#

LSH

2023-10-19 2b31b4af1d8d6777ec2ed6afec3c68c74762fa39

#

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

@@ -174,6 +174,10 @@
    @TableField("command_step")
    private Integer commandStep;

    @ApiModelProperty(value = "移库标记")
    @TableField("transfer_mark")
    private Integer transferMark;

    public TaskWrk() {}

    public TaskWrk(String taskNo,Integer status,Integer wrkNo,Date createTime,Integer ioType,Double ioPri,String startPoint,String targetPoint,Long modiUser,Date modiTime,String memo,String barcode,Date assignTime,Date executeTime,Date completeTime,Date cancelTime,Integer wrkSts) {

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

@@ -177,6 +177,11 @@
    @TableId(value = "id", type = IdType.AUTO)
    private Long id;


    @ApiModelProperty(value = "移库标记")
    @TableField("transfer_mark")
    private Integer transferMark;

    public TaskWrkLog() {}

    public TaskWrkLog(String taskNo,Integer status,Integer wrkNo,Date createTime,Integer ioType,Double ioPri,String startPoint,String targetPoint,Long modiUser,Date modiTime,String memo,String barcode,Date assignTime,Date executeTime,Date completeTime,Date cancelTime,Integer wrkSts,Integer crnNo,Integer commandStep) {

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

@@ -20,6 +20,9 @@
    TaskWrk selectPakIn(@Param("crnNo") Integer crnNo, @Param("workNo") Integer workNo, @Param("startPoint") String startPoint);

    List<TaskWrk> selectPakOut(@Param("crnNo") Integer crnNo, @Param("targetPoint") String targetPoint);
    List<TaskWrk> selectPakOut3(@Param("crnNo") Integer crnNo, @Param("targetPoint") String targetPoint);

    List<TaskWrk> selectPakOutIoType(@Param("crnNo") Integer crnNo);

    WrkMast selectCrnWorking(@Param("crnNo") Integer crnNo);


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

@@ -430,6 +430,28 @@
                        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, taskWrk.getStartPoint())) {

                        List<TaskWrk> taskWrks1 = taskWrkMapper.selectPakOutIoType(taskWrk.getCrnNo());
                        if (Cools.isEmpty(taskWrks1) && taskWrks1.size()!=0){
                            break;
                        }
                        String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                        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")) {
                            log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                        } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
                            taskWrk.setTransferMark(1);
                            taskWrkMapper.updateById(taskWrk);
                            break;
                        } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) {
                            log.error("工作号={}，库位号={}，浅库位异常：浅库位号：={}，库位状态={}",taskWrk.getTaskNo(),taskWrk.getStartPoint(),shallowLocNo,shallowLoc.getLocSts());
                        }
                        continue;
                    }

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -464,65 +486,120 @@
     * 库位移转
     */
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol){
        // 获取工作档信息
        WrkMast wrkMast = wrkMastMapper.selectLocMove(slave.getId());
        if (null == wrkMast) {
            return;
        }
        // 获取源库位信息
        LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
        if (null == sourceSta) {
            log.error("工作档库位移转失败，原因：检索源库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo());
            return;
        }
        // 源库位  库位状态判断
        if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("S")) {
            return;
        }
        // 获取目标库位信息
        LocMast sta = locMastService.selectById(wrkMast.getLocNo());
        if (null == sta) {
            log.error("工作档库位移转失败，原因：检索目标库位失败！工作号={}，源库位={}", wrkMast.getWrkNo(), wrkMast.getLocNo());
            return;
        }
        // 获取堆垛机信息 并 判断是否可入出
        BasCrnp basCrnp = basCrnpService.selectById(slave.getId());
        if (!basCrnp.getInEnable().equals("Y") && !basCrnp.getOutEnable().equals("Y")) {
            return;
        }
        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
            List<TaskWrk> taskWrks = taskWrkMapper.selectPakOut3(slave.getId(), crnStn.getStaNo().toString());
            for (TaskWrk taskWrk : taskWrks){
                if (taskWrk == null) {
                    continue;
                }
                // 工作档状态判断
                if (taskWrk.getIoType() != 3 || taskWrk.getTargetPoint() == null) {
                    log.error("查询工作档数据不符合条件--入出类型/目标库位号, 工作号={}，源库位={}，入出类型={}", taskWrk.getWrkNo(), taskWrk.getTargetPoint(), taskWrk.getIoType());
                    continue;
                }
                // 获取源库位信息
                String locNo = taskWrk.getStartPoint();
                LocMast sourceSta = locMastService.selectById(locNo);
                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={}", locNo, sourceSta.getLocSts());
                    continue;
                }

        // 堆垛机控制过滤
        if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
            return;
        }
                // 获取目标库位信息
                String locNoEnd = taskWrk.getTargetPoint();
                LocMast sourceEnd = locMastService.selectById(locNoEnd);
                if (!sourceEnd.getLocSts().equals("S") && !sourceEnd.getLocSts().equals("Q")) {
                    log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", locNo, sourceSta.getLocSts());
                    continue;
                }

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

        // 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(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(sta.getRow1().shortValue());     // 目标库位排
        crnCommand.setDestinationPosY(sta.getBay1().shortValue());     // 目标库位列
        crnCommand.setDestinationPosZ(sta.getLev1().shortValue());     // 目标库位层
        if (!CommandUtils.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("【库位移转】 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());
//                // 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;
//                } else {
//                    staProtocol = staProtocol.clone();
//                }

                // 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;
                }
                // 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 (taskWrkMapper.selectCrnWorking(slave.getId()) != null) {
                    continue;
                }

                // 起始深库位浅库位不为空
                if (Utils.isDeepLoc(slaveProperties, taskWrk.getStartPoint())) {
                    // 获取浅库位信息
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getStartPoint());
                    LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
                    if (!shallowLocMast.getLocSts().equals("O")) {
                        log.error("移库操作起始库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
                        continue;
                    }
                }

                // 目标库位为深库位且浅库位不为空
                if (Utils.isDeepLoc(slaveProperties, taskWrk.getTargetPoint())) {
                    // 获取浅库位信息
                    String shallowLocNo = Utils.getShallowLoc(slaveProperties, taskWrk.getTargetPoint());
                    LocMast shallowLocMast = locMastService.selectById(shallowLocNo);
                    if (!shallowLocMast.getLocSts().equals("O")) {
                        log.error("移库操作目标库位浅库位状态不符合--状态, 库位号={}，库位状态={}", locNo, shallowLocMast.getLocSts());
                        continue;
                    }
                }

                // 目标库位为浅库位且深库位无货
                if (Utils.isShallowLoc(slaveProperties, taskWrk.getTargetPoint())) {
                    // 获取深库位信息
                    String deepLocNo = Utils.getDeepLoc(slaveProperties, taskWrk.getTargetPoint());
                    LocMast deepLocMast = locMastService.selectById(deepLocNo);
                    if (!deepLocMast.getLocSts().equals("F") && !deepLocMast.getLocSts().equals("D") ) {
                        log.error("移库操作目标库位深库位状态不符合--状态, 库位号={}，库位状态={}", locNo, deepLocMast.getLocSts());
                        continue;
                    }
                }

                // 1.堆垛机开始移动
                CrnCommand crnCommand = new CrnCommand();
                crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                crnCommand.setTaskNo(taskWrk.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(sourceEnd.getRow1().shortValue());     // 目标库位排
                crnCommand.setDestinationPosY(sourceEnd.getBay1().shortValue());     // 目标库位列
                crnCommand.setDestinationPosZ(sourceEnd.getLev1().shortValue());     // 目标库位层
                if (!CommandUtils.offer(SlaveType.Crn, taskWrk.getCrnNo(), new Task(2, crnCommand))) {
                    log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", taskWrk.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();
                    taskWrk.setWrkSts(12);
                    taskWrk.setModiTime(now);
                    if (taskWrkMapper.updateById(taskWrk) == 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={}", taskWrk.getWrkNo());
                    }
                    break;
                }
                return;
            }
        }


 src/main/resources/mapper/TaskWrkLogMapper.xml

@@ -24,6 +24,7 @@
        <result column="wrk_sts" property="wrkSts" />
        <result column="crn_no" property="crnNo" />
        <result column="command_step" property="commandStep" />
        <result column="transfer_mark" property="transferMark" />

    </resultMap>


 src/main/resources/mapper/TaskWrkMapper.xml

@@ -23,6 +23,7 @@
        <result column="wrk_sts" property="wrkSts" />
        <result column="crn_no" property="crnNo" />
        <result column="command_step" property="commandStep" />
        <result column="transfer_mark" property="transferMark" />

    </resultMap>
    
@@ -48,6 +49,13 @@
        order by io_pri desc,create_time,wrk_no ASC
    </select>

    <select id="selectPakOutIoType" resultMap="BaseResultMap">
        select * from dbo.wcs_task_wrk
        where crn_no=#{crnNo}
        and io_type = 3
        order by io_pri desc,create_time,wrk_no ASC
    </select>

    <select id="selectPakOut" resultMap="BaseResultMap">
        select * from dbo.wcs_task_wrk
        where crn_no=#{crnNo}
@@ -57,6 +65,15 @@
        order by io_pri desc,create_time,wrk_no ASC
    </select>

    <select id="selectPakOut3" resultMap="BaseResultMap">
        select * from dbo.wcs_task_wrk
        where crn_no=#{crnNo}
        and target_point=#{targetPoint}
        and wrk_sts=11
        and io_type = 3
        order by io_pri desc,create_time,wrk_no ASC
    </select>

    <select id="selectCrnWorking" resultMap="BaseResultMap">
        select top 1 * from dbo.wcs_task_wrk
        where 1=1