#自动生成衔接任务

lty

2025-08-11 2c3e7ada714806b093be9147c715c3c232f5591b

#自动生成衔接任务

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

New file
@@ -0,0 +1,11 @@
package com.zy.asrs.entity;

import lombok.Data;

@Data
public class TransplantWork {
    private Integer workNo;
    private String barcode;
    private Integer sourceStaNo;
    private Integer staNo;
}

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

@@ -110,6 +110,7 @@


    WrkMast selectPickStep2(@Param("barcode")String barcode);
    WrkMast selectPickStep3(@Param("barcode")String barcode);

    WrkMast selectByWrkNo(@Param("wrkNo")Integer wrkNo);
}

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

@@ -748,7 +748,7 @@
                        continue;
                    }
                    // 判断工作档条件
                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                    if ((wrkMast.getIoType() != 12 && wrkMast.getIoType() < 100) || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                        continue;
                    }
                    // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
@@ -802,8 +802,100 @@
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     * 堆垛机任务衔接任务生成
     */
    public synchronized void connectWrk(Integer mark) {
        for (DevpSlave devp : slaveProperties.getDevp()) {
            SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());
            StaProtocol staProtocolIn = devpThread.getStation().get(4001);
            if (staProtocolIn == null) {
                continue;
            } else {
                staProtocolIn = staProtocolIn.clone();
            }
            StaProtocol staProtocolOut = devpThread.getStation().get(1015);
            if (staProtocolOut == null) {
                continue;
            } else {
                staProtocolOut = staProtocolOut.clone();
            }
            if(staProtocolOut.getWorkNo() != null &&staProtocolOut.getStaNo() == 4006){
                WrkMast wrkMastOut = wrkMastMapper.selectByWrkNo(staProtocolOut.getWorkNo());
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9997);
                if(wrkMast == null){
                    continue;
                }
                try {
                    TransplantWork param = new TransplantWork();
                    param.setWorkNo(wrkMastOut.getWrkNo());
                    param.setBarcode(wrkMastOut.getBarcode());
                    param.setSourceStaNo(1015);
                    param.setStaNo(wrkMastOut.getStaNo());
                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/TransplantingIn/v1")
                            .setJson(JSON.toJSONString(param))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        staProtocolOut.setWorkNo(9997);
                        devpThread.setPakMk(staProtocolOut.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolOut));

                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                    }

                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            }

            if(staProtocolIn.getWorkNo() != null &&staProtocolIn.getStaNo() != 4001){
                WrkMast wrkMastIn = wrkMastMapper.selectByWrkNo(staProtocolIn.getWorkNo());
                WrkMast wrkMast = wrkMastMapper.selectByWrkNo(9996);
                if(wrkMast == null){
                    continue;
                }
                try {
                    TransplantWork param = new TransplantWork();
                    param.setWorkNo(wrkMastIn.getWrkNo());
                    param.setBarcode(wrkMastIn.getBarcode());
                    param.setSourceStaNo(4001);
                    param.setStaNo(wrkMastIn.getStaNo());
                    String response = new HttpHandler.Builder()
                            .setUri(wmsUrl)
                            .setPath("/rpc/auto/TransplantingOut/v1")
                            .setJson(JSON.toJSONString(param))
                            .build()
                            .doPost();
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        staProtocolIn.setWorkNo(9996);
                        devpThread.setPakMk(staProtocolIn.getSiteId(), false);
                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocolIn));

                        if (!result) {
                            throw new CoolException("更新plc站点信息失败");
                        }
                    }

                } catch (Exception e) {
                    e.printStackTrace();
                    TransactionAspectSupport.currentTransactionStatus().setRollbackOnly();
                }
            }
        }

    }


        /**
         * 入出库  ===>>  堆垛机入出库作业下发
         */
    public synchronized void crnIoExecute(Integer mark) {

        for (CrnSlave crn : slaveProperties.getCrn()) {
@@ -929,6 +1021,61 @@
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (slave.getId() == 3) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol2 = devpThread1.getStation().get(4001);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
                    break;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9996);
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 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((short) 9996); // 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((short) 5);     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 4);     // 源库位层
                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 1);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.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();
                        wrkMast9999.setWrkSts(3L);
                        wrkMast9999.setCrnStrTime(now);
                        wrkMast9999.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
                        }
                        break;
                    }
                }
            }
            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
@@ -1074,6 +1221,61 @@
            // 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());
            List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            if (slave.getId() == 3) {
                SiemensDevpThread devpThread1 = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
                StaProtocol staProtocol2 = devpThread1.getStation().get(1015);
                if (staProtocol2 == null) {
                    News.infoNoLog("" + mark + " - 2" + " - 3" + " - 堆垛机出库站信息(staProtocol!=null继续执行,否则循环终止)：staProtocol=" + staProtocol2);
                    break;
                } else {
                    staProtocol2 = staProtocol2.clone();
                }
                WrkMast wrkMast9999 = wrkMastMapper.selectByWrkNo(9997);
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    News.error(""+mark+" - 2"+" - 5"+" - 出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    break;
//                    continue;
                }
                if(wrkMast9999 != null && staProtocol2.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")){
                    // 堆垛机控制过滤
                    if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                        continue;
                        break;
                    }
                    // 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((short) 9997); // 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((short) 5);     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
                    crnCommand.setDestinationPosX((short) 6);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 1);     // 目标库位列
                    crnCommand.setDestinationPosZ((short) 4);     // 目标库位层
//                crnCommand.setTraySize(sourceSta.getLocType1() == 2);     //库位类型
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMast9999.getCrnNo(), new Task(2, crnCommand))) {
                        News.error("" + mark + " - 2" + " - 13" + " - 堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast9999.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();
                        wrkMast9999.setWrkSts(12L);
                        wrkMast9999.setCrnStrTime(now);
                        wrkMast9999.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMast9999) == 0) {
                            News.error("" + mark + " - 2" + " - 14" + " - 修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMast9999.getWrkNo());
                        }
                        break;
                    }
                }
            }
            for (WrkMast wrkMast : wrkMasts) {
                if (wrkMast == null) {
                    continue;
@@ -1126,11 +1328,11 @@

                if (staProtocol.isAutoing() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y")
                        ) {
                    if (slave.getId() == 1 || slave.getId() == 2){
                        if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
                            continue;
                        }
                    }
//                    if (slave.getId() == 1 || slave.getId() == 2){
//                        if (staProtocol.isLoading() || staProtocol.getWorkNo() != 0 || !staProtocol.isOutEnable()){
//                            continue;
//                        }
//                    }
                    // 命令下发区 --------------------------------------------------------------------------

                    // 堆垛机控制过滤
@@ -1438,14 +1640,50 @@
            if (crnProtocol == null) {
                continue;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                News.warnNoLog(""+mark+" - 0"+" - 开始执行对工作档的完成操作，任务号:"+crnProtocol.getTaskNo());
            if(crnProtocol.getTaskNo() == 9999){
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());



                    // 堆垛机复位
                    News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                    crnThread.setResetFlag(true);
                }
            } else if (crnProtocol.getTaskNo() == 9996) {//盘点入库衔接
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null) {
                        News.error(""+mark+" - 1"+" - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
                        News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                        crnThread.setResetFlag(true);
                    }
                }
            }else{
                //  状态：等待确认 并且  任务完成位 = 1
                if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行对工作档的完成操作，任务号:" + crnProtocol.getTaskNo());

                    // 获取入库待确认工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                    if (wrkMast == null ) {
                        News.error("" + mark + " - 1" + " - 堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                        continue;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
@@ -1460,17 +1698,20 @@
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        log.error(wrkMast.getWrkNo()+"任务修改状态4成功，复位堆垛机={}",crnThread.getCrnProtocol().getCrnNo());
                        News.warnNoLog(""+mark+" - 2"+" - 修改成功后复位堆垛机 : 堆垛机号={}",crnThread.getCrnProtocol().getCrnNo());
                        log.error(wrkMast.getWrkNo() + "任务修改状态4成功，复位堆垛机={}", crnThread.getCrnProtocol().getCrnNo());
                        News.warnNoLog("" + mark + " - 2" + " - 修改成功后复位堆垛机 : 堆垛机号={}", crnThread.getCrnProtocol().getCrnNo());
                        crnThread.setResetFlag(true);
                    }
                }
            }



        }
//        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
    }


    /**
     * 堆垛机异常信息记录
     */

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

@@ -54,8 +54,8 @@
//                    mainService.ioConvert();

                    // 拣料、并板、盘点再入库
//                    mainService.stnToCrnStnPick(3);
                    mainService.stnToCrnStnPick2();
                    mainService.stnToCrnStnPick(3);
//                    mainService.stnToCrnStnPick2();

                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档
                    mainService.generateStoreWrkFile(1); // 组托
@@ -78,6 +78,8 @@
                    mainService.ledExecute(9);
                    // 其他  ===>> LED显示器复位，显示默认信息
                    mainService.ledReset();
                    //堆垛机衔接任务生成
                    mainService.connectWrk(10);

//                    mainService.outOfDevp(11);


 src/main/resources/mapper/WrkMastMapper.xml

@@ -188,6 +188,9 @@
    <select id="selectPickStep2" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast where barcode = #{barcode} and (wrk_sts=14 and io_type=107) or (wrk_sts=2 and io_type=57)
    </select>
    <select id="selectPickStep3" resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast where barcode = #{barcode} and (wrk_sts=14 and io_type=107) or (wrk_sts=2 and io_type=57)
    </select>
    <select id="selectByWrkNo" resultMap="BaseResultMap">
        select * from asr_wrk_mast
        where wrk_no = #{wrkNo}