#

lsh

2024-01-24 29742997e749cd38a83f7d70b125124832c16a27

#

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

@@ -41,6 +41,7 @@
    // 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);
    WrkMast selectWrkMastUnstackingOne212();

    WrkMast selectPakInStep4(@Param("staNo")Integer staNo,@Param("sheetNo")String sheetNo);
    WrkMast selectPakInStep5(@Param("staNo")Integer staNo,@Param("sheetNo")String sheetNo);

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

@@ -602,6 +602,11 @@
                    case 5://放//拆盘
                        stnToCrnStnPick4();
                        return;
                    default:
                        return;
                }
            } else if (staProtocol.isAutoing() && staProtocol.isLoading()){
                switch (sign){
                    case 3://满放
                    case 6://满放
                        stnToCrnStnPick5();
@@ -618,8 +623,7 @@
     * 2楼212呼叫空板
     */
    public synchronized void stnToCrnStnPick3() {
        int workNo = 20211;
        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=61){//61、等待空板
            return;
        }
@@ -640,7 +644,7 @@
                        || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000)) ){
                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

                    staProtocol.setWorkNo(workNo-1);
                    staProtocol.setWorkNo(wrkMast.getWrkNo()-1);
                    staProtocol.setStaNo(driveSta.getStaNo()==215? 217:221);
                    boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    if (!result2) {
@@ -660,8 +664,7 @@
     * 2楼212呼叫空板
     */
    public synchronized void stnToCrnStnPick4() {
        int workNo = 20211;
        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=62){//62、等待小车搬运
            return;
        }
@@ -686,10 +689,10 @@
                }
                if (staProtocol212.isAutoing() && !staProtocol212.isLoading() && staProtocol212.getWorkNo()==0){
                    if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo()==0
                            || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) || staProtocol.getWorkNo()==20210) ){
                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));
                            || (staProtocol.getWorkNo()>9899 && staProtocol.getWorkNo()<10000) || staProtocol.getWorkNo()==wrkMast.getWrkNo()-1) ){
//                        boolean result1 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(3, staProtocol));

                        staProtocol.setWorkNo(workNo-1);
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(212);
                        boolean result2 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        if (!result2) {
@@ -698,7 +701,7 @@
                        wrkMast.setWrkSts(63L);
                        wrkMastMapper.updateById(wrkMast);

                        boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
//                        boolean result3 = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(4, staProtocol));
                        return;
                    }
                }
@@ -710,8 +713,7 @@
     * 2楼212呼叫空板
     */
    public synchronized void stnToCrnStnPick5() {
        int workNo = 20211;
        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(workNo);
        WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne212();
        if (Cools.isEmpty(wrkMast) || wrkMast.getWrkSts()!=63){//63、等待完成
            return;
        }
@@ -724,13 +726,13 @@
        } else {
            staProtocol = staProtocol.clone();
        }
        if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo()==workNo ){
            boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));
        if (staProtocol.isAutoing() && staProtocol.isLoading()){
//            boolean result1 = MessageQueue.offer(SlaveType.Devp, 2, new Task(3, staProtocol));

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

            boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
//            boolean result3 = MessageQueue.offer(SlaveType.Devp, 2, new Task(4, staProtocol));
            return;
        }
    }
@@ -2289,6 +2291,10 @@
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    case 212:
                        ledCommand.setTitle("空板出库");
                        ledCommand.setEmptyMk(true);
                        break;
                    default:
                        log.error("任务入出库类型错误！！！[工作号：{}] [入出库类型：{}]", wrkMast.getWrkNo(), wrkMast.getIoType());
                        break;
@@ -3235,9 +3241,9 @@
                        && staProtocol.isLoading()
                        && basDevp.getReportSign()==0
                ) {//&& staProtocol.isPakMk() && !Cools.isEmpty(barcode)) {
                    if (true){
                        return;
                    }
//                    if (true){
//                        return;
//                    }

                    //任务完成
                    boolean result1 = MessageQueue.offer(SlaveType.Devp, devpThread.getSlave().getId(), new Task(3, staProtocol135));

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

@@ -74,7 +74,7 @@

                    /////////////////////////////////////RGV调度/////////////////////////////////////
                    i++;
                    if (i<7) {
                    if (i<8) {
                        // RGV  ===>>  小车任务作业下发
                        try{
                            mainService.rgvIoExecute(i);

 src/main/java/com/zy/core/model/protocol/StaProtocol.java

@@ -62,7 +62,7 @@
        basDevp.setAutoing(autoing?"Y":"N");
        basDevp.setLoading(loading?"Y":"N");
        basDevp.setEmptyMk(emptyMk?"Y":"N");
        if (basDevp.getLoading().equals("N") && basDevp.getAutoing().equals("Y")){
        if (basDevp.getLoading().equals("N") && basDevp.getAutoing().equals("Y") && basDevp.getWrkNo()==0){
            basDevp.setReportSign(0);
        }
        basDevp.setInEnable(inEnable?"Y":"N");

 src/main/resources/application.yml

@@ -491,11 +491,11 @@
    ip: 192.168.18.6
    port: 5005
    devpPlcId: ${wcs-slave.devp[1].id}
    staArr: 217
    staArr: 221
  # LED3
  led[2]:
    id: 3
    ip: 192.168.18.7
    port: 5005
    devpPlcId: ${wcs-slave.devp[1].id}
    staArr: 221
    staArr: 217

 src/main/resources/mapper/WrkMastMapper.xml

@@ -359,4 +359,8 @@
        SELECT top 1 * FROM dbo.asr_wrk_mast Where 1=1 and io_type=202 and wrk_sts =54
    </select>

    <select id="selectWrkMastUnstackingOne212" resultMap="BaseResultMap">
        SELECT top 1 * FROM dbo.asr_wrk_mast Where 1=1 and io_type=212 and sta_no =212
    </select>

</mapper>