#

lsh

2024-01-13 4f60bd877a456f048384cc53388ea88e80aca974

#

 src/main/java/com/zy/asrs/controller/SiteController.java

@@ -189,7 +189,7 @@
                    if (pakMk != null) {
                        staProtocol.setPakMk(pakMk.equals("Y"));
                    }
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(5, staProtocol));
                    if (result) {
                        return R.ok();
                    } else {

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

@@ -148,13 +148,13 @@
                        && staProtocol.isLoading()
                        && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk()
                        && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() > 9999)
                        && staProtocol.getWorkNo() == 0
                        && staProtocol.isPakMk()) {// && !Cools.isEmpty(barcode)) {

//                    if(Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                        log.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode);
//                        //条码为空或者不符合，退库到172站点
//                        staProtocol.setWorkNo((short)29999);
//                        staProtocol.setWorkNo((short)32222);
//                        staProtocol.setStaNo((short)172);
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
@@ -252,7 +252,7 @@

                // 判断是否满足入库条件
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && !staProtocol.isEmptyMk() && (staProtocol.getWorkNo() == 0 || staProtocol.getWorkNo() == 29999)
                        && !staProtocol.isEmptyMk() && staProtocol.getWorkNo() == 0
                        && staProtocol.isPakMk()) {
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep11(inSta.getStaNo());
@@ -1347,7 +1347,7 @@
            // 命令下发区 --------------------------------------------------------------------------
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号
            crnCommand.setTaskNo((short) 29999); // 工作号
            crnCommand.setTaskNo((short) 63333); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  回原点
            crnCommand.setSourcePosX((short) 0);     // 源库位排
@@ -1512,8 +1512,6 @@
                if(crnStn1.getStaNo().equals(wrkMast.getStaNo())){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
@@ -1784,8 +1782,6 @@
                if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
@@ -2676,7 +2672,7 @@
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                if (crnProtocol.getTaskNo() == 9999) {
                if (crnProtocol.getTaskNo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else {
@@ -2977,7 +2973,7 @@

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 29990 && staProtocol.getWorkNo() <= 29999) || staProtocol.getWorkNo()==0)  && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0)  && staProtocol.isPakMk()) {

                    try {
                        LocTypeDto locTypeDto = new LocTypeDto(staProtocol);
@@ -3035,9 +3031,9 @@

                // 站点条件判断
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable()
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 29990 && staProtocol.getWorkNo() <= 29999) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
                        && staProtocol.isEmptyMk() && ((staProtocol.getWorkNo() > 32222 && staProtocol.getWorkNo() <= 63333) || staProtocol.getWorkNo()==0) && staProtocol.isPakMk()) {
                    try {
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 9999L);
                        WrkMastSta wrkMastSta = wrkMastStaMapper.selectByWrkNo(staProtocol.getSiteId() + 19999L);
                        if (Cools.isEmpty(wrkMastSta)){
                            WrkMastSta wrkMastSta1 = new WrkMastSta(new Date(),staProtocol.getSiteId());
                            wrkMastSta1.setType(2);
@@ -4052,7 +4048,7 @@
            int[] staNos=new int[]{144};//(1楼1个贴标位,根据现场修改)
            for (int staNo : staNos){
                BasDevp basDevp = basDevpService.selectById(staNo);
                if (basDevp.getWrkNo()<9990){
                if ((basDevp.getWrkNo()<9900 || basDevp.getWrkNo()>19999) && basDevp.getWrkNo()!=32222){
                    continue;
                }
                WrkMast wrkMast = wrkMastMapper.selectWrkMastUnstackingOne202(staNo);
@@ -4078,7 +4074,7 @@
                    log.info("{}站点无物，异常！",staNo);
                    continue;
                }
                if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo().shortValue())){
                if (!staProtocol.getWorkNo().equals(wrkMast.getWrkNo())){
                    log.info("站点工作号={} 与贴标工作号={} 不一致，异常！",staProtocol.getWorkNo(),wrkMast.getWrkNo().shortValue());
                }
                // 判断是否满足入库条件
@@ -4130,7 +4126,7 @@
                ) {
                    log.info("{}号小车等待wcs确认，状态{}，参数{}",rgvProtocol.getRgvNo(),rgvProtocol.getStatusType(),rgvProtocol);
                    if (rgvProtocol.getTaskNo1()!=0 && (rgvProtocol.getStatusType1()==RgvStatusType.WAITING || rgvProtocol.getStatusType1()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo1()==29999){
                        if (rgvProtocol.getTaskNo1()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -4156,11 +4152,13 @@
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().intValue());
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                        }else {
                            continue;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
@@ -4168,7 +4166,7 @@
                        basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
                        rgvMapUpdate(basRgvMap,basRgvMap.getStartRoute(),basRgvMap.getStartRoute());
                    }else if (rgvProtocol.getTaskNo2()!=0 && (rgvProtocol.getStatusType2()==RgvStatusType.WAITING || rgvProtocol.getStatusType2()==RgvStatusType.FETCHWAITING)){
                        if (rgvProtocol.getTaskNo2()==29999){
                        if (rgvProtocol.getTaskNo2()==(short)32222){
                            boolean rgvComplete = rgvComplete(rgvProtocol.getRgvNo());
                            if (!rgvComplete){
                                log.error("小车复位失败，小车号{}！",rgvProtocol.getRgvNo());
@@ -4193,11 +4191,13 @@
                        WrkMast wrkMast = wrkMastMapper.selectPakInStep3(wrkMastSta.getWrkNo().intValue());
                        if (!Cools.isEmpty(wrkMast)){
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMastSta.getWrkNo().intValue());
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(wrkMast.getStaNo());
                            if (!MessageQueue.offer(SlaveType.Devp, 1, new Task(2, staProtocol))) {
                                continue;
                            }
                        }else {
                            continue;
                        }
                        wrkMastSta.setWrkSts(3);
                        wrkMastStaMapper.updateById(wrkMastSta);
@@ -4602,8 +4602,8 @@
                if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                        && rgvProtocol.getModeType() == RgvModeType.AUTO
                        && rgvProtocol.getLoaded1()==0  //现场修改：叠盘机，不满都算无物，怎么判断需要跟电控对接
                        && (rgvProtocol.getTaskNo1()==0 || rgvProtocol.getTaskNo1()==9999)
                        && (rgvProtocol.getTaskNo2()==0 || rgvProtocol.getTaskNo2()==9999)
                        && rgvProtocol.getTaskNo1()==0
                        && rgvProtocol.getTaskNo2()==0
                ) {
                    BasRgvMap basRgvMap = basRgvMapMapper.selectById(rgvProtocol.getRgvNo());
                    basRgvMap.setNowRoute(rgvProtocol.getRgvPosI());
@@ -4627,7 +4627,7 @@
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish1((short) 0);  // 工位1任务完成确认位
                rgvCommand.setTaskNo1((short)29999); // 工位1工作号
                rgvCommand.setTaskNo1((short)32222); // 工位1工作号
                rgvCommand.setTaskMode1(RgvTaskModeType.X_MOVE); // 工位1任务模式:  回原点
                //basRgvMap.getLockStartRoute().shortValue()
                rgvCommand.setSourceStaNo1( (short)101);
@@ -4650,7 +4650,7 @@
                RgvCommand rgvCommand = new RgvCommand();
                rgvCommand.setRgvNo(rgvId); // RGV编号
                rgvCommand.setAckFinish2((short) 0);  // 工位2任务完成确认位
                rgvCommand.setTaskNo2((short)29999); // 工位2工作号
                rgvCommand.setTaskNo2((short)32222); // 工位2工作号
                rgvCommand.setTaskMode2(RgvTaskModeType.X_MOVE); // 工位2任务模式:  回原点
                rgvCommand.setSourceStaNo2((short)117);
                rgvCommand.setCommand((short) 2);   //工位2任务确认

 src/main/java/com/zy/asrs/utils/RouteUtils.java

@@ -16,15 +16,15 @@
    }};

    public static final List<Integer> MERGE_STA_NO_TWO = new ArrayList<Integer>() {{
        add(116);add(117);
        add(113);add(123);add(114);add(1142);
    }};

    public static final List<Integer> MERGE_STA_NO_THREE = new ArrayList<Integer>() {{
        add(116);add(117);
        add(107);add(118);add(108);add(119);
    }};

    public static final List<Integer> MERGE_STA_NO_FOUR = new ArrayList<Integer>() {{
        add(116);add(117);
        add(110);add(120);add(111);add(121);
    }};

//    正序
@@ -324,15 +324,16 @@
            case 28:
                return 116;
            default:
                return 0;
                return 1142;
        }
    }

    public static short RgvPosStaTwo(Short posId){
        switch (posId.intValue()){
            case 1:
            case 2:
                return 116;
            case 2:
                return 1142;
            case 3:
            case 4:
                return 114;
@@ -371,7 +372,7 @@
            case 28:
                return 104;
            default:
                return 0;
                return 104;
        }
    }


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

@@ -48,7 +48,7 @@
                    //刷新RGV地图
                    mainService.refreshRgvMap();
                    // 演示
                    mainService.crnDemoOfLocMove1();
//                    mainService.crnDemoOfLocMove1();
                    // 入出库模式切换函数
//                    mainService.ioConvert();
                    // 入库  ===>> 入库站到堆垛机站，根据条码扫描生成入库工作档

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

@@ -107,7 +107,7 @@
                            commandAvoidanceXY = new RgvCommand();
                        }
                        commandAvoidanceXY.setRgvNo(slave.getId()); // RGV编号
                        commandAvoidanceXY.setTaskNo1((short) 29999); // 工作号
                        commandAvoidanceXY.setTaskNo1((short) 32222); // 工作号
                        commandAvoidanceXY.setAckFinish1((short) 1);  // 任务完成确认位
                        commandAvoidanceXY.setTaskMode1(RgvTaskModeType.X_MOVE); // 任务模式
                        commandAvoidanceXY.setSourceStaNo1((short)0);     // 源站

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

@@ -119,6 +119,10 @@
                        break;
                    // 写数据 ID+目标站
                    case 2:
//                        write3((StaProtocol)task.getData());
//                        Thread.sleep(400);
//                        write4((StaProtocol)task.getData());
//                        Thread.sleep(400);
                        write((StaProtocol)task.getData());
                        break;
                    // 写数据 ID+目标站 码垛完成  给输送线写任务完成
@@ -129,6 +133,13 @@
                    case 4:
                        write4((StaProtocol)task.getData());
                        break;
                    case 5:
                        write3((StaProtocol)task.getData());
                        Thread.sleep(400);
                        write4((StaProtocol)task.getData());
                        Thread.sleep(400);
                        write((StaProtocol)task.getData());
                        break;
                    default:
                        break;
                }

 src/main/resources/application.yml

@@ -341,14 +341,14 @@
    slot: 0
    # 入库口1
    inSta[0]:
      staNo: 15
      staNo: 122
      barcode: ${wcs-slave.barcode[0].id}
    # 空板入库口1
    emptyInSta[0]:
      staNo: 122
    # 出库口1
    outSta[0]:
      staNo: 11
      staNo: 122
    # 拣料入库口1
    pickSta2[0]:
      staNo: 118

 src/main/webapp/static/js/console.map.js

@@ -555,6 +555,30 @@
                "height": 34
            }, {
                "type": "stn",
                "id": "site-145",
                "text": "145",
                "top": 319,
                "left": 173,
                "width": 30,
                "height": 34
            }, {
                "type": "stn",
                "id": "site-146",
                "text": "146",
                "top": 319,
                "left": 204,
                "width": 30,
                "height": 34
            }, {
                "type": "stn",
                "id": "site-147",
                "text": "147",
                "top": 319,
                "left": 235,
                "width": 30,
                "height": 34
            }, {
                "type": "stn",
                "id": "site-132",
                "text": "132",
                "top": 355,