#调试

lty

2025-05-11 f25bbbc769f14d18c39f11ba0e395a9f09431148

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

@@ -97,6 +97,8 @@

    @Value("${wms.url}")
    private String wmsUrl;
    @Value("${wcs-slave.isToOrigin}")
    private boolean isToOrigin;

    public Integer wrkNo = 10000;

@@ -408,10 +410,14 @@

                StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo());

                if(staProtocol == null) {
//                    News.error("站点信息未获得");
                    continue;
                }
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "";
                if (staProtocol.isFrontErr()) {
                if (!back && staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
@@ -840,6 +846,27 @@
        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站  ===》执行完成");
    }
    /**
     * 堆垛机默认回原点
     */
    public synchronized void crnToInStn(Integer mark) {
        if(isToOrigin){
            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) {
                    News.error("" + mark + " - 1" + " - {}号堆垛机尚未在数据库进行维护！", crn.getId());
                    continue;
                }
            }
        }
    }


    /**
     * 入出库  ===>>  堆垛机入出库作业下发
@@ -1018,48 +1045,48 @@
                continue;
            }

            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
                News.warnNoLog("" + mark + " - 1" + " - 8" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                    News.warnNoLog("" + mark + " - 1" + " - 9" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}", shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        News.error("" + mark + " - 1" + " - 10" + " - {}库位异常，未检索到相应工作档！", shallowLocNo);
                    } else {
                        waitWrkMast.setIoPri(15D);
                        waitWrkMast.setModiTime(new Date());
                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                            News.error("" + mark + " - 1" + " - 11" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                        continue;
                    }

                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                    News.warnNoLog("" + mark + " - 1" + " - 12" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
                    // 此标记避免多次执行移库任务
                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
                        wrkMast.setUpdMk("Y");
                        wrkMast.setIoPri(14D);
                        wrkMastMapper.updateById(wrkMast);
                        // 生成工作档,将浅库位移转到新的库位中
                        moveLocForDeepLoc(slave, shallowLoc, mark);
                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
//                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    News.warnNoLog("" + mark + " - 1" + " - 13" + " - // Q  库位状态={}", shallowLoc.getLocSts());
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        News.infoNoLog("" + mark + " - 1" + " - 14" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                        continue;
                    }
                }
            }
//            // 双深库位且浅库位有货，则需先对浅库位进行库位移转
//            if (Utils.isDeepLoc(slaveProperties, wrkMast.getLocNo())) {
//                News.warnNoLog("" + mark + " - 1" + " - 8" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
//                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
//                LocMast shallowLoc = locMastService.selectById(shallowLocNo);
//                // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
//                if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
//                    News.warnNoLog("" + mark + " - 1" + " - 9" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}", shallowLoc.getLocSts());
//                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                    if (null == waitWrkMast) {
//                        News.error("" + mark + " - 1" + " - 10" + " - {}库位异常，未检索到相应工作档！", shallowLocNo);
//                    } else {
//                        waitWrkMast.setIoPri(15D);
//                        waitWrkMast.setModiTime(new Date());
//                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                            News.error("" + mark + " - 1" + " - 11" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
//                        }
//                        continue;
//                    }
//
//                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                    News.warnNoLog("" + mark + " - 1" + " - 12" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
//                    // 此标记避免多次执行移库任务
//                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc, mark);
//                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
////                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
//                    }
//                    continue;
//                } else if (shallowLoc.getLocSts().equals("Q")) {
//                    News.warnNoLog("" + mark + " - 1" + " - 13" + " - // Q  库位状态={}", shallowLoc.getLocSts());
//                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
//                        News.infoNoLog("" + mark + " - 1" + " - 14" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
//                        continue;
//                    }
//                }
//            }
            News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue()
                    , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()
                    , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue());
@@ -1076,7 +1103,7 @@
            crnCommand.setDestinationPosX((short) (locMast.getRow1() + slave.getOffset()));     // 目标库位排
            crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset()));     // 目标库位列
            crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset()));     // 目标库位层
            crnCommand.setTraySize(locMast.getLocType1() == 2);
//            crnCommand.setTraySize(locMast.getLocType1() == 2);
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                News.error("" + mark + " - 1" + " - 16" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
@@ -1167,54 +1194,54 @@
                        break;
                    }

                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
                            News.warnNoLog("" + mark + " - 2" + " - 7" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            if (null == waitWrkMast) {
                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
                            } else {
                                if (waitWrkMast.getWrkSts() == 11) {
                                    waitWrkMast.setIoPri(15D);
                                    waitWrkMast.setModiTime(new Date());
                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
                                        News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                                    }
                                    continue;
                                } else {

                                }
                            }
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
//                    // 双深库位且浅库位有货，则需先对浅库位进行库位移转
//                    if (Utils.isDeepLoc(slaveProperties, wrkMast.getSourceLocNo())) {
//                        News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo());
//                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo());
//                        LocMast shallowLoc = locMastService.selectById(shallowLocNo);
//                        // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！
//                        if (shallowLoc.getLocSts().equals("P") || shallowLoc.getLocSts().equals("R")) {
//                            News.warnNoLog("" + mark + " - 2" + " - 7" + " - // O.空库位、Q.拣料/盘点/并板再入库、S.入库预约、X.禁用 直接搬！库位状态={}", shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            // 此标记避免多次执行移库任务
//                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
//                                || Cools.isEmpty(waitWrkMast)) {
                            if (Cools.isEmpty(waitWrkMast)) {
                                wrkMast.setUpdMk("Y");
                                wrkMastMapper.updateById(wrkMast);
                                // 生成工作档,将浅库位移转到新的库位中
                                moveLocForDeepLoc(slave, shallowLoc, mark);
                            }
                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
                            continue;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位状态={}", shallowLoc.getLocSts());
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
                                continue;
                            }
                        }
                    }
//                            if (null == waitWrkMast) {
//                                News.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
//                            } else {
//                                if (waitWrkMast.getWrkSts() == 11) {
//                                    waitWrkMast.setIoPri(15D);
//                                    waitWrkMast.setModiTime(new Date());
//                                    if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                                        News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
//                                    }
//                                    continue;
//                                } else {
//
//                                }
//                            }
//                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                            News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D  库位状态={}", shallowLoc.getLocSts());
////                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                            //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
//                            // 此标记避免多次执行移库任务
////                            if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())
////                                || Cools.isEmpty(waitWrkMast)) {
//                            if (Cools.isEmpty(waitWrkMast)) {
//                                wrkMast.setUpdMk("Y");
//                                wrkMastMapper.updateById(wrkMast);
//                                // 生成工作档,将浅库位移转到新的库位中
//                                moveLocForDeepLoc(slave, shallowLoc, mark);
//                            }
//                            News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo);
//                            continue;
//                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
//                            News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S  库位状态={}", shallowLoc.getLocSts());
//                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
//                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
//                                News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D  工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts());
//                                continue;
//                            }
//                        }
//                    }

                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
@@ -1662,8 +1689,8 @@

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);

                        SearchLocParam param = new SearchLocParam();
                        locTypeDto.setLocType1((short) 1);
                        param.setIoType(10);
                        param.setSourceStaNo(emptyInSta.getStaNo());
                        param.setLocType1(locTypeDto.getLocType1());