#

Junjie

2023-12-08 e3d8bc857d087f2f8bcabc4437b73c66ee329ddc

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

@@ -27,18 +27,18 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
import com.zy.core.model.CrnSlave;
import com.zy.core.model.DevpSlave;
import com.zy.core.model.LedSlave;
import com.zy.core.model.Task;
import com.zy.core.model.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.command.RgvCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.core.thread.ZyRgvThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -105,13 +105,6 @@
                    continue;
                }
                String barcode = barcodeThread.getBarcode();

                ////判断101和104是否是拣料、并板、盘点再入库
                WrkMast wrkMast1=wrkMastMapper.selectpj(inSta.getStaNo(),barcode);
                if((inSta.getStaNo().equals(101) || inSta.getStaNo().equals(104)) &&!Cools.isEmpty(barcode)&&!Cools.isEmpty(wrkMast1)){
                    log.error("101或104拣料、并板、盘点再入库", wrkMast1.getWrkNo());
                    continue;
                }

                if (!Cools.isEmpty(barcode)) {
                    log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
@@ -490,8 +483,13 @@
                            continue;
                        }

                        // 更新工作档状态为14失败
                        wrkMast.setWrkSts(14L);
                        if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) {
                            // 更新工作档状态为13.RGV搬运中
                            wrkMast.setWrkSts(13L);
                        }else {
                            // 更新工作档状态为14
                            wrkMast.setWrkSts(14L);
                        }
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
@@ -1957,17 +1955,367 @@

    }

    public synchronized void outOfDevp() {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPick();
        for (WrkMast wrkMast : wrkMasts) {
            if (basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo())) == 0) {
                wrkMast.setCtnNo("Y");
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改{}工作档失败，ctn_no", wrkMast.getWrkNo());
    //RGV搬运
    public synchronized void rgvIoExecute() {
        for (RgvSlave slave : slaveProperties.getRgv()) {
            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId());
            if (rgvThread == null) {
                return;
            }

            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return;
            }

            // 判断RGV是否空闲
            if (rgvProtocol.getModeType() == RgvModeType.COMPUTER
                    && rgvProtocol.getStatusType() == RgvStatusType.IDLE) {
                // 如果最近一次是入库模式，则优先扫描出库站点
                if (rgvProtocol.getLastIo().equals("I")) {
                    this.rgvOutExecute(rgvThread, rgvProtocol);//出库
                    rgvProtocol.setLastIo("O");
                }else {
                    this.rgvInExecute(rgvThread, rgvProtocol);//入库
                    rgvProtocol.setLastIo("I");
                }

                //检查是否存在工位1任务超时没下发
                if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskNo2() == 0) {
                    if (System.currentTimeMillis() - rgvProtocol.getTask1SendTime() > (1000*60)) {
                        //工位1下发时间超过60s
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV编号
                        rgvCommand.setCommand((short) 1);//工位1确认
                        if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(4, rgvCommand))) {
                            log.error("RGV确认命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                            return;
                        }
                        log.error("RGV确认命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                    }
                }
            }
        }
    }

    //rgv入库
    public synchronized void rgvInExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) {
        for (RgvSlave.Sta sta : rgvThread.getSlave().getInStn()) {
            if (rgvProtocol.getTaskNo1() > 0) {
                //检测rgv工位1是否为入库任务
                WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                if (wrkMast1.getWrkSts() > 100) {
                    continue;//出库任务跳过
                }
            }

            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo());
            //判断输送线是否自动、有物、可入、有工作号
            if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) {
                continue;
            }

            //搜索工作档
            WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue());
            if (wrkMast == null) {
                continue;//工作档不存在
            }

            //获取RGV放货站点
            Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), true);
            if (staNo == null) {
                continue;//RGV放货站点不存在
            }

            //判断目标站是否自动、可入、无物、无工作号
            StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
            if (!(staProtocol1.isAutoing() && staProtocol1.isInEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) {
                continue;
            }

            // 命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV编号
            rgvCommand.setAckFinish((short) 0);

            //判断rgv工位1是否可用
            if (rgvProtocol.getTaskNo1() == 0) {
                rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货
                rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//源站
                rgvCommand.setDestinationStaNo1(staNo.shortValue());//目标站
                rgvCommand.setCommand((short) 0);//工位1暂不确认
            } else if (rgvProtocol.getTaskNo2() == 0) {//判断rgv工位2是否可用
                rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货
                rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//源站
                rgvCommand.setDestinationStaNo2(staNo.shortValue());//目标站
                rgvCommand.setCommand((short) 1);//工位2确认
            }else {
                continue;//没有可用RGV工位
            }

            if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) {
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                continue;
            }

            log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
        }
    }

    //rgv出库
    public synchronized void rgvOutExecute(ZyRgvThread rgvThread, RgvProtocol rgvProtocol) {
        for (RgvSlave.Sta sta : rgvThread.getSlave().getOutStn()) {
            if (rgvProtocol.getTaskNo1() > 0) {
                //检测rgv工位1是否为出库任务
                WrkMast wrkMast1 = wrkMastMapper.selectByWrkNo(rgvProtocol.getTaskNo1().intValue());
                if (wrkMast1.getWrkSts() < 100) {
                    continue;//入库任务跳过
                }
            }

            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, sta.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(sta.getSourceStaNo());
            //判断输送线是否自动、有物、可出、有工作号
            if (!(staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isOutEnable() && (staProtocol.getWorkNo() > 0))) {
                continue;
            }

            //搜索工作档
            WrkMast wrkMast = wrkMastMapper.selectByWrkNo(staProtocol.getWorkNo().intValue());
            if (wrkMast == null) {
                continue;//工作档不存在
            }

            //获取RGV放货站点
            Integer staNo = Utils.getRgvStaNo(rgvProtocol.getRgvNo(), sta.getSourceStaNo(), staProtocol.getStaNo().intValue(), false);
            if (staNo == null) {
                continue;//RGV放货站点不存在
            }

            //判断目标站是否自动、可出、无物、无工作号
            StaProtocol staProtocol1 = devpThread.getStation().get(staNo);
            if (!(staProtocol1.isAutoing() && staProtocol1.isOutEnable() && !staProtocol1.isLoading() && (staProtocol1.getWorkNo() == 0))) {
                continue;
            }

            // 命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvProtocol.getRgvNo());//RGV编号
            rgvCommand.setAckFinish((short) 0);

            //判断rgv工位1是否可用
            if (rgvProtocol.getTaskNo1() == 0) {
                rgvCommand.setTaskNo1(wrkMast.getWrkNo().shortValue());//工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货
                rgvCommand.setSourceStaNo1(staProtocol.getStaNo());//源站
                rgvCommand.setDestinationStaNo1(staNo.shortValue());//目标站
                rgvCommand.setCommand((short) 0);//工位1暂不确认
            } else if (rgvProtocol.getTaskNo2() == 0) {//判断rgv工位2是否可用
                rgvCommand.setTaskNo2(wrkMast.getWrkNo().shortValue());//工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.PICK_RELEASE);//工作模式 取放货
                rgvCommand.setSourceStaNo2(staProtocol.getStaNo());//源站
                rgvCommand.setDestinationStaNo2(staNo.shortValue());//目标站
                rgvCommand.setCommand((short) 1);//工位2确认
            }else {
                continue;//没有可用RGV工位
            }

            if (!MessageQueue.offer(SlaveType.Rgv, rgvCommand.getRgvNo(), new Task(2, rgvCommand))) {
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
                continue;
            }

            log.error("RGV命令下发成功，RGV号={}，任务数据={}", rgvProtocol.getRgvNo(), JSON.toJSON(rgvCommand));
        }
    }

    //RGV工作完成
    public synchronized void rgvFinished() {
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        for (RgvSlave slave : slaveProperties.getRgv()) {
            ZyRgvThread rgvThread = (ZyRgvThread) SlaveConnection.get(SlaveType.Rgv, slave.getId());
            if (rgvThread == null) {
                return;
            }

            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return;
            }

            //  状态：等待确认
            if (rgvProtocol.getStatusType() == RgvStatusType.WAITING) {
                if (rgvProtocol.getTaskNo1() == 9999) {
                    // RGV复位
                    rgvThread.setResetFlag1(true);
                }else {
                    // 获取待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(rgvProtocol.getTaskNo1().intValue());
                    if (wrkMast == null) {
                        log.error("RGV处于等待确认且任务完成状态，但未找到工作档。RGV号={}，工作号={}", rgvProtocol.getRgvNo(), rgvProtocol.getTaskNo1());
                        continue;
                    }

                    if (rgvProtocol.getTaskNo1() > 0 && rgvProtocol.getTaskFinish1() == 1) {
                        //工位1任务完成
                        // RGV复位
                        rgvThread.setResetFlag1(true);

                        //给目标站输送线写入数据
                        Short destinationPos1 = rgvProtocol.getDestinationPos1();//获取工位1目标站
                        StaProtocol staProtocol = devpThread.getStation().get(destinationPos1.intValue()).clone();
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//写入工作号
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//写入目标站
                        if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                            log.info("{}任务，RGV搬运成功，写入输送数据失败{}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol));
                        }

                        //2号RGV和3号RGV工作完成后需要更新工作档状态
                        if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) {
                            if (wrkMast.getWrkSts() == 13) {//13.RGV搬运中 => 14.已出库
                                wrkMast.setWrkSts(14L);
                                wrkMast.setModiTime(new Date());
                                wrkMastMapper.updateById(wrkMast);
                            }
                        }
                    }

                    if (rgvProtocol.getTaskNo2() > 0 && rgvProtocol.getTaskFinish2() == 1) {
                        //工位2任务完成
                        // RGV复位
                        rgvThread.setResetFlag2(true);

                        //给目标站输送线写入数据
                        Short destinationPos2 = rgvProtocol.getDestinationPos2();//获取工位2目标站
                        StaProtocol staProtocol = devpThread.getStation().get(destinationPos2.intValue()).clone();
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());//写入工作号
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());//写入目标站
                        if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                            log.info("{}任务，RGV搬运成功，写入输送数据失败{}", wrkMast.getWrkNo(), JSON.toJSONString(staProtocol));
                        }

                        //2号RGV和3号RGV工作完成后需要更新工作档状态
                        if (rgvProtocol.getRgvNo() == 2 || rgvProtocol.getRgvNo() == 3) {
                            if (wrkMast.getWrkSts() == 13) {//13.RGV搬运中 => 14.已出库
                                wrkMast.setWrkSts(14L);
                                wrkMast.setModiTime(new Date());
                                wrkMastMapper.updateById(wrkMast);
                            }
                        }
                    }
                }
            }
        }
    }

    /**
     * 扫描碟盘机自动入库空托盘
     */
    public synchronized void autoEmptyIn() {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历空板入库口
            for (CrnSlave.CrnStn emptyInStn : crnSlave.getEmptyCrnInStn()) {
                // 获取空板入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, emptyInStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyInStn.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && (staProtocol.getWorkNo() >= 9990
                        && staProtocol.getWorkNo() <= 9999)) {
                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInStn.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setPath("/rpc/pakin/loc/v1")
                                .setJson(JSON.toJSONString(param))
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                            // 更新站点信息 且 下发plc命令
                            staProtocol.setWorkNo(dto.getWorkNo().shortValue());
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol));
                            if (!result) {
                                throw new CoolException("更新plc站点信息失败");
                            }
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }

                }
            }
        }
    }

    /**
     * 扫描拆盘机自动出库空托盘
     */
    public synchronized void autoEmptyOut() {
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            for (CrnSlave.CrnStn emptyOutStn : crnSlave.getEmptyCrnOutStn()) {
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, emptyOutStn.getDevpPlcId());
                StaProtocol staProtocol = devpThread.getStation().get(emptyOutStn.getStaNo());
                if (staProtocol == null) {
                    return;
                } else {
                    staProtocol = staProtocol.clone();
                }

                if (staProtocol.isAutoing()  //自动
                        && !staProtocol.isLoading()  //无物
                        && staProtocol.isOutEnable()  //可出信号
                        && staProtocol.getWorkNo() == 0
                ) {
                    WrkMast pakoutEmpty = wrkMastMapper.selectPakoutEmpty(emptyOutStn.getStaNo());
                    if (null != pakoutEmpty) {
                        return;
                    }
                    try {
                        HashMap<String, Object> map = new HashMap<>();
                        map.put("crnNo", crnSlave.getId());
                        String response = new HttpHandler.Builder()
                                .setUri(wmsUrl)
                                .setParams(map)
                                .setPath("/rpc/auto/emptyOut/v1")
                                .build()
                                .doPost();
                        JSONObject jsonObject = JSON.parseObject(response);
                        if (jsonObject.getInteger("code").equals(200)) {
                            JSONObject data = (JSONObject) jsonObject.get("data");
                            log.info((String) data.get("msg"));
                        } else {
                            log.error("请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/auto/emptyOut/v1","", response);
                        }
                    } catch (Exception e) {
                        e.printStackTrace();
                        TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                    }
                }
            }
        }

    }

}