#

luxiaotao1123

2022-11-02 2842f1b8da163342536046a3001aeab876f28fec

#

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

@@ -10,8 +10,6 @@
import com.zy.asrs.service.BasDevpService;
import com.zy.asrs.service.BasSteService;
import com.zy.asrs.service.LocMastService;
import com.zy.system.entity.User;
import com.zy.system.service.UserService;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import org.springframework.format.annotation.DateTimeFormat;
@@ -69,6 +67,12 @@
    private Integer steNo;

    /**
     * 充电桩
     */
    @ApiModelProperty(value= "充电桩")
    private Integer charge;

    /**
     * 巷道口
     */
    @ApiModelProperty(value= "巷道口")

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

@@ -2509,7 +2509,7 @@
                if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
                    continue;
                }
                WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
                WrkCharge wrkCharge = wrkChargeService.selectWorking(ste.getId(), WrkChargeType.charge);

                if (wrkCharge == null && steProtocol.getChargeStatus() == 0) {
                    // 寻找空闲充电桩
@@ -2547,6 +2547,7 @@
                    String chargeLocNo = steCharge.locNo;
                    wrkCharge = new WrkCharge();
                    wrkCharge.setSteNo(ste.getId());
                    wrkCharge.setCharge(steCharge.ssbm);
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
                    wrkCharge.setWrkSts(21L);   // 21.准备充电
                    wrkCharge.setCrnNo(2);  // 固定2号堆垛机
@@ -2572,146 +2573,178 @@
                    } else {
                        this.letCarBeWaiting(wrkCharge, ste.getId());
                    }
                }
            } catch (Exception e) {
                TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                log.error("loopSteCharge fail", e);
            }
        }
    }

                } else {
                    // filter
                    if (wrkCharge == null || (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1)) {
                        continue;
                    }
    /**
     * 执行小车充电任务
     */
    public synchronized void executeSteCharge() {
        WrkCharge wrkCharge = wrkChargeService.selectWorking(null, WrkChargeType.charge);
        if (null == wrkCharge) { return; }
        Integer steNo = wrkCharge.getSteNo();
        SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
        SteProtocol steProtocol = steThread.getSteProtocol();
        BasSte basSte = basSteService.selectById(steNo);
        if (Cools.isEmpty(steProtocol, basSte)) { return; }
        if (steProtocol.getMode() == 0
                || !steProtocol.statusType.equals(SteStatusType.IDLE)
                || basSte.getPakMk().equals("Y")
                || basSte.getAutoCharge().equals("N")
//                || steProtocol.getChargeStatus() == 1
        ) {
            return;
        }
        if (!steProtocol.isEnable()) {
            return;
        }
        if (steProtocol.getCharge() > Float.parseFloat(basSte.getChargeLine())) {
            wrkCharge.setWrkSts(30L);
            wrkChargeMapper.updateById(wrkCharge);
            return;
        }
        try {
            // filter
            if (wrkCharge.getWrkSts() < 28 && steProtocol.getChargeStatus() == 1) {
                return;
            }

                    // 22.小车待搬
                    if (wrkCharge.getWrkSts() == 22) {
            // 22.小车待搬
            if (wrkCharge.getWrkSts() == 22) {

                        // 搬小车至小车走向通道
                        List<String> channel = slaveProperties.getChannel();
                        for (String channelLocNo : channel) {
                            Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                            if (null != otherSte) {
                                log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                            } else {
                                LocMast channelLoc = locMastService.selectById(channelLocNo);
                // 搬小车至小车走向通道
                List<String> channel = slaveProperties.getChannel();
                for (String channelLocNo : channel) {
                    Integer otherSte = existOtherSte(channelLocNo, wrkCharge.getSteNo());
                    if (null != otherSte) {
                        log.warn("{}号小车移入{}库位组失败，原因：存在{}号穿梭车！", wrkCharge.getSteNo(), channelLocNo, otherSte);
                    } else {
                        LocMast channelLoc = locMastService.selectById(channelLocNo);

                                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                                if (crnProtocol == null) { continue; }
                                // 只有当堆垛机空闲 并且 无任务时才继续执行
                                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                                    CrnCommand crnCommand = new CrnCommand();
                                    crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                                    crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                                    crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue());     // 目标库位排
                                    crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                                    crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                                    if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                                    } else {
                                        // 修改穿梭车运行中排列层
                                        steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                                        // 修改工作档状态 22.小车待搬 => 23.吊车搬运
                                        Date now = new Date();
                                        wrkCharge.setWrkSts(23L);
                                        wrkCharge.setCrnStrTime(now);
                                        wrkCharge.setModiTime(now);
                                        if (!wrkChargeService.updateById(wrkCharge)) {
                                            log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                        }
                                    }
                                    break;
                                }

                            }
                        }

                    } else if (wrkCharge.getWrkSts() == 24L) {
                        // 小车行驶通道
                        if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
                            if (steProtocol.getChargeStatus() == 1) { continue; }
                            // 命令下发区 --------------------------------------------------------------------------
                            SteCommand steCommand = new SteCommand();
                            steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                            steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                            steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN);  // 去右端

                            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                            steCommand.setBay(steProtocol.getBay());
                            steCommand.setLev(steProtocol.getLev());
                            if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                                log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                            } else {
                                // 修改工作档状态 24.小车到达 ===> 25.小车走行
                                wrkCharge.setWrkSts(25L);
                                Date now = new Date();
                                wrkCharge.setCrnEndTime(now);
                                wrkCharge.setModiTime(now);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 24.小车到达 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            }
                        }
                    } else if (wrkCharge.getWrkSts() == 26) {
                        // 固定堆垛机
                        int crnNo = 1;
                        // 充电位
                        LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());

                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkCharge.getCrnNo());
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol == null) { continue; }
                        // 只有当堆垛机空闲 并且 无任务时才继续执行
                        if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                            // 堆垛机命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(crnNo); // 堆垛机编号
                            crnCommand.setCrnNo(wrkCharge.getCrnNo()); // 堆垛机编号
                            crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                            crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());     // 源库位排
                            crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());     // 源库位排
                            crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                            crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                            crnCommand.setDestinationPosX(chargeLoc.getRow1().shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(chargeLoc.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(chargeLoc.getLev1().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
                                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(crnCommand));
                            crnCommand.setDestinationPosX(Utils.getGroupRow(channelLoc.getLocNo(), true).shortValue());     // 目标库位排
                            crnCommand.setDestinationPosY(channelLoc.getBay1().shortValue());     // 目标库位列
                            crnCommand.setDestinationPosZ(channelLoc.getLev1().shortValue());     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, wrkCharge.getCrnNo(), new Task(2, crnCommand))) {
                                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkCharge.getCrnNo(), JSON.toJSON(crnCommand));
                            } else {
                                // 修改穿梭车运行中排列层
                                steThread.modifyPos(chargeLoc.getRow1(), chargeLoc.getBay1(), chargeLoc.getLev1());
                                // 修改工作档状态 26.等待充电 => 27.放至充电位
                                steThread.modifyPos(Utils.getGroupRow(channelLoc.getLocNo(), true), channelLoc.getBay1(), channelLoc.getLev1());
                                // 修改工作档状态 22.小车待搬 => 23.吊车搬运
                                Date now = new Date();
                                wrkCharge.setWrkSts(27L);
                                wrkCharge.setWrkSts(23L);
                                wrkCharge.setCrnStrTime(now);
                                wrkCharge.setModiTime(now);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改工作档状态 26.等待充电 => 27.放至充电位 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    log.error("修改工作档状态 22.小车待搬 => 23.吊车搬运 失败！！，工作号={}", wrkCharge.getWrkNo());
                                }
                            }
                            break;
                        }
                    } else if (wrkCharge.getWrkSts() == 28L) {
                        // 穿梭车下发充电任务
                        SteCommand steCommand = new SteCommand();
                        steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                        steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                        steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
                        if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                        } else {
                            // 28.充电就绪 ===>> 29.开始充电
                            wrkCharge.setWrkSts(29L);
                            if (!wrkChargeService.updateById(wrkCharge)) {
                                log.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                            }

                    }
                }

            } else if (wrkCharge.getWrkSts() == 24L) {
                // 小车行驶通道
                if (steProtocol.statusType.equals(SteStatusType.IDLE) && steProtocol.getPakMk().equals("N")) {
                    if (steProtocol.getChargeStatus() == 1) { return; }
                    // 命令下发区 --------------------------------------------------------------------------
                    SteCommand steCommand = new SteCommand();
                    steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                    steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                    steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN);  // 去右端

                    steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());
                    steCommand.setBay(steProtocol.getBay());
                    steCommand.setLev(steProtocol.getLev());
                    if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                        log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                    } else {
                        // 修改工作档状态 24.小车到达 ===> 25.小车走行
                        wrkCharge.setWrkSts(25L);
                        Date now = new Date();
                        wrkCharge.setCrnEndTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改充电任务状态 24.小车到达 ===> 25.小车走行 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }
            } catch (Exception e) {
                log.error("fail", e);
            } else if (wrkCharge.getWrkSts() == 26) {
                // 固定堆垛机
                int crnNo = 1;
                // 充电位
                LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());

                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnNo);
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) { return; }
                // 只有当堆垛机空闲 并且 无任务时才继续执行
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {
                    // 堆垛机命令下发区 --------------------------------------------------------------------------
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(crnNo); // 堆垛机编号
                    crnCommand.setTaskNo(wrkCharge.getWrkNo().shortValue()); // 工作号
                    crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                    crnCommand.setTaskMode(CrnTaskModeType.STE_MOVE); // 任务模式:  库位移转
                    crnCommand.setSourcePosX(Utils.getGroupRow(steProtocol.getRow().intValue(), false).shortValue());     // 源库位排
                    crnCommand.setSourcePosY(steProtocol.getBay());     // 源库位列
                    crnCommand.setSourcePosZ(steProtocol.getLev());     // 源库位层
                    crnCommand.setDestinationPosX(chargeLoc.getRow1().shortValue());     // 目标库位排
                    crnCommand.setDestinationPosY(chargeLoc.getBay1().shortValue());     // 目标库位列
                    crnCommand.setDestinationPosZ(chargeLoc.getLev1().shortValue());     // 目标库位层
                    if (!MessageQueue.offer(SlaveType.Crn, crnNo, new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", crnNo, JSON.toJSON(crnCommand));
                    } else {
                        // 修改穿梭车运行中排列层
                        steThread.modifyPos(chargeLoc.getRow1(), chargeLoc.getBay1(), chargeLoc.getLev1());
                        // 修改工作档状态 26.等待充电 => 27.放至充电位
                        Date now = new Date();
                        wrkCharge.setWrkSts(27L);
                        wrkCharge.setCrnStrTime(now);
                        wrkCharge.setModiTime(now);
                        if (!wrkChargeService.updateById(wrkCharge)) {
                            log.error("修改工作档状态 26.等待充电 => 27.放至充电位 失败！！，工作号={}", wrkCharge.getWrkNo());
                        }
                    }
                }
            } else if (wrkCharge.getWrkSts() == 28L) {
                // 穿梭车下发充电任务
                SteCommand steCommand = new SteCommand();
                steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                steCommand.setTaskMode(SteTaskModeType.CHARGE_LEFT); // 任务模式: 充电
                if (!MessageQueue.offer(SlaveType.Ste, wrkCharge.getSteNo(), new Task(2, steCommand))) {
                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", wrkCharge.getSteNo(), JSON.toJSON(steCommand));
                } else {
                    // 28.充电就绪 ===>> 29.开始充电
                    wrkCharge.setWrkSts(29L);
                    if (!wrkChargeService.updateById(wrkCharge)) {
                        log.error("修改充电任务状态 28.充电就绪 ===>> 29.开始充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                    }
                }
            }
        } catch (Exception e) {
            log.error("executeSteCharge fail", e);
        }
    }


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

@@ -70,6 +70,7 @@
                    mainService.ledReset();
                    // 穿梭车 ===>> 小车电量检测充电
                    mainService.loopSteCharge();
                    mainService.executeSteCharge();
                    // 间隔
                    Thread.sleep(200);
                    // 穿梭车 ===>> 小车复位至待机库位

 src/main/resources/mapper/WrkChargeMapper.xml

@@ -10,6 +10,7 @@
        <result column="io_type" property="ioType" />
        <result column="crn_no" property="crnNo" />
        <result column="ste_no" property="steNo" />
        <result column="charge" property="charge" />
        <result column="out_most" property="outMost" />
        <result column="io_pri" property="ioPri" />
        <result column="loc_no" property="locNo" />
@@ -38,7 +39,7 @@
        </if>
        and wrk_sts &lt; 30
        and memo = 'charge'
        order by appe_time desc
        order by appe_time, io_pri desc
    </select>

    <select id="selectWorkingOfReset" resultMap="BaseResultMap">
@@ -50,7 +51,7 @@
        </if>
        and wrk_sts &lt; 47
        and memo = 'reset'
        order by appe_time desc
        order by appe_time, io_pri desc
    </select>

</mapper>