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luxiaotao1123

2022-10-27 479d51e0c9662bebfe37a48401ec23fbd6496d0e

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

@@ -1399,7 +1399,7 @@
        steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
        steCommand.setTaskMode(SteTaskModeType.findOriginByLoc(steProtocol.getRow().intValue())); // 任务模式:  去近点 等待堆垛机叉取

        steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
        steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue(), true).shortValue());
        steCommand.setBay(steProtocol.getBay());
        steCommand.setLev(steProtocol.getLev());

@@ -1898,10 +1898,10 @@
                                    steThread.setResetFlag(true);
                                }
                            } else if (wrkCharge.getWrkSts() == 25) {
                                // 25.小车去充电 ===>> 26.等待充电
                                // 25.小车走行 ===>> 26.等待充电
                                wrkCharge.setWrkSts(26L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 25.小车去充电 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    log.error("修改充电任务状态 25.小车走行 ===>> 26.等待充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
@@ -2499,7 +2499,7 @@
                    wrkCharge.setSteNo(ste.getId());
                    wrkCharge.setWrkNo(commonService.getChargeWorkNo(4));
                    wrkCharge.setWrkSts(21L);   // 21.准备充电
//                    wrkCharge.setCrnNo(basSte.getCrnNo());
                    wrkCharge.setCrnNo(2);  // 固定2号堆垛机
                    wrkCharge.setIoPri((double) 10);
                    wrkCharge.setLocNo(chargeLocNo);
                    wrkCharge.setMemo("charge");
@@ -2530,33 +2530,43 @@

                    // 22.小车待搬
                    if (wrkCharge.getWrkSts() == 22) {
                        // 搬小车至充电库位
                        LocMast locMast = locMastService.selectById(basSte.getIdleLoc());

                        // 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()).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(locMast.getLocNo()).shortValue());     // 目标库位排
                        crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
                        crnCommand.setDestinationPosZ(locMast.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(locMast.getLocNo()), locMast.getBay1(), locMast.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());
                        // 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);

                                // 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;
                            }
                        }

@@ -2568,37 +2578,49 @@
                            SteCommand steCommand = new SteCommand();
                            steCommand.setSteNo(wrkCharge.getSteNo()); // 穿梭车编号
                            steCommand.setTaskNo(wrkCharge.getWrkNo()); // 工作号
                            steCommand.setTaskMode(SteTaskModeType.findChargeByLoc(steProtocol.getRow().intValue()));
                            steCommand.setTaskMode(SteTaskModeType.GO_ORIGIN);  // 去右端
                            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.小车去充电
                                // 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.小车去充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                    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) {
                        if (steProtocol.getChargeStatus() == 0) { continue; }
                        // 给输送线下发充电任务
                        SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, 1);
                        SteChargeType steChargeType = SteChargeType.get(wrkCharge.getLocNo());
                        if (null != steChargeType) {
                            if (devpThread.charge(steChargeType.ssbm - 1, true)) {
                                // 修改工作档状态 26.等待充电 ===> 28.完成充电
                                wrkCharge.setWrkSts(28L);
                                if (!wrkChargeService.updateById(wrkCharge)) {
                                    log.error("修改充电任务状态 26.等待充电 ===> 28.完成充电 失败！！，工作号={}", wrkCharge.getWrkNo());
                                } else {
                                    steThread.setResetFlag(true);
                                }
                            }
                        // 27.放至充电位
                        LocMast chargeLoc = locMastService.selectById(wrkCharge.getLocNo());

                        // 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 {
                            log.error("获取充电桩号失败，解析库位：{}", wrkCharge.getLocNo());
                            // 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());
                            }
                        }
                    }
                }

 src/main/java/com/zy/core/properties/SlaveProperties.java

@@ -26,6 +26,8 @@

    private int groupCount;

    private List<String> channel = new ArrayList<>();

    private List<CrnSlave> crn = new ArrayList<>();

    private List<SteSlave> ste = new ArrayList<>();

 src/main/resources/application.yml

@@ -46,6 +46,8 @@
  doubleLocs: 32
  # 一个堆垛机负责的货架排数
  groupCount: 2
  # 穿梭车通道库位
  channel: 0200101
  # 堆垛机1
  crn[0]:
    id: 1