Merge remote-tracking branch 'origin/xjhswcs' into xjhswcs

whycq

2022-12-03 08192aa7aebc8ca582b61fe2803dcd877329eca3

Merge remote-tracking branch 'origin/xjhswcs' into xjhswcs

 src/main/java/com/zy/asrs/entity/BasRgvErrLog.java

New file
@@ -0,0 +1,261 @@
package com.zy.asrs.entity;

import com.core.common.Cools;import com.baomidou.mybatisplus.annotations.TableId;
import com.baomidou.mybatisplus.enums.IdType;
import com.baomidou.mybatisplus.annotations.TableField;
import java.text.SimpleDateFormat;
import java.util.Date;
import org.springframework.format.annotation.DateTimeFormat;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import com.baomidou.mybatisplus.annotations.TableName;
import java.io.Serializable;

@Data
@TableName("asr_bas_rgv_err_log")
public class BasRgvErrLog implements Serializable {

    private static final long serialVersionUID = 1L;

    @ApiModelProperty(value= "")
    @TableId(value = "id", type = IdType.INPUT)
    private Long id;

    /**
     * 编号
     */
    @ApiModelProperty(value= "编号")
    private String uuid;

    /**
     * 工作号
     */
    @ApiModelProperty(value= "工作号")
    @TableField("wrk_no")
    private Integer wrkNo;

    /**
     * 发生时间
     */
    @ApiModelProperty(value= "发生时间")
    @TableField("start_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date startTime;

    /**
     * 结束时间
     */
    @ApiModelProperty(value= "结束时间")
    @TableField("end_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date endTime;

    /**
     * 工作状态
     */
    @ApiModelProperty(value= "工作状态")
    @TableField("wrk_sts")
    private Long wrkSts;

    /**
     * 入出库类型
     */
    @ApiModelProperty(value= "入出库类型")
    @TableField("io_type")
    private Integer ioType;

    /**
     * 穿梭车
     */
    @ApiModelProperty(value= "穿梭车")
    @TableField("rgv_no")
    private Integer rgvNo;

    /**
     * plc
     */
    @ApiModelProperty(value= "plc")
    @TableField("plc_no")
    private Integer plcNo;

    /**
     * 目标库位
     */
    @ApiModelProperty(value= "目标库位")
    @TableField("loc_no")
    private String locNo;

    /**
     * 目标站
     */
    @ApiModelProperty(value= "目标站")
    @TableField("sta_no")
    private Integer staNo;

    /**
     * 源站
     */
    @ApiModelProperty(value= "源站")
    @TableField("source_sta_no")
    private Integer sourceStaNo;

    /**
     * 源库位
     */
    @ApiModelProperty(value= "源库位")
    @TableField("source_loc_no")
    private String sourceLocNo;

    /**
     * 条码
     */
    @ApiModelProperty(value= "条码")
    private String barcode;

    /**
     * 异常码
     */
    @ApiModelProperty(value= "异常码")
    @TableField("err_code")
    private Integer errCode;

    /**
     * 异常
     */
    @ApiModelProperty(value= "异常")
    private String error;

    /**
     * 异常情况 1: 未处理  2: 已修复  
     */
    @ApiModelProperty(value= "异常情况 1: 未处理  2: 已修复  ")
    private Integer status;

    /**
     * 添加时间
     */
    @ApiModelProperty(value= "添加时间")
    @TableField("create_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date createTime;

    /**
     * 添加人员
     */
    @ApiModelProperty(value= "添加人员")
    @TableField("create_by")
    private Long createBy;

    /**
     * 修改时间
     */
    @ApiModelProperty(value= "修改时间")
    @TableField("update_time")
    @DateTimeFormat(pattern="yyyy-MM-dd HH:mm:ss")
    private Date updateTime;

    /**
     * 修改人员
     */
    @ApiModelProperty(value= "修改人员")
    @TableField("update_by")
    private Long updateBy;

    /**
     * 备注
     */
    @ApiModelProperty(value= "备注")
    private String memo;

    public BasRgvErrLog() {}

    public BasRgvErrLog(String uuid,Integer wrkNo,Date startTime,Date endTime,Long wrkSts,Integer ioType,Integer rgvNo,Integer plcNo,String locNo,Integer staNo,Integer sourceStaNo,String sourceLocNo,String barcode,Integer errCode,String error,Integer status,Date createTime,Long createBy,Date updateTime,Long updateBy,String memo) {
        this.uuid = uuid;
        this.wrkNo = wrkNo;
        this.startTime = startTime;
        this.endTime = endTime;
        this.wrkSts = wrkSts;
        this.ioType = ioType;
        this.rgvNo = rgvNo;
        this.plcNo = plcNo;
        this.locNo = locNo;
        this.staNo = staNo;
        this.sourceStaNo = sourceStaNo;
        this.sourceLocNo = sourceLocNo;
        this.barcode = barcode;
        this.errCode = errCode;
        this.error = error;
        this.status = status;
        this.createTime = createTime;
        this.createBy = createBy;
        this.updateTime = updateTime;
        this.updateBy = updateBy;
        this.memo = memo;
    }

//    BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
//            null,    // [非空]
//            null,    // 编号
//            null,    // 工作号
//            null,    // 发生时间
//            null,    // 结束时间
//            null,    // 工作状态
//            null,    // 入出库类型
//            null,    // 穿梭车
//            null,    // plc
//            null,    // 目标库位
//            null,    // 目标站
//            null,    // 源站
//            null,    // 源库位
//            null,    // 条码
//            null,    // 异常码
//            null,    // 异常
//            null,    // 异常情况
//            null,    // 添加时间
//            null,    // 添加人员
//            null,    // 修改时间
//            null,    // 修改人员
//            null    // 备注
//    );

    public String getStartTime$(){
        if (Cools.isEmpty(this.startTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.startTime);
    }

    public String getEndTime$(){
        if (Cools.isEmpty(this.endTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.endTime);
    }

    public String getStatus$(){
        if (null == this.status){ return null; }
        switch (this.status){
            case 1:
                return "未处理";
            case 2:
                return "已修复";
            default:
                return String.valueOf(this.status);
        }
    }

    public String getCreateTime$(){
        if (Cools.isEmpty(this.createTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.createTime);
    }

    public String getUpdateTime$(){
        if (Cools.isEmpty(this.updateTime)){
            return "";
        }
        return new SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(this.updateTime);
    }

}

 src/main/java/com/zy/asrs/mapper/BasRgvErrLogMapper.java

New file
@@ -0,0 +1,12 @@
package com.zy.asrs.mapper;

import com.zy.asrs.entity.BasRgvErrLog;
import com.baomidou.mybatisplus.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface BasRgvErrLogMapper extends BaseMapper<BasRgvErrLog> {

}

 src/main/java/com/zy/asrs/mapper/WrkMastMapper.java

@@ -31,6 +31,13 @@
//    @Select("select top 1 * from dbo.asr_wrk_mast where wrk_sts=2 and crn_no=#{crnNo} and wrk_no=#{workNo} and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time,wrk_no ASC")
    WrkMast selectPakInStep2(@Param("crnNo")Integer crnNo, @Param("workNo")Integer workNo, @Param("staNo")Integer staNo);

    /**
     * 查询同一台堆垛机下所有出库任务
     * @param crnNo
     * @return
     */
    List<WrkMast> selectPakInStep12(@Param("crnNo")Integer crnNo);

    // 入库第三步，当堆垛机把货放入库位时
//    @Select("select top 1 from dbo.asr_wrk_mast where wrk_no=#{workNo}")
    WrkMast selectPakInStep3(@Param("workNo")Integer workNo);
@@ -101,6 +108,13 @@
     */
    List<WrkMast> selectPakOutStep11(@Param("crnNo")Integer crnNO, @Param("sourceStaNo")Integer sourceStaNo);

    /**
     * 查询同一台堆垛机下所有出库任务
     * @param crnNO
     * @return
     */
    List<WrkMast> selectPakOutStep12(@Param("crnNo")Integer crnNO);

    WrkMast selectWorkingPakin(@Param("sourceStaNo")Integer sourceStaNo);
    WrkMast selectWorkingPakout(@Param("sourceStaNo")Integer sourceStaNo);


 src/main/java/com/zy/asrs/service/BasRgvErrLogService.java

New file
@@ -0,0 +1,13 @@
package com.zy.asrs.service;

import com.zy.asrs.entity.BasErrLog;
import com.zy.asrs.entity.BasRgvErrLog;
import com.baomidou.mybatisplus.service.IService;

public interface BasRgvErrLogService extends IService<BasRgvErrLog> {

    BasRgvErrLog findLatestByTaskNo(Integer rgvNo, Integer taskNo);

    BasRgvErrLog findLatest(Integer rgvNo);

}

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

New file
@@ -0,0 +1,41 @@
package com.zy.asrs.service.impl;

import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.zy.asrs.entity.BasErrLog;
import com.zy.asrs.mapper.BasRgvErrLogMapper;
import com.zy.asrs.entity.BasRgvErrLog;
import com.zy.asrs.service.BasRgvErrLogService;
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

import java.util.List;

@Service("basRgvErrLogService")
public class BasRgvErrLogServiceImpl extends ServiceImpl<BasRgvErrLogMapper, BasRgvErrLog> implements BasRgvErrLogService {

    @Override
    public BasRgvErrLog findLatestByTaskNo(Integer rgvNo, Integer taskNo) {
        List<BasRgvErrLog> basRgvErrLog = this.baseMapper.selectList(new EntityWrapper<BasRgvErrLog>()
                .eq("rgv_no", rgvNo)
                .eq("wrk_no", taskNo)
                .orderBy("start_time", false));
        if (basRgvErrLog == null || basRgvErrLog.size() == 0) {
            return null;
        } else {
            return basRgvErrLog.get(0);
        }
    }

    @Override
    public BasRgvErrLog findLatest(Integer crnNo) {
        List<BasRgvErrLog> basErrLogs = this.baseMapper.selectList(new EntityWrapper<BasRgvErrLog>()
                .eq("rgv_no", crnNo)
                .orderBy("start_time", false));
        if (basErrLogs == null || basErrLogs.size() == 0) {
            return null;
        } else {
            return basErrLogs.get(0);
        }
    }

}

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

@@ -9,6 +9,7 @@
import com.core.exception.CoolException;
import com.zy.asrs.entity.*;
import com.zy.asrs.mapper.BasCrnErrorMapper;
import com.zy.asrs.mapper.BasRgvErrMapper;
import com.zy.asrs.mapper.WaitPakinMapper;
import com.zy.asrs.mapper.WrkMastMapper;
import com.zy.asrs.service.*;
@@ -68,8 +69,6 @@
    @Autowired
    private WrkDetlService wrkDetlService;
    @Autowired
    private WaitPakinMapper waitPakinMapper;
    @Autowired
    private LocMastService locMastService;
    @Autowired
    private StaDescService staDescService;
@@ -85,6 +84,10 @@
    private BasErrLogService basErrLogService;
    @Autowired
    private BasCrnErrorMapper basCrnErrorMapper;
    @Autowired
    private BasRgvErrMapper basRgvErrMapper;
    @Autowired
    private BasRgvErrLogService basRgvErrLogService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -93,7 +96,7 @@
     * 组托
     * 入库站，根据条码扫描生成入库工作档，工作状态 2
     */
    public void generateStoreWrkFile() {
    public synchronized void generateStoreWrkFile() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -212,7 +215,7 @@
     * wms入库
     * 入库站，根据条码扫描生成入库工作档，工作状态 1 ==>> 2
     */
    public void generateStoreWrkFile0() {
    public synchronized void generateStoreWrkFile0() {
        // 根据输送线plc遍历
        for (DevpSlave devp : slaveProperties.getDevp()) {
            // 遍历入库口
@@ -478,20 +481,20 @@
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        this.crnStnToLoc1(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol); //  出库
                        this.locToCrnStn1(crn, crnProtocol); //  出库
                        crnProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol); //  出库
                        this.locToCrnStn1(crn, crnProtocol); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        this.crnStnToLoc1(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                    }
                }
@@ -691,7 +694,7 @@
                    }
                    continue;
                } else if (shallowLoc.getLocSts().equals("Q")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        continue;
                    }
@@ -739,10 +742,144 @@
    }

    /**
     * 入库  ===>>  堆垛机站到库位
     * 2022-12-03 TQS修改，先遍历查询同台堆垛机工作档所有站点入库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void crnStnToLoc1(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakInStep12(slave.getId());
        for(WrkMast wrkMast : wrkMasts){
            if (wrkMast == null) {
                continue;
            }

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
                if(crnStn1.getStaNo() == wrkMast.getStaNo()){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            boolean flag = false;
            // 获取堆垛机入库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                continue;
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                flag = true;
            }
            if (!flag) {
                continue;
            }

            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                continue;
            }

            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                continue;
            }

            // 已经存在吊车执行任务时，则过滤
            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                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())) {
                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")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                    if (null == waitWrkMast) {
                        log.error("{}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) {
                            log.error("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")) {
                    // 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);
                        // 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")) {
                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                        continue;
                    }
                }
            }

            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
            crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
                }
            }
        }

    }

    /**
     * 出库  ===>>  库位到堆垛机站
     * 2022-06-09 TQS修改，查询工作档LIST，遍历下发，防止第一个任务堵塞出库
     */
    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
    public synchronized void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol) {
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
@@ -833,7 +970,7 @@
                            log.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")) {
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                            WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                            if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                                continue;
                            }
@@ -876,122 +1013,154 @@
        }
    }

//    /**
//     * 出库  ===>>  库位到堆垛机站
//     */
//    public void locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
//        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
//            // 获取工作状态为11（生成出库ID）的出库工作档
//            WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo());
//            if (wrkMast == null) {
//                continue;
//            }
//            // 工作档状态判断
//            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;
//            }
//            // 获取源库位信息
//            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
//            if (!sourceSta.getLocSts().equals("R") &&!sourceSta.getLocSts().equals("P")) {
//                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
//                continue;
//            }
//            // 获取堆垛机出库站信息
//            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
//            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
//            if (staProtocol == null) {
//                continue;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//
////            // 入出库模式判断
////            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
//
//
//            // 查询站点详细信息
//            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//            if (staDetl == null) {
//                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
//                continue;
//            }
//            // 判断堆垛机出库站状态
//            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() !=null && staDetl.getCanouting().equals("Y")
//                    && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
//                // 命令下发区 --------------------------------------------------------------------------
//
//                // 堆垛机控制过滤
//                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
    /**
     * 出库  ===>>  库位到堆垛机站
     * 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void locToCrnStn1(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast == null) {
                continue;
            }

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
                if(crnStn1.getStaNo() == wrkMast.getSourceStaNo()){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            // 工作档状态判断
            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;
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                continue;
            }
            // 获取堆垛机出库站信息
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                break;
//                    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.getSourceLocNo())) {
//                    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")) {
//                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                        if (null == waitWrkMast) {
//                            log.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) {
//                                    log.error("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")) {
//                        // 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");
//                            wrkMastMapper.updateById(wrkMast);
//                            // 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)
//                            moveLocForDeepLoc(slave, shallowLoc);
//                        }
//                        log.error("{}任务出库失败，浅库位堵塞！", wrkMast.getWrkNo());
            } else {
                staProtocol = staProtocol.clone();
            }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
            if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                continue;
            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
            if (staDetl == null) {
                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                break;
//                    continue;
            }
            // 判断堆垛机出库站状态
            if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                    && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) {
                // 命令下发区 --------------------------------------------------------------------------

                // 堆垛机控制过滤
                if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
//                    }
//                }
//
//                // 已经存在吊车执行任务时，则过滤
//                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                    return;
//                }
//
//                // 1.堆垛机开始移动
//                CrnCommand crnCommand = new CrnCommand();
//                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
//                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
//                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
//                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
//                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
//                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
//                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
//                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
//                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
//                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
//                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
//                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
//                } else {
//                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
//                    Date now = new Date();
//                    wrkMast.setWrkSts(12L);
//                    wrkMast.setCrnStrTime(now);
//                    wrkMast.setModiTime(now);
//                    if (wrkMastMapper.updateById(wrkMast) == 0) {
//                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
//                    }
//                }
//            }
//        }
//    }
                    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())) {
                    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")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
                        if (null == waitWrkMast) {
                            log.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) {
                                    log.error("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")) {
//                            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);
                        }
                        log.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")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                        if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                            continue;
                        }
                    }
                }

                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    break;
//                        return;
                }

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.LOC_MOVE); // 任务模式:  库位移转
                crnCommand.setSourcePosX(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 源库位层
                crnCommand.setDestinationPosX(crnStn.getRow().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(crnStn.getBay().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(crnStn.getLev().shortValue());     // 目标库位层
                if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
                } else {
                    // 修改工作档状态 11.生成出库ID => 12.吊车出库中
                    Date now = new Date();
                    wrkMast.setWrkSts(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast.getWrkNo());
                    }
                    break;
                }
            }
        }

    }

    /**
     * 查找工作状态为2（设备上走）,且RGV入库接驳站符合的的入库工作档，提取出最多2笔
@@ -1627,7 +1796,7 @@
    /**
     * 库位移转
     */
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
    public synchronized void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
        if (null == wrkMast) {
@@ -1732,6 +1901,138 @@
                }

            }
        }
    }

    /**
     * 异常信息记录
     */
    public synchronized void recErr() {
        try {
            this.recCrnErr();
            this.recRgvErr();
        } catch (Exception e) {
            log.error("recErr fail", e);
        }
    }

    /**
     * RGV异常信息记录
     */
    public synchronized void recRgvErr() {
        Date now = new Date();
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            if (true) {
                // 有任务
                if (rgvProtocol.getTaskNo1() != 0 || rgvProtocol.getTaskNo2() != 0) {
                    Integer taskNo = rgvProtocol.getTaskNo1() > 0 ? rgvProtocol.getTaskNo1().intValue() : rgvProtocol.getTaskNo2().intValue();
                    BasRgvErrLog latest = basRgvErrLogService.findLatestByTaskNo(rgv.getId(), taskNo);
                    // 有异常
                    if (latest == null) {
                        if (rgvProtocol.getAlarm() != null && rgvProtocol.getAlarm() > 0) {
                            WrkMast wrkMast = wrkMastMapper.selectById(taskNo);
                            if (wrkMast == null) {
                                continue;
                            }
                            BasRgvErr rgvErr = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                            String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
                            BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
                                    null,    // 编号
                                    wrkMast.getWrkNo(),    // 工作号
                                    now,    // 发生时间
                                    null,    // 结束时间
                                    wrkMast.getWrkSts(),    // 工作状态
                                    wrkMast.getIoType(),    // 入出库类型
                                    rgv.getId(),    // 堆垛机
                                    null,    // plc
                                    wrkMast.getLocNo(),    // 目标库位
                                    wrkMast.getStaNo(),    // 目标站
                                    wrkMast.getSourceStaNo(),    // 源站
                                    wrkMast.getSourceLocNo(),    // 源库位
                                    wrkMast.getBarcode(),    // 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 (!basRgvErrLogService.insert(basRgvErrLog)) {
                                log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
                            }
                        }
                    } else {
                        // 异常修复
                        if (rgvProtocol.getAlarm() == null || rgvProtocol.getAlarm() == 0) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basRgvErrLogService.updateById(latest)) {
                                log.error("堆垛机plc异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
                            }
                        }
                    }
                    // 无任务
                } else {
                    BasRgvErrLog latest = basRgvErrLogService.findLatest(rgv.getId());
                    // 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 = basRgvErrMapper.selectById(rgvProtocol.getAlarm());
                            String errName = rgvErr == null ? String.valueOf(rgvProtocol.getAlarm()) : rgvErr.getErrName();
                            BasRgvErrLog basRgvErrLog = new BasRgvErrLog(
                                    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
                                    rgv.getId(),    // 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 (!basRgvErrLogService.insert(basRgvErrLog)) {
                                log.error("RGV异常记录失败 ===>> [id:{}] [error:{}]", rgv.getId(), errName);
                            }
                        }
                        // 无异常
                    } else {
                        // 异常修复
                        if (latest != null && latest.getStatus() == 1) {
                            latest.setEndTime(now);
                            latest.setUpdateTime(now);
                            latest.setStatus(2);
                            if (!basRgvErrLogService.updateById(latest)) {
                                log.error("RGV异常记录修复失败 ===>> [id:{}] [errLogId:{}]", rgv.getId(), latest.getId());
                            }
                        }
                    }
                }
            }

        }
    }

@@ -1852,7 +2153,6 @@

        }
    }


    // -------------------------------------------------------------------------------

@@ -2477,7 +2777,7 @@
    /**
     * 入出库模式切换函数
     */
    public void ioConvert() {
    public synchronized void ioConvert() {
        try {
            // 根据输送线plc遍历
            for (DevpSlave devp : slaveProperties.getDevp()) {
@@ -2537,7 +2837,7 @@

    }

    public void outOfDevp() {
    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) {
@@ -2551,7 +2851,7 @@
    }


    public void autoEmptyOut() {
    public synchronized void autoEmptyOut() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoOutSite = 12;
        //如果站点可出禁用，则不生成空盘出库任务
@@ -2590,7 +2890,7 @@
        }
    }

    public void autoEmptyIn() {
    public synchronized void autoEmptyIn() {
        DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
        Integer autoInSite = 12;
        StaProtocol staProtocol = devpThread.getStation().get(autoInSite);

 src/main/java/com/zy/common/CodeBuilder.java

@@ -20,7 +20,7 @@
        generator.url="localhost:1433;databasename=xjhsasrs";
        generator.username="sa";
        generator.password="sa@123";
        generator.table="asr_bas_rgv_err";
        generator.table="asr_bas_rgv_err_log";
        generator.packagePath="com.zy.asrs";

        generator.controller = false;

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

@@ -72,8 +72,8 @@
//                    mainService.rgvOutDStnToOutStn();
                    //////////////////////////////////////////////////////////////////

                    // 堆垛机异常信息记录
                    mainService.recCrnErr();
                    // 异常信息记录
                    mainService.recErr();
                    // 入库  ===>> 空栈板初始化入库,叉车入库站放货
                    mainService.storeEmptyPlt();
                    // 出库  ===>> 工作档信息写入led显示器

 src/main/resources/application.yml

@@ -36,7 +36,7 @@
  enable: false

wms:
  url: localhost:8080/stwms
  url: localhost:8080/hswms

# 下位机配置
wcs-slave:

 src/main/resources/mapper/BasRgvErrLogMapper.xml

New file
@@ -0,0 +1,32 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="com.zy.asrs.mapper.BasRgvErrLogMapper">

    <!-- 通用查询映射结果 -->
    <resultMap id="BaseResultMap" type="com.zy.asrs.entity.BasRgvErrLog">
        <result column="id" property="id" />
        <result column="uuid" property="uuid" />
        <result column="wrk_no" property="wrkNo" />
        <result column="start_time" property="startTime" />
        <result column="end_time" property="endTime" />
        <result column="wrk_sts" property="wrkSts" />
        <result column="io_type" property="ioType" />
        <result column="rtv_no" property="rgvNo" />
        <result column="plc_no" property="plcNo" />
        <result column="loc_no" property="locNo" />
        <result column="sta_no" property="staNo" />
        <result column="source_sta_no" property="sourceStaNo" />
        <result column="source_loc_no" property="sourceLocNo" />
        <result column="barcode" property="barcode" />
        <result column="err_code" property="errCode" />
        <result column="error" property="error" />
        <result column="status" property="status" />
        <result column="create_time" property="createTime" />
        <result column="create_by" property="createBy" />
        <result column="update_time" property="updateTime" />
        <result column="update_by" property="updateBy" />
        <result column="memo" property="memo" />

    </resultMap>

</mapper>

 src/main/resources/mapper/WrkMastMapper.xml

@@ -98,6 +98,10 @@
        select top 1 * from dbo.asr_wrk_mast where wrk_sts=2 and crn_no=#{crnNo} and wrk_no=#{workNo} and sta_no=#{staNo} and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time,wrk_no ASC
    </select>

    <select id="selectPakInStep12" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast where wrk_sts=2 and crn_no=#{crnNo} and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time,wrk_no ASC
    </select>

    <select id="selectPakInStep3" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo}
    </select>
@@ -163,6 +167,10 @@
        select * from dbo.asr_wrk_mast where crn_no=#{crnNo} and source_sta_no=#{sourceStaNo} and wrk_sts=11 and io_type>100 order by io_pri desc,io_time,wrk_no asc
    </select>

    <select id="selectPakOutStep12" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast where crn_no=#{crnNo} and wrk_sts=11 and io_type>100 order by io_pri desc,io_time,wrk_no asc
    </select>

    <!--                                       入出库模式相关                                      -->
    <select id="selectWorkingPakin" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where wrk_sts in (2,3,4) and io_type != 11 and source_sta_no = #{sourceStaNo} order by io_time,wrk_no