#

zjj

3 天以前 c904f735e0b8a488ef56744c08f8e10258639bce

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

@@ -21,6 +21,7 @@
import com.zy.common.utils.HttpHandler;
import com.zy.core.CrnThread;
import com.zy.core.DevpThread;
import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
@@ -66,6 +67,12 @@
    private FillingMastService fillingMastService;
    @Autowired
    private VacuumMastService vacuumMastService;
    @Autowired
    private BasErrLogService basErrLogService;
    @Autowired
    private WrkMastStaService wrkMastStaService;
    @Autowired
    private BasRgvErrService basRgvErrService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -296,7 +303,13 @@
                if (rgvComplete){
                    rgvThread.setPakMk(true);
                }

                List<WrkMastSta> wrkMastStas = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", rgvProtocol.getTaskNo1()));
                if (!Cools.isEmpty(wrkMastStas) || wrkMastStas.size()<=0){
                    WrkMastSta wrkMastSta = wrkMastStas.get(0);
                    wrkMastSta.setWrkSts(3);
                    wrkMastSta.setBignTime(new Date());
                    wrkMastStaMapper.updateById(wrkMastSta);
                }
            }

        }
@@ -394,7 +407,7 @@
//                    System.out.println(JSON.toJSONString(staProtocol));
                    if (staProtocol.isAutoing()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,1);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -402,7 +415,7 @@
                        }
                    }else if (staProtocol.isLoading()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,3);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -410,7 +423,7 @@
                        }
                    }else if (staProtocol.isInEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,5);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -418,7 +431,7 @@
                        }
                    }else if (staProtocol.isOutEnable()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),2,7);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -427,7 +440,7 @@
                    }
                    if (staProtocol.isEmptyMk()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),1,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -436,7 +449,7 @@
                    }
                    if (staProtocol.isFullPlt()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),3,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -445,7 +458,7 @@
                    }
                    if (staProtocol.isCar()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),5,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -454,7 +467,7 @@
                    }
                    if (staProtocol.isLow()){
                        WrkMastSta wrkMastSta = new WrkMastSta(new Date(),7,10);
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().eq("wrk_no", wrkMastSta.getWrkNo()));
                        Integer count = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts",3).eq("wrk_no", wrkMastSta.getWrkNo()));
                        if (count==0){
                            wrkMastSta.setType(1);
                            wrkMastSta.setWrkType(3);
@@ -470,6 +483,201 @@
        }
    }

    /**
     * 执行小车搬运任务
     */
    public synchronized void rgvRunWrkMastFullSta() {
        try{
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                log.error("RGV不在线");
                return;
            }
            // 只有当RGV空闲、自动,工位一无物//rgv可用
            if (rgvProtocol.getStatusType1() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getLoaded1()==0
                    && rgvProtocol.getTaskNo1() == 0
                    && rgvThread.isPakMk()
            ) {
                Integer selectCount = wrkMastStaMapper.selectCount(new EntityWrapper<WrkMastSta>().ne("wrk_sts", 3).ne("wrk_sts", 0));
                if (selectCount>0){
                    log.error("存在执行RGV中任务，但是小车状态空闲！！！");
                    return;
                }

                List<WrkMastSta> wrkMastStaList = wrkMastStaMapper.selectList(new EntityWrapper<WrkMastSta>().eq("wrk_sts",0));
                for (WrkMastSta wrkMastSta : wrkMastStaList){
                    if (wrkMastSta.getType()!=1 || wrkMastSta.getWrkType()!=3){//1:满版   3：取放
                        continue;
                    }
                    boolean sign = rgvTakeFullAll(1, wrkMastSta); //命令下发
                    if (sign){
                        wrkMastSta.setWrkSts(1);
                        wrkMastSta.setUpdateTime(new Date());
                        wrkMastStaMapper.updateById(wrkMastSta);
                    } else {
                        log.error("工作号{}所属任务下发失败",wrkMastSta.getWrkNo());
                    }
                    break;
                }
            }
        }catch (Exception e){
            log.error("3875行执行小车搬运任务下发失败");
            log.error("3875行"+e);
        }
    }
    /*
     * 小车取货至工位任务
     * */
    public synchronized boolean rgvTakeFullAll(Integer rgvId,WrkMastSta wrkMastSta){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            RgvCommand rgvCommand = new RgvCommand();
            rgvCommand.setRgvNo(rgvId); // RGV编号
            rgvCommand.setAckFinish1(false);  // 工位1任务完成确认位
            rgvCommand.setTaskNo1(wrkMastSta.getWrkNo().intValue()); // 工位1工作号
            rgvCommand.setTaskMode1(RgvTaskModeType.FETCH_PUT); // 工位1任务模式:  取放货
            rgvCommand.setSourceStaNo1(wrkMastSta.getStaStart().shortValue());   //工位1起点
            rgvCommand.setDestinationStaNo1(wrkMastSta.getStaEnd().shortValue());   //工位1目标站点
            rgvCommand.setCommand((short) 0);   //工位1任务确认
            if (!MessageQueue.offer(SlaveType.Rgv, rgvId, new Task(4, rgvCommand))) {
                //step=2,工位1、2写任务；   step=4，工位1写任务；     step=5，工位2写任务
                log.error("RGV命令下发失败，RGV号={}，任务数据={}", rgvId, JSON.toJSON(rgvCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    public synchronized void recCrnErr() {
        Date now = new Date();

            // 获取堆垛机信息
            SiemensRgvThread rgvThread = (SiemensRgvThread) SlaveConnection.get(SlaveType.Rgv, 1);
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                return;
            }
            if (true) {
//            if (crnProtocol.getModeType() != CrnModeType.STOP) {
                // 有任务
                if (rgvProtocol.getTaskNo1() != 0) {

                    BasErrLog latest = basErrLogService.findLatestByTaskNo(1, rgvProtocol.getTaskNo1());
                    // 有异常
                    if (latest == null) {
                        if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
                            WrkMastSta wrkMastSta = wrkMastStaService.selectOne(new EntityWrapper<WrkMastSta>()
                                    .setSqlSelect("TOP 1 wrk_no as wrkNo , wrk_sts as wrkSts,wrk_start as wrkStart,wrk_end as wrkEnd, create_time as createTime")
                                    .eq("wrk_No", rgvProtocol.getTaskNo1())
                                    .orderBy("create_time", false)

                            );
                            if (wrkMastSta == null) {
                               return;
                            }
                            BasRgvErr rgvErr = basRgvErrService.selectById(rgvProtocol.getAlarm());
                            String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    wrkMastSta.getWrkNo().intValue(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    wrkMastSta.getWrkSts().longValue(),    // 工作状态
                                    wrkMastSta.getType(),    // 入出库类型
                                    1,    // 堆垛机
                                    null,    // plc
                                    null,    // 目标库位
                                    wrkMastSta.getWrkEnd(),    // 目标站
                                    wrkMastSta.getWrkEnd(),    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    (int) rgvProtocol.getAlarm(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "任务中异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {

                            }
                        }
                    } else {
                        // 异常修复
                        if (rgvProtocol.getAlarm() == null || rgvProtocol.getAlarm() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {

                            }
                        }
                    }
                    // 无任务
                } else {
                    BasErrLog latest = basErrLogService.findLatest(1);

                    // 有异常
                    if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {

                        // 记录新异常
                        if (latest == null || (latest.getErrCode() != rgvProtocol.getAlarm().intValue())) {
                            BasRgvErr rgvErr = basRgvErrService.selectById(rgvProtocol.getAlarm());
                            String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
                            BasErrLog basErrLog = new BasErrLog(
                                    null,    // 编号
                                    null,    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    null,    // 工作状态
                                    null,    // 入出库类型
                                    1,    // 堆垛机
                                    null,    // plc
                                    null,    // 目标库位
                                    null,    // 目标站
                                    null,    // 源站
                                    null,    // 源库位
                                    null,    // 条码
                                    (int) rgvProtocol.getAlarm(),    // 异常码
                                    errName,    // 异常
                                    1,    // 异常情况
                                    now,    // 添加时间
                                    null,    // 添加人员
                                    now,    // 修改时间
                                    null,    // 修改人员
                                    "无任务异常"    // 备注
                            );
                            if (!basErrLogService.insert(basErrLog)) {

                            }
                        }
                        // 无异常
                    } else {
                        // 异常修复
                        if (latest != null && latest.getStatus() == 1) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basErrLogService.updateById(latest)) {

                            }
                        }
                    }
                }
            }


//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
    }



}