#

luxiaotao1123

2022-03-23 d9d1d00d83dc37fe630fcb21130832d6353a0f60

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

@@ -89,6 +89,8 @@
    private BasCrnErrorMapper basCrnErrorMapper;
    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${crnBackHp.enable}")
    private boolean crnBackHp;

    /**
     * 组托
@@ -105,14 +107,14 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
//                if(!Cools.isEmpty(barcode)) {
//                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        continue;
//                    }
//                } else {
//                    continue;
//                }
                if(!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                    if("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        continue;
                    }
                } else {
                    continue;
                }

                // 获取入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -123,8 +125,8 @@
                    staProtocol = staProtocol.clone();
                }

                // 入出库模式判断
                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
//                // 入出库模式判断
//                if ( inSta.getStaNo()==180 && devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading()
@@ -132,18 +134,18 @@
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 9999)
                        && staProtocol.isPakMk()){// && !Cools.isEmpty(barcode)) {

                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
                        //条码为空或者不符合，退库到172站点
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo((short)172);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                        continue;
                    }
//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }

                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
@@ -278,8 +280,8 @@
                    staProtocol = staProtocol.clone();
                }

                // 入出库模式判断
                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
@@ -328,14 +330,14 @@
                    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;
//                }
                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
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
@@ -346,23 +348,23 @@
                    staProtocol = staProtocol.clone();
                }

                // 入出库模式判断
                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

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

                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                        log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                        //条码为空或者不符合，退库到172站点
                        staProtocol.setWorkNo((short)9999);
                        staProtocol.setStaNo((short)172);
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                        continue;
                    }
//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)9999);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        if (!result) {
//                            throw new CoolException("更新plc站点信息失败");
//                        }
//                        continue;
//                    }

                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    if (wrkMast == null) {
@@ -549,7 +551,70 @@
            }
            // 库位移转
            this.locToLoc(crn, crnProtocol);

            if (crnBackHp) {

                //堆垛机没有执行中任务，设备存在入库任务时叫回原点
                this.crnRebackHp(crnProtocol);

            }
        }
    }

    /**
     * 回原点，堆垛机没有执行中任务，设备存在入库任务时叫回原点
     */
    public synchronized void crnRebackHp(CrnProtocol crnProtocol){
//        for (CrnSlave crn : slaveProperties.getCrn()) {
//            // 获取堆垛机信息
//            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
//            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
//            if (crnProtocol == null) {
//                continue;
//            }
//            BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
//            if (basCrnp == null) {
//                log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
//                continue;
//            }
            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                if(crnProtocol.getBay() ==1 && crnProtocol.getLevel()==1){
                    return;
                }

                // 已经存在吊车执行任务时，则过滤3,12
                if (wrkMastMapper.selectWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }

                //堆垛机有执行中任务，过滤3,4,11,12
                if (wrkMastMapper.selectCrnWorking(crnProtocol.getCrnNo()) != null) {
                    return;
                }


                //输送线没有入库任务，过滤2
                if (wrkMastMapper.selectDevWorking(crnProtocol.getCrnNo()) == null) {
                    return;
                }
//                log.info("堆垛机召回原点==>>" + crn.getId() + "号堆垛机有入库任务,召回原点");
                // 命令下发区 --------------------------------------------------------------------------
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
                crnCommand.setTaskNo((short) 9999); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
                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.setDestinationPosX((short) 0);     // 目标库位排
                crnCommand.setDestinationPosY((short) 0);     // 目标库位列
                crnCommand.setDestinationPosZ((short) 0);     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机回原点命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand));
                }
            }
//        }
    }

    /**
@@ -711,8 +776,8 @@
                staProtocol = staProtocol.clone();
            }

            // 入出库模式判断
            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }


            // 查询站点详细信息
@@ -835,7 +900,7 @@
        }

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

@@ -878,25 +943,30 @@
            if (crnProtocol == null) { continue; }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                // 入库 + 库位转移  ==> 4.入库完成
                if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)){
                    wrkMast.setWrkSts(4L);
                } else  {
                    continue;
                }
                Date now = new Date();
                wrkMast.setCrnEndTime(now);
                wrkMast.setModiTime(now);
                // 修改成功后复位堆垛机
                if (wrkMastMapper.updateById(wrkMast) > 0) {
                if(crnProtocol.getTaskNo()==9999){
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                }else {
                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null) {
                        log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                    }
                }

            }
@@ -1042,8 +1112,8 @@
                    staProtocol = staProtocol.clone();
                }

                // 入出库模式判断
                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }
//                // 入出库模式判断
//                if (devpThread.ioMode != IoModeType.PAKIN_MODE) { continue; }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
@@ -1388,14 +1458,17 @@
            if (Utils.isDeepLoc(slaveProperties, row)) {
                loc = locMastService.queryFreeLocMast(row, shallowLoc.getLocType1());

                if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())){
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
                    LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
                    if(!shallowLoc1.getLocSts().equals("O")){
                        loc = null;
                if (loc !=null) {
                    if (Utils.isDeepLoc(slaveProperties, loc.getLocNo())){
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, loc.getLocNo());
                        LocMast shallowLoc1 = locMastService.selectById(shallowLocNo);
                        if(!shallowLoc1.getLocSts().equals("O")){
                            loc = null;
                        }
                    }
                }


                if (null != loc) { break; }
            }
        }