#

lsh

2024-01-24 fd4ce2e507d27baceae451027ea1273c17739830

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

@@ -98,6 +98,8 @@
    private WrkMastStaMapper wrkMastStaMapper;
    @Autowired
    private BasRgvMapMapper basRgvMapMapper;
    @Autowired
    private RgvOneSignMapper rgvOneSignMapper;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -578,6 +580,164 @@
        }
    }

    /**
     * 2楼212呼叫空板
     */
    public synchronized void stnToCrnStnPick3Auto(Integer sign) {
        try{
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
            StaProtocol staProtocol = devpThread.getStation().get(212);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staProtocol.getWorkNo()==0 ){
                switch (sign){
                    //执行小车货物搬运任务
                    case 1:
                    case 4:
                        stnToCrnStnPick3();
                        return;
                    //执行小车空板搬运任务
                    case 2://放//拆盘
                    case 5://放//拆盘
                        stnToCrnStnPick4();
                        return;
                    default:
                        return;
                }
            } else if (staProtocol.isAutoing() && staProtocol.isLoading()){
                switch (sign){
                    case 3://满放
                    case 6://满放
                        stnToCrnStnPick5();
                        return;
                    default:
                        return;
                }
            }
        }catch (Exception e){
            log.error("2楼212呼叫空板"+e);
        }
    }
    /**
     * 2楼212呼叫空板
     */
    public synchronized void stnToCrnStnPick3() {
        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=61){//61、等待空板
            return;
        }
        for (DevpSlave devp : slaveProperties.getDevp()) {
            for (DevpSlave.Sta driveSta : devp.getDriveSta()) {
                if (driveSta.getStaNo()!=215){
                    continue;
                }
                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
                        || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ){
                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

                    staProtocol.setWorkNo(wrkMast.getWrkNo()-1);
                    staProtocol.setStaNo(driveSta.getStaNo()==215? 217:221);
                    boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result2) {
                        log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
                    wrkMast.setWrkSts(62L);
                    wrkMastMapper.updateById(wrkMast);

                    boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
                    return;
                }
            }
        }
    }

    /**
     * 2楼212呼叫空板
     */
    public synchronized void stnToCrnStnPick4() {
        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=62){//62、等待小车搬运
            return;
        }
        for (DevpSlave devp : slaveProperties.getDevp()) {
            for (DevpSlave.Sta driveSta : devp.getInSta()) {
                if (driveSta.getStaNo()!=217){
                    continue;
                }
                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
                StaProtocol staProtocol = devpThread.getStation().get(driveSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                StaProtocol staProtocol212 = devpThread.getStation().get(212);
                if (staProtocol212 == null) {
                    continue;
                } else {
                    staProtocol212 = staProtocol212.clone();
                }
                if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo()==0){
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
                            || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) || staProtocol.getWorkNo()==wrkMast.getWrkNo()-1) ){
//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(212);
                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result2) {
                            log.error("发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                        }
                        wrkMast.setWrkSts(63L);
                        wrkMastMapper.updateById(wrkMast);

//                        boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
                        return;
                    }
                }
            }
        }
    }

    /**
     * 2楼212呼叫空板
     */
    public synchronized void stnToCrnStnPick5() {
        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=63){//63、等待完成
            return;
        }

        // 获取拣料入库站信息
        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 2);
        StaProtocol staProtocol = devpThread.getStation().get(212);
        if (staProtocol == null) {
            return;
        } else {
            staProtocol = staProtocol.clone();
        }
        if (staProtocol.isAutoing() && staProtocol.isLoading()){
//            boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));

            wrkMast.setWrkSts(64L);
            wrkMastMapper.updateById(wrkMast);

//            boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
            return;
        }
    }
    /**
     * 拣料、并板、盘点再入库  拆垛位置
     */
@@ -1285,6 +1445,13 @@
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                log.error("查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType());
                continue;
            }
            //退库模式跳过118、119出库任务
            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                    continue;
                }
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
@@ -2011,6 +2178,10 @@
     */
    public synchronized void storeEmptyPlt3() {
        try{
            RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
            if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                return;
            }
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgvSlave.getId());
                RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
@@ -2130,6 +2301,10 @@
                        ledCommand.setTitle("盘点出库");
                        break;
                    case 110:
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    case 212:
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
@@ -2887,7 +3062,7 @@
                        // 无拣料数据
                        continue;
                    }
                    if (!wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){
                    if (Cools.isEmpty(wrkMast.getSheetNo()) || !wrkMast.getSheetNo().equals("2") || wrkMast.getIoType()<100 || wrkMast.getWrkSts()!=14){
                        continue;
                    }
                    if (wrkMast.getIoType()==101){
@@ -3079,9 +3254,9 @@
                        && staProtocol.isLoading()
                        && basDevp.getReportSign()==0
                ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                    if (true){
                        return;
                    }
//                    if (true){
//                        return;
//                    }

                    //任务完成
                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));
@@ -3090,7 +3265,8 @@
                    }catch (Exception e){ }
                    basDevp135.setReportSign(2);
                    basDevpService.updateById(basDevp135);
                    staProtocol135.setWorkNo(32222);
                    int workNo = commonService.getWorkNo(7);
                    staProtocol135.setWorkNo(workNo);
                    staProtocol135.setStaNo(144);
                    devpThread.setPakMk(staProtocol135.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(2, staProtocol135));
@@ -3260,7 +3436,8 @@
    /**
     * 入出库  ===>>  小车作业下发
     */
    public synchronized void rgvIoExecute(Integer sign) {
    public synchronized boolean rgvIoExecute(Integer sign) {
        boolean rgvIoExecuteSign = false;
        try{
            for (RgvSlave rgvSlave:slaveProperties.getRgv()) {
                // 获取小车信息
@@ -3309,7 +3486,7 @@
                            break;
                    }
                }
                for (int signCount = 1;!signWork && signCount<8;signCount++){
                for (int signCount = 1;!signWork && signCount<7;signCount++){
                    switch (signCount){
                        case 1://执行小车货物搬运任务
                            signWork = rgvRunWrkMastFullSta();
@@ -3330,18 +3507,22 @@
//                            signWork = rgvRunWrkMastEmptyStaPut();
                            break;
                        default:
                            if (sign>6){
                                rgvRunWrkMastEmptyStaAvoidance();//避让
                                signWork = true;
                            }
                            break;
                    }
                }

                if (!rgvIoExecuteSign){
                    rgvIoExecuteSign = signWork;
                }
            }
            if (!rgvIoExecuteSign){
                if (sign>6){
                    rgvRunWrkMastEmptyStaAvoidance();//避让
                }
            }
        }catch (Exception e){
            log.error("RGV小车任务下发报错"+e);
        }
        return rgvIoExecuteSign;
    }
    /**
     * 执行小车搬运任务