private BasSteService basSteService;


    @Value("${wms.url}")


    private String wmsUrl;




    /**


     * 组托


@@ -230,20 +220,6 @@


        for (DevpSlave devp : slaveProperties.getDevp()) {


            // 遍历拣料入库口


            for (DevpSlave.Sta pickSta : devp.getPickSta()) {


                // 获取条码扫描仪信息


                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());


                if (barcodeThread == null) {


                    continue;


                }


                String barcode = barcodeThread.getBarcode();


                if(!Cools.isEmpty(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)) {


                        continue;


                    }


                } else {


                    continue;


                }




                // 获取拣料入库站信息


                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());


@@ -254,6 +230,22 @@


                    staProtocol = staProtocol.clone();


                }


                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()){




                    // 获取条码扫描仪信息


                    BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());


                    if (barcodeThread == null) {


                        continue;


                    }


                    String barcode = barcodeThread.getBarcode();


                    if(!Cools.isEmpty(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)) {


                            continue;


                        }


                    } else {


                        continue;


                    }




                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);


                    if (wrkMast == null) {


                        // 无拣料数据


@@ -705,6 +697,10 @@


                                steCommand.setSteNo(steNo); // 穿梭车编号


                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号


                                steCommand.setTaskMode(SteTaskModeType.TO_B); // 任务模式:  去近点 等待堆垛机叉取




                                SteABType ab = Utils.selectAB(steProtocol.getRow().intValue());






                                // todo:luxiaotao


                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


@@ -827,6 +823,11 @@


            steCommand.setSteNo(steNo); // 穿梭车编号


            steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号


            steCommand.setTaskMode(SteTaskModeType.TO_B); // 任务模式:  去近点 等待堆垛机叉取




            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());


            steCommand.setBay(steProtocol.getBay());


            steCommand.setLev(steProtocol.getLev());




            if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {


                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));


            } else {


@@ -870,6 +871,8 @@


                    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 {


                        // 修改穿梭车运行中排列层


                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());


                        // 修改工作档状态 3.小车待搬 => 4.迁入小车


                        Date now = new Date();


                        wrkMast.setWrkSts(4L);


@@ -897,6 +900,8 @@


                    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 {


                        // 修改穿梭车运行中排列层


                        steThread.modifyPos(Utils.getGroupRow(locMast.getLocNo()), locMast.getBay1(), locMast.getLev1());


                        // 修改工作档状态 12.小车待搬 => 13.迁入小车


                        Date now = new Date();


                        wrkMast.setWrkSts(13L);


@@ -947,7 +952,8 @@


                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 {




                    // 修改穿梭车运行中排列层


                    steThread.modifyPos(Utils.getGroupRow(idleLocNo), Utils.getBay(idleLocNo), Utils.getLev(idleLocNo));


                    // 修改工作档状态 3.小车待搬 => 5.迁出小车


                    Date now = new Date();


                    wrkMast.setWrkSts(5L);


@@ -1038,6 +1044,11 @@


                    if (wrkMastMapper.updateById(wrkMast) > 0) {


                        // 堆垛机复位


                        crnThread.setResetFlag(true);


                        // 穿梭车重新定位排列层


                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());


                        if (!steThread.confirmPos()) {


                            log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());


                        }


                    } else {


                        log.error("修改工作档状态 4.迁入小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());


                    }


@@ -1052,6 +1063,11 @@


                    if (wrkMastMapper.updateById(wrkMast) > 0) {


                        // 堆垛机复位


                        crnThread.setResetFlag(true);


                        // 穿梭车重新定位排列层


                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, wrkMast.getSteNo());


                        if (!steThread.confirmPos()) {


                            log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());


                        }


                    } else {


                        log.error("修改工作档状态 5.迁出小车 => 6.小车待入 失败！！，工作号={}", wrkMast.getWrkNo());


                    }


@@ -1063,6 +1079,10 @@


                    SteProtocol steProtocol = steThread.getSteProtocol();


                    if (steProtocol == null) { continue; }


                    if (steProtocol.getStatusType().equals(SteStatusType.IDLE)) {


                        // 穿梭车重新定位排列层


                        if (!steThread.confirmPos()) {


                            log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());


                        }


                        // 命令下发区 --------------------------------------------------------------------------


                        SteCommand steCommand = new SteCommand();


                        steCommand.setSteNo(steNo); // 穿梭车编号


@@ -1101,7 +1121,7 @@


            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());


            SteProtocol steProtocol = steThread.getSteProtocol();


            if (steProtocol == null) { continue; }


            if (steProtocol.getStatusType().equals(SteStatusType.WAITING) && steProtocol.getTaskNo() != 0) {


            if (steProtocol.getWaiting() && steProtocol.getTaskNo() != 0) {


                // 查询是否有待入库的任务


                WrkMast wrkMast = wrkMastMapper.selectCarWaiting(steProtocol.getTaskNo());


                if (wrkMast == null) { continue; }