#

lsh

4 天以前 ca76cf86a1a73e5663614eccd41a8ae4e82196eb

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

@@ -204,6 +204,7 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(inSta.getBackSta());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        TaskWrk taskWrk = taskWrkMapper.selectByWrkNo(Integer.valueOf(workNo));
@@ -760,19 +761,25 @@
                        if (!taskWrks.isEmpty()) {
                            continue;
                        }
                        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",true));
                        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",false));
                        if (!taskWrkLogs.isEmpty()) {
                            TaskWrkLog taskWrkLog = taskWrkLogs.get(0);
                            Date completeTime = taskWrkLog.getCompleteTime();
                            if (completeTime==null){
                                completeTime = taskWrkLog.getCancelTime();
                            boolean signT = false;
                            for (TaskWrkLog taskWrkLog : taskWrkLogs){
                                Date completeTime = taskWrkLog.getCompleteTime();
                                if (completeTime==null){
                                    completeTime = taskWrkLog.getModiTime();
                                    continue;
                                }
                                long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
                                if (differenceInSeconds <= 60*2*1000) {
                                    signT = true;
                                    break;
                                } else {
                                    signT = false;
                                    break;
                                }
                            }
                            long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(completeTime, new Date());
                            if (differenceInSeconds <= 60*10*1000) {
                                return;
                            if (signT){
                                continue;
                            }
                        }
                        // 命令下发区 --------------------------------------------------------------------------
@@ -781,11 +788,11 @@
                        crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                        crnCommand.setTaskNo((short)999); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  库位移转
                        crnCommand.setSourcePosX((short) 0);     // 源库位排
                        crnCommand.setSourcePosY((short) 0);     // 源库位列
                        crnCommand.setSourcePosZ((short) 0);   // 源库位层
                        crnCommand.setTaskMode(CrnTaskModeType.SITE_MOVE); // 任务模式:  站位移转4
                        int row = crnProtocol.getLaneNo() * 2;
                        crnCommand.setSourcePosX((short) row);     // 源库位排
                        crnCommand.setSourcePosY((short) 1);     // 源库位列
                        crnCommand.setSourcePosZ((short) 1);   // 源库位层
                        crnCommand.setDestinationPosX((short) row);     // 目标库位排
                        crnCommand.setDestinationPosY((short) 1);     // 目标库位层
                        crnCommand.setDestinationPosZ((short) 1);     // 目标库位列
@@ -808,7 +815,7 @@
                    }
                }
            } catch (Exception e){
                log.error("堆垛机5分钟无任务则回到源点失败");
                log.error("堆垛机10分钟无任务则回到源点失败");
            }
        }
    }
@@ -988,22 +995,22 @@
//                }

                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                crnCommand.setTaskNo(taskWrk.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(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(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                CrnCommand crnCommand1 = new CrnCommand();
                crnCommand1.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand1.setLaneNo(crnProtocol.getLaneNo()); // 堆垛机巷道编号
                crnCommand1.setTaskNo(taskWrk.getWrkNo().shortValue()); // 工作号
                crnCommand1.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand1.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand1.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                crnCommand1.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                crnCommand1.setSourcePosZ(crnStn.getLev().shortValue());   // 源库位层
                crnCommand1.setDestinationPosX(Utils.getRowShort(taskWrk.getTargetPoint()));     // 目标库位列
                int bay1 = Utils.getBayShort(taskWrk.getTargetPoint()) + 1;
                crnCommand.setDestinationPosY((short)bay1);     // 目标库位层
                crnCommand.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
                crnCommand1.setDestinationPosY((short)bay1);     // 目标库位层
                crnCommand1.setDestinationPosZ(Utils.getLevShort(taskWrk.getTargetPoint()));     // 目标库位排
//                crnCommand.setCommand((short) 1);
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand));
                if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand1))) {
                    log.error("堆垛机命令生成失败，堆垛机号={}，任务数据={}", taskWrk.getCrnNo(), JSON.toJSON(crnCommand1));
                    devpThread.setErrorDev(staProtocol.getSiteId(), crnProtocol.getLaneNo()+"巷道堆垛机命令生成失败");
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "运行命令下发失败");

@@ -1096,11 +1103,11 @@
                    }

                    // 判断堆垛机出库站状态
                    if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {
//                    if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")) {

//                    // 判断堆垛机出库站状态
//                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
//                            && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                            && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                        // 命令下发区 --------------------------------------------------------------------------

                        // 堆垛机控制过滤
@@ -1202,6 +1209,9 @@
                            if (staProtocol.isOutEnable()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "没有可出");
                            }
                            if (staProtocol.isLoading()){
                                CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站有物");
                            }
                        } else {
                            CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "出库站点：非自动");
                        }
@@ -1240,6 +1250,7 @@

                // 已经存在吊车执行任务时，则过滤
                if (taskWrkMapper.selectCrnWorking(crnProtocol.getLaneNo()) != null) {
                    CrnErrCache.updateCrnErr(crnProtocol.getCrnNo(), "堆垛机存在执行中吊车任务");
                    continue;
                }

@@ -1535,8 +1546,8 @@
                                        null,    // 结束时间
                                        null,    // 工作状态
                                        null,    // 入出库类型
                                        crn.getId(),    // 堆垛机
                                        null,    // plc
                                        crnProtocol.getLaneNo(),    // 堆垛机
                                        crn.getId(),    // plc
                                        null,    // 目标库位
                                        null,    // 目标站
                                        null,    // 源站
@@ -1883,6 +1894,11 @@
            return null;
        }
        // 判断是否满足取货条件
        if (!staProtocol.isPakMkTask()) {
            devpThread.setErrorDev(staProtocol.getSiteId(), "任务已下发等待小车取");
            return null;
        }
        // 判断是否满足取货条件
        if (staProtocol.isAutoing()
//                && staProtocol.isLoading()
//                && staProtocol.isStaOk()
@@ -1891,8 +1907,20 @@
            if (taskWrk != null) {
                Integer stano = staProtocol.getStaNo();
                if (staProtocol.getSiteId() == 1004 || staProtocol.getSiteId()==1020){
                    // 判断是否满足取货条件
                    if (!staProtocol.isPakMkRun()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "异常回退标记，需要回退");
                        return null;
                    }
                    if (!staProtocol.isLoading()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "无物");
                        return null;
                    }
                    if (!staProtocol.isInEnable()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待可入信号");
                        return null;
                    }
                    if (!staProtocol.isStaOk()) {
                        devpThread.setErrorDev(staProtocol.getSiteId(), "等待链条就绪");
                        return null;
                    }
                    // 尺寸检测异常
@@ -1967,6 +1995,8 @@
                        staProtocol.setWorkNo(9999);
                        staProtocol.setStaNo(staProtocol.getStaNo()+1);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        devpThread.setPakMkRun(staProtocol.getSiteId(), false);
                        devpThread.setPakMkTask(staProtocol.getSiteId(), false);
                        devpThread.setErrorDev(staProtocol.getSiteId(), errMsg);
                        MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                        try{
@@ -2433,6 +2463,7 @@
        try {
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
            TaskProtocolCache taskProtocolCache = rgvThread.getTaskProtocolCache();
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, rgvStn.getDevpPlcId());

            TaskProtocol issuedTake = new TaskProtocol();
            TaskProtocol issuedPut = new TaskProtocol();
@@ -2455,6 +2486,12 @@
                        return false;
                    }
                }
                try{
                    devpThread.setPakMkTask(rgvStn.getStaNo(), false);
                } catch (Exception e2){
                    RgvErrCache.updateRgvErr(rgvSlave.getId(),rgvStn.getStaNo()+"小车任务下发标记更新失败");
                }


                BasDevpPosition basDevpPositionSou = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", rgvStn.getStaNo()));
                BasDevpPosition basDevpPositionEnd = basDevpPositionService.selectOne(new EntityWrapper<BasDevpPosition>().eq("DEV_NO", targetPointConvert));