#

lsh

2024-07-15 357dde734fdb70d4918a6b6a1c6469952a2bcf09

#

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

@@ -1901,6 +1901,141 @@
                }
            }

            StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
            if (staProtocolOther == null) {
                continue;
            } else {
                staProtocolOther = staProtocolOther.clone();
            }

            // 查询站点详细信息
            BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
            if (staDetlOther == null) {
                log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
                continue;
            }
            if (staProtocolOther.getWorkNo()!=0){
                WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(staProtocolOther.getWorkNo());
                if (Cools.isEmpty(wrkMastOther)){
                    log.error("Other查询工作档案无数据--工作号{},站点号：{}", staProtocolOther.getWorkNo(),staProtocolOther.getSiteId());
                    continue;
                }
                // 获取库位信息
                LocMast locMastOther = locMastService.selectById(wrkMastOther.getLocNo());
                if (locMastOther == null) {
                    log.error("查询库存无数据--库位号{}", locMastOther.getLocNo());
                    continue;
                }
                if (!locMastOther.getLocSts().equals("S") && !locMastOther.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={}", wrkMastOther.getLocNo(), locMastOther.getLocSts());
                    continue;
                }
                if (locMastOther.getBay1()!=81){
                    if (staProtocolOther.isAutoing() && staProtocolOther.isLoading()
                            && staProtocolOther.isInEnable() && staDetlOther.getCanining() != null && staDetlOther.getCanining().equals("Y")) {
                        // 命令下发区 --------------------------------------------------------------------------
                        CrnCommandParam crnCommandParam = new CrnCommandParam();
                        crnCommandParam.setCrnNo(slave.getId()); // 堆垛机编号

                        crnCommandParam.setTaskNo2(wrkMast.getWrkNo().shortValue()); // 工作号
                        crnCommandParam.setAckFinish2((short) 0);  // 任务完成确认位
                        crnCommandParam.setTaskMode2(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                        crnCommandParam.setSourcePosX2(crnStn.getRow().shortValue());     // 源库位排
                        crnCommandParam.setSourcePosY2(crnStn.getBay().shortValue());     // 源库位列
                        crnCommandParam.setSourcePosZ2(crnStn.getLev().shortValue());     // 源库位层
                        crnCommandParam.setDestinationPosX2((short)0);     // 目标库位排
                        crnCommandParam.setDestinationPosY2((short)0);     // 目标库位列
                        crnCommandParam.setDestinationPosZ2((short)0);     // 目标库位层

                        crnCommandParam.setTaskNo(wrkMastOther.getWrkNo().shortValue()); // 工作号
                        crnCommandParam.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommandParam.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
                        crnCommandParam.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                        crnCommandParam.setSourcePosY(crnStn.getBay().shortValue());     // 源库位列
                        crnCommandParam.setSourcePosZ(crnStn.getLev().shortValue());     // 源库位层
                        crnCommandParam.setDestinationPosX((short)0);     // 目标库位排
                        crnCommandParam.setDestinationPosY((short)0);     // 目标库位列
                        crnCommandParam.setDestinationPosZ((short)0);     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, crnCommandParam.getCrnNo(), new Task(9, crnCommandParam))) {
                            log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommandParam));
                        } 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);
                            WrkMastSplitTwin wrkMastSplitTwin = new WrkMastSplitTwin(wrkMast,2,now);
                            wrkMastSplitTwin.setWrkSts(1);
                            wrkMastSplitTwin.setWrkStart(wrkMast.getStaNo().toString());
                            wrkMastSplitTwin.setWrkEnd(wrkMast.getLocNo());
                            wrkMastSplitTwin.setStartRow(crnStn.getRow());
                            wrkMastSplitTwin.setStartBay(crnStn.getBay());
                            wrkMastSplitTwin.setStartLev(crnStn.getLev());
                            wrkMastSplitTwin.setEndRow(locMast.getRow1());
                            wrkMastSplitTwin.setEndBay(locMast.getBay1());
                            wrkMastSplitTwin.setEndLev(locMast.getLev1());
                            wrkMastSplitTwin.setWrkType(1);
                            wrkMastSplitTwin.setIoType(1);

                            wrkMastOther.setWrkSts(3L);
                            wrkMastOther.setCrnStrTime(now);
                            wrkMastOther.setModiTime(now);
                            WrkMastSplitTwin wrkMastSplitTwinOther = new WrkMastSplitTwin(wrkMastOther,1,now);
                            wrkMastSplitTwinOther.setWrkSts(1);
                            wrkMastSplitTwinOther.setWrkStart(wrkMastOther.getStaNo().toString());
                            wrkMastSplitTwinOther.setWrkEnd(wrkMastOther.getLocNo());
                            wrkMastSplitTwinOther.setStartRow(crnStn.getRow());
                            wrkMastSplitTwinOther.setStartBay(crnStn.getBay());
                            wrkMastSplitTwinOther.setStartLev(crnStn.getLev());
                            wrkMastSplitTwinOther.setEndRow(locMastOther.getRow1());
                            wrkMastSplitTwinOther.setEndBay(locMastOther.getBay1());
                            wrkMastSplitTwinOther.setEndLev(locMastOther.getLev1());
                            wrkMastSplitTwinOther.setWrkType(1);
                            wrkMastSplitTwinOther.setIoType(1);

                            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());
                            }

                            if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwin)==0){
                                log.error("创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
                            }

                            if (wrkMastMapper.updateById(wrkMastOther) == 0) {
                                log.error("Other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());
                            }

                            if (wrkMastSplitTwinMapper.insert(wrkMastSplitTwinOther)==0){
                                log.error("Other创建 堆垛机执行任务 失败！！，工作号={}，堆垛机号={}", wrkMast.getWrkNo(),wrkMast.getCrnNo());
                            }
                            return;
                        }
                    }
                }
                return;
            }
            StaProtocol staProtocolOther1 = devpThread.getStation().get(crnStn.getStaNoOther1());
            if (staProtocolOther1 == null) {
                continue;
            } else {
                staProtocolOther1 = staProtocolOther1.clone();
            }

            if (staProtocolOther1.isAutoing() && staProtocolOther1.getWorkNo()!=0){
                return;
            }


            StaProtocol staProtocolOther2 = devpThread.getStation().get(crnStn.getStaNoOther2());
            if (staProtocolOther2 == null) {
                continue;
            } else {
                staProtocolOther2 = staProtocolOther2.clone();
            }
            if (staProtocolOther2.isAutoing() && staProtocolOther2.getWorkNo()!=0){
                return;
            }
            crnStation = 2;
            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
@@ -1913,7 +2048,17 @@
            crnCommand.setDestinationPosX((short)0);     // 目标库位排
            crnCommand.setDestinationPosY((short)0);     // 目标库位列
            crnCommand.setDestinationPosZ((short)0);     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {

            staProtocol.setWorkNo(wrkMast.getWrkNo());
            staProtocol.setStaNo(wrkMast.getStaNo());

            devpThread.setPakMk(staProtocol.getSiteId(), false);

            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(99, crnCommand.getCrnNo()-2))) {
                log.error("输送线锁定命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), crnCommand.getCrnNo()-2);
                continue;
            }
            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(5, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSONString(crnCommand));
            } else {
                // 修改工作档状态 2.设备上走 => 3.吊车入库中

 src/main/java/com/zy/core/model/CrnSlave.java

@@ -39,6 +39,8 @@

        // 堆垛机站点编号
        private Integer staNoOther;
        private Integer staNoOther1;
        private Integer staNoOther2;

        // 排
        private Integer row;

 src/main/java/com/zy/core/thread/SiemensDevpThread.java

@@ -207,6 +207,8 @@
                    case 11:
                        write11((StaProtocol)task.getData());
                        break;
                    case 99:
                        write99((Integer) task.getData());
                    default:
                        break;
                }
@@ -968,7 +970,60 @@
        }
    }

    // 更新入出库模式
    private void write99(Integer devNo) throws InterruptedException {
        String resultV1 = "";
        switch (devNo){
            case 1:
                resultV1 = "DB100.1824";
                break;
            case 2:
                resultV1 = "DB100.1836";
                break;
            case 3:
                resultV1 = "DB100.1848";
                break;
            default:
                return;
        }
        OperateResult result = siemensS7Net.Write(resultV1, (short) 1);
        Integer writeCount = 0;
        do {
            try{
                if(!result.IsSuccess){
                    log.error("写入RGV数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(devNo),writeCount);
                    result = siemensS7Net.Write(resultV1, (short) 1);
                    Thread.sleep(100);
                    writeCount++;
                    continue;
                }
                OperateResultExOne<byte[]> resultRead1 = siemensS7Net.Read("resultV1", (short) 2);
                if (resultRead1.IsSuccess) {
                    short transInt16 = siemensS7Net.getByteTransform().TransInt16(resultRead1.Content, 0);
                    if (transInt16 == (short) 1){
                        break;
                    } else {
                        log.error("写入RGV数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(devNo),writeCount);
                        result = siemensS7Net.Write(resultV1, (short) 1);
                        Thread.sleep(100);
                        writeCount++;
                        continue;
                    }
                } else {
                    log.error("写入RGV数据失败，重新下发任务  写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSONString(devNo),writeCount);
                    result = siemensS7Net.Write(resultV1, (short) 1);
                    Thread.sleep(100);
                    writeCount++;
                    continue;
                }
            }catch (Exception e){
                log.error("写入数据后回读出错,异常："+e);
            }
            writeCount++;
        } while (writeCount<6);
    }


        // 更新入出库模式
    private void updateIoMode() throws InterruptedException {
        if (this.ioModeOf2F != IoModeType.NONE) {
            if (!siemensS7Net.Write("DB100.180", this.ioModeOf2F.id).IsSuccess) {

 src/main/resources/application.yml

@@ -118,7 +118,9 @@
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 261
      staNoOther: 261
    staNoOther: 257
      staNoOther1: 256
      staNoOther2: 255
      row: 10
      bay: 1
      lev: 1
@@ -144,7 +146,9 @@
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 260
      staNoOther: 260
      staNoOther: 248
      staNoOther1: 247
      staNoOther2: 246
      row: 12
      bay: 1
      lev: 1
@@ -170,7 +174,9 @@
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 259
      staNoOther: 259
      staNoOther: 239
      staNoOther1: 238
      staNoOther2: 237
      row: 14
      bay: 1
      lev: 1