#改造

lsh

2024-08-09 e3b8bc50db4cf9d5fcac58b56d1cb7e25154c3a6

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

@@ -844,6 +844,29 @@
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                            // 移动中
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.WAITING
                                && crnProtocol.forkPosType == CrnForkPosType.HOME
                                && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                            News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                            // 下发站点信息
                            staProtocol.setWorkNo(crnProtocol.getTaskNo());
                            staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                            // 复位堆垛机
                            crnThread.setResetFlag(true);
                            continue;
                        }
                        continue;
                    }
                    // 判断工作档条件
@@ -866,7 +889,7 @@

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNoConvert(crnProtocol.getCrnNo()).shortValue());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }
@@ -969,8 +992,35 @@

            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast) {
            if(null == wrkMast || (wrkMast.getCrnNo()==2 && wrkMast.getWrkSts()==2 && crnProtocol.getCrnNo()!=2)) {
//                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    continue;
                }
                //  判断堆垛机状态等待确认
                if (crnProtocol.modeType == CrnModeType.AUTO
                        && crnProtocol.statusType == CrnStatusType.IDLE
                        && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                    News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                    // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(staProtocol.getWorkNo()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setCommand((short) 0);
                    crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE); // 任务模式:  站位转移
                    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.getRow(staProtocol.getSiteId()));     // 目标库位排
                    crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                    crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                        News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                    }
                    return true;
                }
                continue;
            }

@@ -1189,6 +1239,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.loca==0) continue;
                        if (steProtocol.isIdle()) {

                            // 已经存在吊车执行任务时，则过滤
@@ -1297,7 +1348,7 @@
                    Integer sour = wrkMast.getSourceStaNo();
                    List<WrkMast> wrkMasts = wrkMastMapper.selectWrkStsAndIoType0(sour);
                    if (wrkMasts.size() > 0){
                        News.error("MainServiceImpl  1028行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        News.error("MainServiceImpl  1300行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        return false;
                    }

@@ -1306,7 +1357,7 @@
                            .eq("sta_no",300)
                            .last(" and wrk_sts>11 and io_type in (103,107) "));
                    if(!Cools.isEmpty(one)){
                        News.error("MainServiceImpl  1099行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        News.error("MainServiceImpl  1309行"+"存在捡料、盘点未入库货物，2号堆垛机暂时禁止出库！！！");
                        continue;
                    }
                }
@@ -1525,6 +1576,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {

                                //小车只能绑定一笔作业中任务
@@ -2546,6 +2598,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.loca==0) continue;
            if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                return steProtocol.getSteNo().intValue();
            }
@@ -2562,6 +2615,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.loca==0) continue;
            if (steProtocol.isIdle()) {
                if (Utils.getGroupRow(locNo).equals(Utils.getGroupRow(steProtocol.getRow().intValue())) && steProtocol.getBay() == Utils.getBay(locNo) && steProtocol.getLev() == Utils.getLev(locNo)) {
                    return steProtocol.getSteNo().intValue();
@@ -2980,6 +3034,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
//                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3072,6 +3127,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
//                        if (steProtocol.loca==0) continue;
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
@@ -3144,6 +3200,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
//                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3340,6 +3397,7 @@
                            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                            SteProtocol steProtocol = steThread.getSteProtocol();
                            if (steProtocol == null) { continue; }
                            if (steProtocol.loca==0) continue;
                            if (steProtocol.isIdle()) {
                                // 命令下发区 --------------------------------------------------------------------------
                                SteCommand steCommand = new SteCommand();
@@ -3369,6 +3427,7 @@
                        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                        SteProtocol steProtocol = steThread.getSteProtocol();
                        if (steProtocol == null) { continue; }
                        if (steProtocol.loca==0) continue;
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            News.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
@@ -3410,6 +3469,7 @@
            SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, ste.getId());
            SteProtocol steProtocol = steThread.getSteProtocol();
            if (steProtocol == null) { continue; }
            if (steProtocol.loca==0) continue;
            if (steProtocol.getWaiting() && steProtocol.getTaskNo() == 0){
                News.info("ste[id={}] 收到等待WCS确认信号，但是任务号(地址V824)为0", steProtocol.getSteNo());
            }