1

zhangc

2025-04-13 0089be186795036fe12ad2b5ef8dd81f602071a0

1

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

@@ -109,26 +109,21 @@
        switch (staNo) {
            case 1011:
            case 1012:
                devpThread.getStation().get(1012).isInEnable();
                break;
                return devpThread.getStation().get(1012).isInEnable();
            case 1021:
            case 1022:
            case 1023:
                devpThread.getStation().get(1022).isInEnable();
                break;
                return devpThread.getStation().get(1022).isInEnable();
            case 1031:
            case 1032:
                devpThread.getStation().get(1032).isInEnable();
                break;
                return devpThread.getStation().get(1032).isInEnable();
            case 1025:
            case 1026:
                devpThread.getStation().get(1025).isInEnable();
                break;
                return devpThread.getStation().get(1025).isInEnable();
            case 1013:
            case 1014:
            case 1015:
                devpThread.getStation().get(1014).isInEnable();
                break;
                return devpThread.getStation().get(1014).isInEnable();
        }
        return false;
    }
@@ -141,26 +136,21 @@
        switch (staNo) {
            case 1011:
            case 1012:
                devpThread.getStation().get(1012).isOutEnable();
                break;
                return devpThread.getStation().get(1012).isOutEnable();
            case 1021:
            case 1022:
            case 1023:
                devpThread.getStation().get(1022).isOutEnable();
                break;
                return devpThread.getStation().get(1022).isOutEnable();
            case 1031:
            case 1032:
                devpThread.getStation().get(1032).isOutEnable();
                break;
                return devpThread.getStation().get(1032).isOutEnable();
            case 1025:
            case 1026:
                devpThread.getStation().get(1025).isOutEnable();
                break;
                return devpThread.getStation().get(1025).isOutEnable();
            case 1013:
            case 1014:
            case 1015:
                devpThread.getStation().get(1014).isOutEnable();
                break;
                return devpThread.getStation().get(1014).isOutEnable();
        }
        return false;
    }
@@ -171,85 +161,78 @@
     */
    public synchronized void generateInboundWrk() {
        try {
            DevpSlave devpSlave = slaveProperties.getDevp().get(0);
            // 遍历入库口
            for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
                // 获取入库站信息
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
                StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                if (staProtocol == null) {
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                Short workNo = staProtocol.getWorkNo();
                // 尺寸检测异常
                boolean back = false;
                String errMsg = "异常：";
                if (staProtocol.isFrontErr()) {
                    errMsg = errMsg + "前超限；";
                    back = true;
                }
                if (staProtocol.isBackErr()) {
                    errMsg = errMsg + "后超限";
                    back = true;
                }
                if (staProtocol.isHighErr()) {
                    errMsg = errMsg + "高超限";
                    back = true;
                }
                if (staProtocol.isLeftErr()) {
                    errMsg = errMsg + "左超限";
                    back = true;
                }
                if (staProtocol.isRightErr()) {
                    errMsg = errMsg + "右超限";
                    back = true;
                }
                if (staProtocol.isWeightErr()) {
                    errMsg = errMsg + "超重";
                    back = true;
                }
                if (staProtocol.isBarcodeErr()) {
                    errMsg = errMsg + "扫码失败";
                    back = true;
                }
                // 退回
                if (back) {
                    // led 异常显示
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                    if (ledThread != null) {
                        ledThread.error(errMsg);
            for (DevpSlave.Sta inSta : slaveProperties.getDevp().get(0).getInSta()) {
                if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
                    // 获取入库站信息
                    DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }
                    continue;
                }
                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
                    String barcode = staProtocol.getBarcode();
                    if (!Cools.isEmpty(barcode)) {
                        News.info("条码扫描器检测条码信息：{}", barcode);
                    Short workNo = staProtocol.getWorkNo();
                    // 尺寸检测异常
                    boolean back = false;
                    String errMsg = "异常：";
                    if (staProtocol.isFrontErr()) {
                        errMsg = errMsg + "前超限；";
                        back = true;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND).eq("barcode", barcode));
                    if (wrkMast != null) {
                        News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
                        if (staProtocol.getWorkNo().intValue() != wrkMast.getWrkNo()) {
                            //判断时提升机侧，还是无提升机测
                            if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
                                staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
                                staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
                                MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                                News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                                wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
                                wrkMast.setModiTime(new Date());
                                wrkMastService.updateById(wrkMast);
                            } else {

                            }
                    if (staProtocol.isBackErr()) {
                        errMsg = errMsg + "后超限";
                        back = true;
                    }
                    if (staProtocol.isHighErr()) {
                        errMsg = errMsg + "高超限";
                        back = true;
                    }
                    if (staProtocol.isLeftErr()) {
                        errMsg = errMsg + "左超限";
                        back = true;
                    }
                    if (staProtocol.isRightErr()) {
                        errMsg = errMsg + "右超限";
                        back = true;
                    }
                    if (staProtocol.isWeightErr()) {
                        errMsg = errMsg + "超重";
                        back = true;
                    }
                    if (staProtocol.isBarcodeErr()) {
                        errMsg = errMsg + "扫码失败";
                        back = true;
                    }
                    // 退回
                    if (back) {
                        // led 异常显示
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, inSta.getLed());
                        if (ledThread != null) {
                            ledThread.error(errMsg);
                        }
                        continue;
                    }
                    try {
                    // 判断是否满足入库条件
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && isInEnable(devpThread, inSta.getStaNo()) && !staProtocol.isEmptyMk() && (workNo == 0 || (workNo >= 9990 && workNo <= 9999)) && staProtocol.isPakMk()) {
                        String barcode = staProtocol.getBarcode();
                        if (!Cools.isEmpty(barcode)) {
                            News.info("条码扫描器检测条码信息：{}", barcode);
                        }
                        // 判断重复工作档
                        WrkMast wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("source_sta_no", inSta.getStaNo()).eq("wrk_sts", WrkStsType.NEW_INBOUND.sts).eq("barcode", barcode));
                        if (wrkMast != null) {
                            News.error("工作档已存在,工作号={}", wrkMast.getWrkNo());
                            //判断时提升机侧，还是无提升机测
                            staProtocol.setWorkNo(Short.parseShort(String.valueOf(wrkMast.getWrkNo())));
                            staProtocol.setStaNo(Short.parseShort(String.valueOf(inSta.getStaNo() + 1)));
                            MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol));
                            News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                            wrkMast.setWrkSts(WrkStsType.INBOUND_DEVICE_RUN.sts);
                            wrkMast.setModiTime(new Date());
                            wrkMastService.updateById(wrkMast);
                        }
                        try {
                        /*String wmsUrl = "127.0.0.1:8080/fyxcwms";
                        SearchLocParam param = new SearchLocParam();
                        param.setBarcode(barcode);
@@ -310,9 +293,11 @@
                                    .doPost();
                            News.error("入库申请失败，任务数据={}，请求响应={}", JSON.toJSON(param), JSON.toJSON(jsonObject));
                        }*/
                    } catch (Exception e) {
                        e.printStackTrace();
                        } catch (Exception e) {
                            e.printStackTrace();
                        }
                    }

                }
            }
        } catch (Exception e) {
@@ -320,38 +305,87 @@
        }
    }

    public synchronized void generateInboundWrk2() {
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(inSta);
            if (staProtocol == null) {
                return;
            } else {
                staProtocol = staProtocol.clone();
            }
            Short finishWorkNo = staProtocol.getFinishWorkNo();
            WrkMast wrkMast = wrkMastService.selectByWorkNo(Integer.valueOf(finishWorkNo));
            if (wrkMast != null) {
                if (wrkMast.getSourceStaNo() == 1015 || wrkMast.getSourceStaNo() == 1026) {

                    //调度车辆
//                    boolean dispatchShuttle = shuttleDispatchUtils.dispatchShuttle(null, staProtocol.getLocNo(), wrkMast.getLocNo(), param.getShuttleNo(), "TRANSPORT_DEVP");
//                    if (!dispatchShuttle) {
//                        News.taskInfo(wrkMast.getWrkNo(), "{}任务，{}小车，调度至取货点失败", wrkMast.getWrkNo(), shuttleProtocol.getShuttleNo());
//                        return;
//                    }
    public synchronized void noLiftIn() {
        List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts).in("source_sta_no", 1014, 1025));
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getSourceStaNo() + 1);
                if (staProtocol == null) {
                    continue;
                } else {
                    //判断提升机


                    staProtocol = staProtocol.clone();
                }
                Short finishWorkNo = staProtocol.getFinishWorkNo();
                if (finishWorkNo == null) {
                    continue;
                }
                String locNo = "1200301";
                if (wrkMast.getStaNo() == 1025) {
                    locNo = "1200305";
                }
                boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), locNo, wrkMast.getLocNo(), "TRANSPORT_DEVP");
                if (!dispatchShuttle) {
                    News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                    return;
                }
                wrkMast.setWrkSts(WrkStsType.INBOUND_SHUTTLE_RUN.sts);
                wrkMast.setLiftNo(null);
                wrkMast.setSystemMsg("");//清空消息
                wrkMast.setModiTime(new Date());
                if (wrkMastService.updateById(wrkMast)) {
                    return;
                }
            }
        }


        }
    }


    public void outFirst() {
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        Date now = new Date();
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
        List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.NEW_OUTBOUND.sts).in("sta_no", 1014, 1025));
        for (WrkMast wrkMast : wrkSts) {
            if (devpThread == null) {
                return;
            }
            Map<Integer, StaProtocol> station = devpThread.getStation();
            StaProtocol staProtocol = station.get(wrkMast.getStaNo());
            if (staProtocol == null) {
                return;
            }

            if (!staProtocol.isAutoing()) {
                News.info("{}任务，{}站点，不在自动状态", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return;
            }

            if (!staProtocol.isOutEnable()) {
                News.info("{}任务，{}站点，没有可出信号", wrkMast.getWrkNo(), staProtocol.getSiteId());
                return;
            }
            String locNo = "1200301";
            if (wrkMast.getStaNo() == 1025) {
                locNo = "1200305";
            }
            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), locNo, "TRANSPORT_DEVP");
            if (!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return;
            }

            wrkMast.setWrkSts(WrkStsType.OUTBOUND_SHUTTLE_RUN.sts);
            wrkMast.setSystemMsg("");//清空消息
            wrkMast.setModiTime(now);
            if (wrkMastService.updateById(wrkMast)) {
                return;
            }
        }
    }

    /**
     * 出库到出库口
@@ -359,17 +393,18 @@
    public synchronized void stnToOutStn() {
        DevpSlave devpSlave = slaveProperties.getDevp().get(0);
        // 遍历堆垛机出库站
        for (DevpSlave.Sta inSta : devpSlave.getInSta()) {
            if (inSta.getStaNo() == 1014 || inSta.getStaNo() == 1025) {
                DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
                List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_LIFT_RUN_COMPLETE.sts));
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, devpSlave.getId());
        for (DevpSlave.Sta outSta : devpSlave.getOutSta()) {
            if (outSta.getStaNo() == 1013 || outSta.getStaNo() == 1024) {
                List<WrkMast> wrkSts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("wrk_sts", WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).eq("sta_no", outSta.getStaNo()));
                for (WrkMast wrkMast : wrkSts) {
                    StaProtocol staProtocol = devpThread.getStation().get(inSta.getStaNo());
                    StaProtocol staProtocol = devpThread.getStation().get(outSta.getStaNo() + 2);
                    if (staProtocol == null) {
                        continue;
                    } else {
                        staProtocol = staProtocol.clone();
                    }

                    if (staProtocol.isAutoing() && !staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                        // 查询工作档
                        if (wrkMast == null) {
@@ -379,14 +414,12 @@
                        staProtocol.setStaNo(Short.parseShort(String.valueOf(wrkMast.getStaNo())));
                        MessageQueue.offer(SlaveType.Devp, devpSlave.getId(), new Task(2, staProtocol));
                        News.info("输送线入库命令下发，任务数据={}", JSON.toJSON(wrkMast));
                        wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                        wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN.sts);
                        wrkMast.setModiTime(new Date());
                        wrkMastService.updateById(wrkMast);

                    }
                }
            } else {

            }
        }
    }
@@ -709,10 +742,7 @@

    public synchronized void liftInExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts)
                    .in("source_sta_no", 1012, 1022)
            );
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_INBOUND.sts, WrkStsType.INBOUND_DEVICE_RUN.sts, WrkStsType.INBOUND_LIFT_RUN_COMPLETE.sts).in("source_sta_no", 1012, 1022));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step0 = this.liftInExecuteStep0(wrkMast);//设备上走
                if (!step0) {
@@ -738,7 +768,7 @@
        Date now = new Date();
        if (wrkMast.getWrkSts() == WrkStsType.NEW_INBOUND.sts) {
            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
            if (devpThread == null) {
                return false;
            }

@@ -823,7 +853,7 @@
            }

            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
            if (devpThread == null) {
                return false;
            }

@@ -922,7 +952,7 @@
            }

            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), "0200301", wrkMast.getLocNo(), "TRANSPORT_LIFT");
            if(!dispatchShuttle) {
            if (!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return false;
            }
@@ -942,10 +972,7 @@

    public synchronized void liftOutExecute() {
        try {
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>()
                    .in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts)
                    .in("sta_no", 1011, 1021)
            );
            List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().in("wrk_sts", WrkStsType.NEW_OUTBOUND.sts, WrkStsType.OUTBOUND_SHUTTLE_RUN_COMPLETE.sts).in("sta_no", 1011, 1021));
            for (WrkMast wrkMast : wrkMasts) {
                boolean step1 = this.liftOutExecuteStep1(wrkMast);//触发搬运任务
                if (!step1) {
@@ -966,7 +993,7 @@
        Date now = new Date();
        if (wrkMast.getWrkSts() == WrkStsType.NEW_OUTBOUND.sts) {
            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
            if (devpThread == null) {
                return false;
            }

@@ -988,7 +1015,7 @@


            boolean dispatchShuttle = shuttleDispatchUtils.searchDispatchShuttle(wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), "0200301", "TRANSPORT_LIFT");
            if(!dispatchShuttle) {
            if (!dispatchShuttle) {
                News.info("{}任务，调度小车失败", wrkMast.getWrkNo());
                return false;
            }
@@ -1042,7 +1069,7 @@
            }

            FyDevpThread devpThread = (FyDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            if(devpThread == null) {
            if (devpThread == null) {
                return false;
            }

@@ -1465,6 +1492,33 @@
    }

    /**
     * 输送线任务完成
     */
    public synchronized void devpFinished() {
        try {
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            Map<Integer, StaProtocol> station = devpThread.getStation();
            WrkMast wrkMast = null;
            for (StaProtocol staProtocol : station.values()) {
                if (staProtocol.getSiteId() == 1014 || staProtocol.getSiteId() == 1015) {
                    wrkMast = wrkMastService.selectOne(new EntityWrapper<WrkMast>().eq("wrk_no", staProtocol.getFinishWorkNo()).eq("wrk_sts", WrkStsType.OUTBOUND_DEVP_RUN.sts));
                    if (wrkMast != null) {
                        wrkMast.setWrkSts(WrkStsType.OUTBOUND_DEVP_RUN_COMPLETE.sts);
                        wrkMast.setModiTime(new Date());
                        if (wrkMastService.updateById(wrkMast)) {
                            News.info("输送线已确认且任务完成状态。输送线号={},完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
                        } else {
                            News.error("输送线已确认且任务完成状态,复位失败，但未找到工作档。输送线号={}，完结工作号={}", staProtocol.getSiteId(), staProtocol.getFinishWorkNo());
                        }
                    }
                }
            }
        } catch (Exception e) {
            e.printStackTrace();
        }
    }

    /**
     * 异常信息记录
     */
    public void recErr() {

 src/main/java/com/zy/core/MainProcess.java

@@ -44,9 +44,12 @@
                    //输送线
                    // 入库
                    mainService.generateInboundWrk();
//                    mainService.generateInboundWrk2();
                    mainService.noLiftIn();
                    // 出库
                    mainService.outFirst();
                    mainService.stnToOutStn();
                    //输送线完成判断
                    mainService.devpFinished();

                    //初始化实时地图
                    mainService.initRealtimeBasMap();

 src/main/java/com/zy/core/enums/WrkStsType.java

@@ -18,6 +18,8 @@
    OUTBOUND_SHUTTLE_RUN_COMPLETE(103, "小车搬运完成"),
    OUTBOUND_LIFT_RUN(104, "提升机搬运中"),
    OUTBOUND_LIFT_RUN_COMPLETE(105, "提升机搬运完成"),
    OUTBOUND_DEVP_RUN(106, "输送线搬运中"),
    OUTBOUND_DEVP_RUN_COMPLETE(107, "输送线搬运完成"),
    COMPLETE_OUTBOUND(109, "出库完成"),
    SETTLE_OUTBOUND(110, "出库库存更新"),