src/main/java/com/zy/asrs/controller/CrnController.java
@@ -238,43 +238,43 @@ /************************** 手动操作 ******************************/ /****************************************************************/ @ManagerAuth(memo = "入库") @PostMapping("/operator/put") public R crnPut(CrnOperatorParam param){ CrnCommand command = new CrnCommand(); command.setCrnNo(param.getCrnNo()); // 堆垛机编号 command.setTaskNo((short) 0); // 工作号 command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 command.setSourcePosX(param.getSourceRow()); // 源库位排 command.setSourcePosY(param.getSourceBay()); // 源库位列 command.setSourcePosZ(param.getSourceLev()); // 源库位层 command.setDestinationPosX(param.getRow()); // 目标库位排 command.setDestinationPosY(param.getBay()); // 目标库位列 command.setDestinationPosZ(param.getLev()); // 目标库位层 boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString()); command.setTraySize(locSts); return crnControl(command)?R.ok():R.error(); } // @ManagerAuth(memo = "入库") // @PostMapping("/operator/put") // public R crnPut(CrnOperatorParam param){ // CrnCommand command = new CrnCommand(); // command.setCrnNo(param.getCrnNo()); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.PAKIN); // 任务模式 // command.setSourcePosX(param.getSourceRow()); // 源库位排 // command.setSourcePosY(param.getSourceBay()); // 源库位列 // command.setSourcePosZ(param.getSourceLev()); // 源库位层 // command.setDestinationPosX(param.getRow()); // 目标库位排 // command.setDestinationPosY(param.getBay()); // 目标库位列 // command.setDestinationPosZ(param.getLev()); // 目标库位层 // boolean locSts = isLocSts(param.getRow().toString(), param.getBay().toString(), param.getLev().toString()); // command.setTraySize(locSts); // return crnControl(command)?R.ok():R.error(); // } @ManagerAuth(memo = "出库") @PostMapping("/operator/take") public R crnTake(CrnOperatorParam param){ CrnCommand command = new CrnCommand(); command.setCrnNo(param.getCrnNo()); // 堆垛机编号 command.setTaskNo((short) 0); // 工作号 command.setAckFinish((short) 0); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式 command.setSourcePosX(param.getSourceRow()); // 源库位排 command.setSourcePosY(param.getSourceBay()); // 源库位列 command.setSourcePosZ(param.getSourceLev()); // 源库位层 command.setDestinationPosX(param.getRow()); // 目标库位排 command.setDestinationPosY(param.getBay()); // 目标库位列 command.setDestinationPosZ(param.getLev()); // 目标库位层 boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString()); command.setTraySize(locSts); return crnControl(command)?R.ok():R.error(); } // @ManagerAuth(memo = "出库") // @PostMapping("/operator/take") // public R crnTake(CrnOperatorParam param){ // CrnCommand command = new CrnCommand(); // command.setCrnNo(param.getCrnNo()); // 堆垛机编号 // command.setTaskNo((short) 0); // 工作号 // command.setAckFinish((short) 0); // 任务完成确认位 // command.setTaskMode(CrnTaskModeType.PAKOUT); // 任务模式 // command.setSourcePosX(param.getSourceRow()); // 源库位排 // command.setSourcePosY(param.getSourceBay()); // 源库位列 // command.setSourcePosZ(param.getSourceLev()); // 源库位层 // command.setDestinationPosX(param.getRow()); // 目标库位排 // command.setDestinationPosY(param.getBay()); // 目标库位列 // command.setDestinationPosZ(param.getLev()); // 目标库位层 // boolean locSts = isLocSts(param.getSourceRow().toString(), param.getSourceBay().toString(), param.getSourceLev().toString()); // command.setTraySize(locSts); // return crnControl(command)?R.ok():R.error(); // } @ManagerAuth(memo = "库位转移") @PostMapping("/operator/stockMove") src/main/java/com/zy/asrs/entity/BasCrnp.java
@@ -11,11 +11,13 @@ import com.zy.system.entity.User; import com.zy.system.service.UserService; import io.swagger.annotations.ApiModelProperty; import lombok.Data; import java.io.Serializable; import java.text.SimpleDateFormat; import java.util.Date; @Data @TableName("asr_bas_crnp") public class BasCrnp implements Serializable { @@ -49,7 +51,19 @@ @ApiModelProperty(value= "状态") @TableField("crn_sts") private Integer crnSts; /** * 状态 */ @ApiModelProperty(value= "状态1") @TableField("crn_status_one") private Integer crnStatusOne; /** * 状态 */ @ApiModelProperty(value= "状态2") @TableField("crn_status_two") private Integer crnStatusTwo; /** * 工作号 */ @@ -58,6 +72,13 @@ private Integer wrkNo; /** * 工作号 */ @ApiModelProperty(value= "工作号") @TableField("wrk_no_two") private Integer wrkNoTwo; /** * 异常码 */ @ApiModelProperty(value= "异常码") src/main/java/com/zy/asrs/mapper/WrkMastMapper.java
@@ -25,6 +25,10 @@ // @Select("select top 1 * from asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=2 and barcode=#{barcode} and (io_type=1 or io_type=10) order by io_pri desc,io_time,wrk_no ASC") WrkMast selectPakInStep1(@Param("sourceStaNo")Integer sourceStaNo, @Param("barcode")String barcode); WrkMast selectPakInStep1All(@Param("sourceStaNo")Integer sourceStaNo,@Param("crnNo")Integer crnNo); WrkMast selectPakInStepBarcode(@Param("barcode")String barcode); WrkMast selectPakInStep11(@Param("sourceStaNo")Integer sourceStaNo); @@ -32,6 +36,13 @@ // 入库第二步，当托盘物料在堆垛机入库站时时查询 // @Select("select top 1 * from dbo.asr_wrk_mast where wrk_sts=2 and crn_no=#{crnNo} and wrk_no=#{workNo} and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time,wrk_no ASC") WrkMast selectPakInStep2(@Param("crnNo")Integer crnNo, @Param("workNo")Integer workNo, @Param("staNo")Integer staNo); WrkMast selectPakInStep103(@Param("crnNo")Integer crnNo); WrkMast selectByPltType(@Param("crnNo")Integer crnNo,@Param("pltType")Integer pltType); // 入库第三步，当堆垛机把货放入库位时 // @Select("select top 1 from dbo.asr_wrk_mast where wrk_no=#{workNo}") @@ -104,6 +115,10 @@ */ List<WrkMast> selectPakOutStep11(@Param("crnNo")Integer crnNO, @Param("sourceStaNo")Integer sourceStaNo); List<WrkMast> selectPakOutStep105(@Param("crnNo")Integer crnNO, @Param("sourceStaNo")Integer sourceStaNo); WrkMast selectWorkingPakin(@Param("sourceStaNo")Integer sourceStaNo); WrkMast selectWorkingPakout(@Param("sourceStaNo")Integer sourceStaNo);
@@ -27,7 +27,10 @@ import com.zy.core.cache.MessageQueue; import com.zy.core.cache.SlaveConnection; import com.zy.core.enums.*; import com.zy.core.model.*; import com.zy.core.model.CrnSlave; import com.zy.core.model.DevpSlave; import com.zy.core.model.LedSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; import com.zy.core.model.command.LedCommand; import com.zy.core.model.command.RgvCommand; @@ -199,7 +202,7 @@ && staProtocol.isInEnable() && !staProtocol.isEmptyMk() && staProtocol.isPakMk() && staProtocol.getWorkNo()==9999) { && staProtocol.getWorkNo() == 9999) { if (Cools.isEmpty(barcode) || "NG".endsWith(barcode) || "NoRead".equals(barcode) || "00000000".equals(barcode)) { News.info("{}号条码扫描器检测条码信息：{}", inSta.getBarcode(), barcode); @@ -268,7 +271,7 @@ param.setLocType1(locTypeDto.getLocType1()); param.setWeight(staProtocol.getWeight()); String response = new HttpHandler.Builder() .setTimeout(30,TimeUnit.SECONDS) .setTimeout(30, TimeUnit.SECONDS) .setUri(wmsUrl) .setPath("/rpc/pakin/loc/v1") .setJson(JSON.toJSONString(param)) @@ -345,7 +348,7 @@ } } News.infoNoLog(""+mark+" - 0"+" - 组托 ===》执行完成"); News.infoNoLog("" + mark + " - 0" + " - 组托 ===》执行完成"); } @@ -434,7 +437,7 @@ StaProtocol staProtocol = devpThread.getStation().get(pickSta.getStaNo()); if(staProtocol == null) { if (staProtocol == null) { // News.error("站点信息未获得"); continue; } @@ -623,7 +626,7 @@ // 更新站点信息 且 下发plc命令 staProtocol.setWorkNo(wrkMast.getWrkNo()); // if(staProtocol.getSiteId() < 400){ staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString())); staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString())); // } devpThread.setPakMk(staProtocol.getSiteId(), false); boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol)); @@ -640,7 +643,7 @@ } } News.infoNoLog(""+mark+" - 0"+" - 拣料、并板、盘点再入库 ===》执行完成"); News.infoNoLog("" + mark + " - 0" + " - 拣料、并板、盘点再入库 ===》执行完成"); } @@ -861,16 +864,21 @@ // 更新工作档状态为14失败 wrkMast.setWrkSts(14L); wrkMast.setCrnEndTime(new Date()); wrkMast.setPltType(0); if (wrkMastMapper.updateById(wrkMast) != 0) { // 复位堆垛机 log.error("出库任务完成下发堆垛机复位,{}", wrkMast.getWrkNo()); crnThread.setResetFlag(true); log.error("出库任务完成下发堆垛机复位,{},{}", wrkMast.getWrkNo(), wrkMast.getPltType()); if (wrkMast.getPltType() == 1) { crnThread.setResetFlag(true); } else if (wrkMast.getPltType() == 2) { crnThread.setResetFlagTwo(true); } } else { News.error("" + mark + " - 1" + " - 更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo()); } } else { News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！" News.errorNoLog("" + mark + " - 6" + " - 堆垛机信息不符合入库条件！！！" + " 堆垛机状态：" + crnProtocol.modeType + "==自动AUTO：" + CrnModeType.AUTO + "、堆垛机任务号：" + crnProtocol.getTaskNo() + "==工作档任务号：" + wrkMast.getWrkNo().shortValue() + "、状态枚举：" + crnProtocol.statusType + "==WAITING：90 //任务完成等待WCS确认)：" + CrnStatusType.WAITING @@ -882,12 +890,13 @@ } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机站出库到出库站 ===》执行完成"); } /** * 堆垛机默认回原点 */ public synchronized void crnToInStn(Integer mark) { if(isToOrigin){ for (CrnSlave crn : slaveProperties.getCrn()){ if (isToOrigin) { for (CrnSlave crn : slaveProperties.getCrn()) { // 获取堆垛机信息 CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId()); CrnProtocol crnProtocol = crnThread.getCrnProtocol(); @@ -928,29 +937,87 @@ // } // 只有当堆垛机空闲 并且 无任务时才继续执行 if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) { if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getModeType() == CrnModeType.AUTO && crnProtocol.getForkPos() == 0 && crnProtocol.getTaskNo() == 0 && crnProtocol.getTaskNoTwo() == 0) { News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发"); // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { //mark - 1 - .... this.crnStnToLoc(crn, crnProtocol, mark); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { //mark - 2 - .... this.locToCrnStn(crn, crnProtocol, mark); // 出库 crnProtocol.setLastIo("I"); if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 0) { //堆垛机没有物料 // 如果最近一次是入库模式 if (crnProtocol.getLastIo().equals("I")) { if (basCrnp.getInEnable().equals("Y")) { //mark - 1 - .... this.inTake(crn, crnProtocol, mark); // 入库 crnProtocol.setLastIo("O"); } else if (basCrnp.getOutEnable().equals("Y")) { //mark - 2 - .... this.outTake(crn, crnProtocol, mark); // 出库 crnProtocol.setLastIo("I"); } } } // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.locToCrnStn(crn, crnProtocol, mark); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.crnStnToLoc(crn, crnProtocol, mark); // 入库 crnProtocol.setLastIo("O"); // 如果最近一次是出库模式 else if (crnProtocol.getLastIo().equals("O")) { if (basCrnp.getOutEnable().equals("Y")) { this.outTake(crn, crnProtocol, mark); // 出库 crnProtocol.setLastIo("I"); } else if (basCrnp.getInEnable().equals("Y")) { this.inTake(crn, crnProtocol, mark); // 入库 crnProtocol.setLastIo("O"); } } } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 1) { // 堆垛机有物料 WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1); if (wrkMast != null) { if (wrkMast.getIoType() >= 100) { this.outPut(crn, crnProtocol, mark); } else { this.inPut(crn, crnProtocol, mark); } } } else if (crnProtocol.getLoaded() == 1 && crnProtocol.getLoadedTwo() == 0) { // 堆垛机工位1有物料 WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 1); if (wrkMast != null) { //先判断是出库还是入库 //再判断是还有没有同类型的工作档 if (wrkMast.getIoType() >= 100) { WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo()); if (wrkMast1 != null) { this.outTake(crn, crnProtocol, mark); } else { this.outPut(crn, crnProtocol, mark); } } else { WrkMast wrkMast1 = wrkMastMapper.selectPakInStep1All(wrkMast.getSourceStaNo(), crn.getId()); if (wrkMast1 != null) { this.inTake(crn, crnProtocol, mark); } else { this.inPut(crn, crnProtocol, mark); } } } } else if (crnProtocol.getLoaded() == 0 && crnProtocol.getLoadedTwo() == 1) { // 堆垛机工位2有物料 WrkMast wrkMast = wrkMastMapper.selectByPltType(crn.getId(), 2); if (wrkMast != null) { //先判断是出库还是入库 //再判断是还有没有同类型的工作档 if (wrkMast.getIoType() >= 100) { WrkMast wrkMast1 = wrkMastMapper.selectPakOutStep1(crn.getId(), wrkMast.getSourceStaNo()); if (wrkMast1 != null) { this.outTake(crn, crnProtocol, mark); } else { this.outPut(crn, crnProtocol, mark); } } else { WrkMast wrkMast1 = wrkMastMapper.selectPakInStep1All(wrkMast.getSourceStaNo(), crn.getId()); if (wrkMast1 != null) { this.inTake(crn, crnProtocol, mark); } else { this.inPut(crn, crnProtocol, mark); } } } } } @@ -961,6 +1028,513 @@ } // News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成"); } /** * 先判断是不是特殊的边库位 * * @param locNo * @return */ private Integer getCrnStation(String locNo) { String bay = locNo.substring(2, 6); if (Integer.parseInt(bay) == 1) { return 2; } else if (Integer.parseInt(bay) == 29) { return 1; } if (Integer.parseInt(locNo.substring(0, 2)) >= 14) { return 1; } else { return 2; } } /** * 入库取货 */ public synchronized void inTake(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) { News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库"); for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取堆垛机入库站信息 DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId()); StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo()); if (staProtocol == null) { News.infoNoLog("" + mark + " - 1" + " - 1" + " - 堆垛机入库站信息(staProtocol!=null继续执行)：staProtocol=" + staProtocol); continue; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo()); if (staDetl == null) { News.error("" + mark + " - 1" + " - 2" + " - 入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo()); continue; } if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable() && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) { flag = true; } if (!flag) { News.errorNoLog("" + mark + " - 1" + " - 3" + " - 堆垛机入库站信息(以下需要全true):" + "自动信号" + staProtocol.isAutoing() + "有物信号" + staProtocol.isLoading() + "工作号>0" + staProtocol.getWorkNo() + "可入信号" + staProtocol.isInEnable() + "能入信号（wms设置）.equals(\"Y\")" + staDetl.getCanining()); continue; } // 获取工作状态为2（设备上走）的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo()); if (null == wrkMast) { News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); // log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo()); continue; } WrkMast wrkMast103 = wrkMastMapper.selectPakInStep103(slave.getId()); if (wrkMast103 != null) { News.error("" + mark + " - 1" + " - 8" + " - 堆垛机正在执行其他任务,请稍后再试"); } Integer crnStation = getCrnStation(wrkMast.getLocNo()); if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) { News.error("" + mark + " - 1" + " - 9" + " - 堆垛机改工位存在工作档,工位={}", crnStation); } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue() , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue() , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue()); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setPltType(crnStation); 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.TAKE); // 任务模式: 库位移转 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列 crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层 // crnCommand.setDestinationPosX((short) (locMast.getRow1() + slave.getOffset())); // 目标库位排 // crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset())); // 目标库位列 // crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset())); // 目标库位层 // crnCommand.setTraySize(locMast.getLocType1() == 2); if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error("" + mark + " - 1" + " - 16" + " - 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 2.设备上走 => 103.吊车入库中 Date now = new Date(); wrkMast.setWrkSts(103L); wrkMast.setPltType(1); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("" + mark + " - 1" + " - 17" + " - 修改工作档状态 2.设备上走 => 103.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发 ： 入库取货执行完毕"); } /** * 入库放货 */ public synchronized void inPut(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) { News.warnNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发：执行入库"); for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) { boolean flag = false; // 获取工作状态为103（设备上走）的入库工作档 WrkMast wrkMast = wrkMastMapper.selectPakInStep103(slave.getId()); if (null == wrkMast) { News.infoNoLog("" + mark + " - 1" + " - 4" + " - 查询无待入库数据--wrk_sts=2, 工作号={}"); // log.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo()); continue; } // 获取库位信息 LocMast locMast = locMastService.selectById(wrkMast.getLocNo()); if (locMast == null) { News.error("" + mark + " - 1" + " - 5" + " - 查询库存无数据--库位号{}", wrkMast.getLocNo()); continue; } if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) { News.error("" + mark + " - 1" + " - 6" + " - 入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts()); continue; } // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // News.infoNoLog(""+mark+" - 1"+" - 7"+" - 堆垛机控制过滤:堆垛机是否空闲={}，任务号={}", crnProtocol.getStatusType(),crnProtocol.getTaskNo()); continue; } if (wrkMast.getPltType() == 1) { if (crnProtocol.getLoaded() == 0) { News.infoNoLog("" + mark + " - 1" + " - 7" + " - 堆垛机有工作档无物，任务号={}", crnProtocol.getStatusType(), wrkMast.getWrkNo()); } } else if (wrkMast.getPltType() == 2) { if (crnProtocol.getLoadedTwo() == 0) { News.infoNoLog("" + mark + " - 1" + " - 7" + " - 堆垛机有工作档无物，任务号={}", crnProtocol.getStatusType(), wrkMast.getWrkNo()); } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { continue; } News.warnNoLog("" + mark + " - 1" + " - 15" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue() , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue() , locMast.getRow1().shortValue(), locMast.getBay1().shortValue(), locMast.getLev1().shortValue()); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setPltType(wrkMast.getPltType()); 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.PUT); // 任务模式: 库位移转 // crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 // crnCommand.setSourcePosY(crnStn.getBay().shortValue()); // 源库位列 // crnCommand.setSourcePosZ(crnStn.getLev().shortValue()); // 源库位层 crnCommand.setDestinationPosX((short) (locMast.getRow1() + slave.getOffset())); // 目标库位排 crnCommand.setDestinationPosY((short) (locMast.getBay1() + slave.getOffset())); // 目标库位列 crnCommand.setDestinationPosZ((short) (locMast.getLev1() + slave.getOffset())); // 目标库位层 // crnCommand.setTraySize(locMast.getLocType1() == 2); if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) { News.error("" + mark + " - 1" + " - 16" + " - 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 2.设备上走 => 104.吊车入库取货中 Date now = new Date(); wrkMast.setWrkSts(104L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 0) { News.error("" + mark + " - 1" + " - 17" + " - 修改工作档状态 2.设备上走 => 103.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo()); } } } News.infoNoLog("" + mark + " - 1" + " - 0" + " - 堆垛机入出库作业下发 ： 入库放货执行完毕"); } /** * 出库取货 */ public synchronized void outTake(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) { News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库"); 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<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo()); for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { continue; } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) { News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) { News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); continue; } // 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) { 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=" + staProtocol); break; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 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; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; 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, wrkMast.getSourceLocNo())) { News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo()); String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); 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")) { News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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！库位状态={}", shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { News.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { if (waitWrkMast.getWrkSts() == 11) { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } else { } } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D 库位状态={}", shallowLoc.getLocSts()); // WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务 WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); // 此标记避免多次执行移库任务 // if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk()) // || Cools.isEmpty(waitWrkMast)) { if (Cools.isEmpty(waitWrkMast)) { wrkMast.setUpdMk("Y"); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc, mark); } News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo); continue; } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) { News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S 库位状态={}", shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts()); continue; } } } Integer crnStation = getCrnStation(wrkMast.getSourceLocNo()); if (wrkMastMapper.selectByPltType(slave.getId(), crnStation) != null) { News.error("" + mark + " - 1" + " - 9" + " - 堆垛机改工位存在工作档,工位={}", crnStation); } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue() , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue() , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()); // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(slave.getId()); // 堆垛机编号 crnCommand.setPltType(crnStation); 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((short) (sourceSta.getRow1() + slave.getOffset())); // 源库位排 crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset())); // 源库位列 crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset())); // 源库位层 // crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 // crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 // crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", 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(105L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo()); } break; } } } } News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发 ： 出库执行完毕"); } /** * 出库取货 */ public synchronized void outPut(CrnSlave slave, CrnProtocol crnProtocol, Integer mark) { News.warnNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发：执行出库"); 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<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep105(slave.getId(), crnStn.getStaNo()); for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { continue; } // 工作档状态判断 if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) { News.error("" + mark + " - 2" + " - 1" + " - 查询工作档数据不符合条件--入出类型/站点, 工作号={}，源库位={}，入出类型={}", wrkMast.getWrkNo(), wrkMast.getSourceLocNo(), wrkMast.getIoType()); continue; } // 获取源库位信息 LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo()); if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) { News.error("" + mark + " - 2" + " - 2" + " - 出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts()); continue; } // 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) { 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=" + staProtocol); break; } else { staProtocol = staProtocol.clone(); } // 查询站点详细信息 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; } // 判断堆垛机出库站状态 if (staProtocol.isAutoing() && !staProtocol.isLoading() && staDetl.getCanouting() != null && staDetl.getCanouting().equals("Y") && staProtocol.getWorkNo() == 0 && staProtocol.isOutEnable()) { // 命令下发区 -------------------------------------------------------------------------- // 堆垛机控制过滤 if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) { // continue; 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, wrkMast.getSourceLocNo())) { News.warnNoLog("" + mark + " - 2" + " - 6" + " - 双深库位且浅库位有货，则需先对浅库位进行库位移转 : 开始执行 任务号={}", wrkMast.getWrkNo()); String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getSourceLocNo()); 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")) { News.warnNoLog("" + mark + " - 2" + " - 7" + " - // 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！库位状态={}", shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); if (null == waitWrkMast) { News.error("{}库位异常，未检索到相应工作档！", shallowLocNo); } else { if (waitWrkMast.getWrkSts() == 11) { waitWrkMast.setIoPri(15D); waitWrkMast.setModiTime(new Date()); if (wrkMastMapper.updateById(waitWrkMast) == 0) { News.error("" + mark + " - 2" + " - 8" + " - 调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo()); } continue; } else { } } } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) { News.warnNoLog("" + mark + " - 2" + " - 9" + " - // F、D 库位状态={}", shallowLoc.getLocSts()); // WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo); //2022-08-16 modify,不根据updmk标记移库任务(容易被取消导致堵塞)，查询工作档是否存在任务 WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); // 此标记避免多次执行移库任务 // if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk()) // || Cools.isEmpty(waitWrkMast)) { if (Cools.isEmpty(waitWrkMast)) { wrkMast.setUpdMk("Y"); wrkMastMapper.updateById(wrkMast); // 生成工作档,将浅库位移转到新的库位中 moveLocForDeepLoc(slave, shallowLoc, mark); } News.error("{}任务出库失败，浅库位堵塞！浅库位号:{}", wrkMast.getWrkNo(), shallowLocNo); continue; } else if (shallowLoc.getLocSts().equals("Q") || shallowLoc.getLocSts().equals("S")) { News.warnNoLog("" + mark + " - 2" + " - 10" + " - // Q、S 库位状态={}", shallowLoc.getLocSts()); WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo); if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) { News.infoNoLog("" + mark + " - 2" + " - 11" + " - // F、D 工作状态(判断条件为==4)={}", waitWrkMast.getWrkSts()); continue; } } } // 已经存在吊车执行任务时，则过滤 if (wrkMastMapper.selectWorking(slave.getId()) != null) { break; // return; } News.warnNoLog("" + mark + " - 2" + " - 12" + " - 命令下发 : 工作号={},源排={},源列={},源层={},目标排={},目标列={},目标层={}", wrkMast.getWrkNo().shortValue() , sourceSta.getRow1().shortValue(), sourceSta.getBay1().shortValue(), sourceSta.getLev1().shortValue() , crnStn.getRow().shortValue(), crnStn.getBay().shortValue(), crnStn.getLev().shortValue()); // 1.堆垛机开始移动 CrnCommand crnCommand = new CrnCommand(); crnCommand.setPltType(wrkMast.getPltType()); 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((short) (sourceSta.getRow1() + slave.getOffset())); // 源库位排 // crnCommand.setSourcePosY((short) (sourceSta.getBay1() + slave.getOffset())); // 源库位列 // crnCommand.setSourcePosZ((short) (sourceSta.getLev1() + slave.getOffset())); // 源库位层 crnCommand.setDestinationPosX(crnStn.getRow().shortValue()); // 目标库位排 crnCommand.setDestinationPosY(crnStn.getBay().shortValue()); // 目标库位列 crnCommand.setDestinationPosZ(crnStn.getLev().shortValue()); // 目标库位层 crnCommand.setTraySize(sourceSta.getLocType1() == 2); //库位类型 if (!MessageQueue.offer(SlaveType.Crn, wrkMast.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={}", 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(106L); wrkMast.setCrnStrTime(now); wrkMast.setModiTime(now); if (wrkMastMapper.updateById(wrkMast) == 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={}", wrkMast.getWrkNo()); } break; } } } } News.infoNoLog("" + mark + " - 2" + " - 0" + " - 堆垛机入出库作业下发 ： 出库执行完毕"); } /** @@ -1183,7 +1757,7 @@ // WrkMast wrkMast = wrkMastMapper.selectPakOutStep1(slave.getId(), crnStn.getStaNo()); List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo()); for (WrkMast wrkMast : wrkMasts) { if (wrkMast == null) { if (wrkMast == null) { continue; } // 工作档状态判断 @@ -1206,7 +1780,7 @@ } else { staProtocol = staProtocol.clone(); } StaProtocol staProtocol1 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 1):devpThread.getStation().get(crnStn.getStaNo() - 1); StaProtocol staProtocol1 = staProtocol.getSiteId() == 101 ? devpThread.getStation().get(crnStn.getStaNo() + 1) : devpThread.getStation().get(crnStn.getStaNo() - 1); // StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() - 1); // StaProtocol staProtocol1 = devpThread.getStation().get(crnStn.getStaNo() + 1); if (staProtocol1 == null) { @@ -1215,7 +1789,7 @@ } else { staProtocol1 = staProtocol1.clone(); } StaProtocol staProtocol2 = staProtocol.getSiteId()==101?devpThread.getStation().get(crnStn.getStaNo() + 2):devpThread.getStation().get(crnStn.getStaNo()); StaProtocol staProtocol2 = staProtocol.getSiteId() == 101 ? devpThread.getStation().get(crnStn.getStaNo() + 2) : devpThread.getStation().get(crnStn.getStaNo()); // StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() - 2); // StaProtocol staProtocol2 = devpThread.getStation().get(crnStn.getStaNo() + 2); if (staProtocol2 == null) { @@ -1225,7 +1799,7 @@ staProtocol2 = staProtocol2.clone(); } //出入口输送线只允许存在一个托盘 if(staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) { if (staProtocol.isLoading() || staProtocol1.isLoading() || staProtocol2.isLoading() || staProtocol.getWorkNo() != 0 || staProtocol1.getWorkNo() != 0 || staProtocol2.getWorkNo() != 0) { break; } @@ -1556,7 +2130,7 @@ // 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){ if (crnProtocol.getTaskNo() == 9999) { crnThread.setResetFlag(true); continue; } @@ -1567,8 +2141,19 @@ continue; } // 入库 + 库位转移 ==> 4.入库完成 if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) { if (wrkMast.getWrkSts() == 3) { wrkMast.setWrkSts(4L); wrkMast.setPltType(0); } else if (wrkMast.getWrkSts() == 103) { wrkMast.setWrkSts(104L); } else if (wrkMast.getWrkSts() == 105) { wrkMast.setWrkSts(4L); wrkMast.setPltType(0); } else if (wrkMast.getWrkSts() == 106) { wrkMast.setWrkSts(107L); } else if (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11) { wrkMast.setWrkSts(4L); wrkMast.setPltType(0); } else { continue; } @@ -1823,7 +2408,7 @@ } } } News.infoNoLog(""+mark+" - 0"+" - 空栈板初始化入库,叉车入库站放货执行完成"); News.infoNoLog("" + mark + " - 0" + " - 空栈板初始化入库,叉车入库站放货执行完成"); } /** @@ -1905,13 +2490,13 @@ total = locDetl.getAnfme(); } if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total)); ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total)); } if (wrkMast.getIoType() == 103 ) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total)); if (wrkMast.getIoType() == 103) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total)); } if (wrkMast.getIoType() == 107) { ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total)); ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(), wrkDetl.getOutOrderNo(), wrkDetl.getUnit(), wrkDetl.getWeight(), wrkDetl.getSupp(), wrkDetl.getLength(), wrkDetl.getTemp1(), wrkDetl.getProType(), wrkDetl.getAnfme(), wrkDetl.getTemp2(), total)); } }); } @@ -3226,7 +3811,7 @@ } if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) { if (crnProtocol.getCrnNo()==1 && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) { if (crnProtocol.getCrnNo() == 1 && crnProtocol.getBay() == 1 && crnProtocol.getLevel() == 1) { continue; } Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false)); @@ -3252,18 +3837,18 @@ News.info("堆垛机无任务自动回入库口待机==>>" + crnProtocol.getCrnNo() + "号堆垛机"); // 命令下发区 -------------------------------------------------------------------------- CrnCommand crnCommand = new CrnCommand(); crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo((short) 9999); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 crnCommand.setCrnNo(crnProtocol.getCrnNo()); // 堆垛机编号 crnCommand.setTaskNo((short) 9999); // 工作号 crnCommand.setAckFinish((short) 0); // 任务完成确认位 // crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式: 堆垛机移动 crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式: 站位转移 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 crnCommand.setSourcePosY((short) 1); // 源库位列 crnCommand.setSourcePosZ((short) 1); // 源库位层 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 crnCommand.setCommand((short) 1);//任务确认位 crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式: 站位转移 crnCommand.setSourcePosX(crnStn.getRow().shortValue()); // 源库位排 crnCommand.setSourcePosY((short) 1); // 源库位列 crnCommand.setSourcePosZ((short) 1); // 源库位层 crnCommand.setDestinationPosX((short) 0); // 目标库位排 crnCommand.setDestinationPosY((short) 14); // 目标库位列 crnCommand.setDestinationPosZ((short) 0); // 目标库位层 crnCommand.setCommand((short) 1);//任务确认位 if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(2, crnCommand))) { News.error("堆垛机移动命令下发失败，堆垛机号={}，任务数据={}", crnProtocol.getCrnNo(), JSON.toJSON(crnCommand)); } src/main/java/com/zy/core/CrnThread.java
@@ -8,6 +8,8 @@ void setResetFlag(boolean flag); void setResetFlagTwo(boolean flag); void setBackHpFlag(boolean flag); /** src/main/java/com/zy/core/enums/CrnTaskModeType.java
@@ -3,8 +3,8 @@ public enum CrnTaskModeType { NONE(0), // 无 PAKIN(1), // 入库 PAKOUT(2), // 出库 TAKE(1), // 取 PUT(2), // 放 LOC_MOVE(3), // 库位移转 X_MOVE(4), // 站位移转 Y_MOVE(5), // 站位移转 src/main/java/com/zy/core/model/command/CrnCommand.java
@@ -17,6 +17,10 @@ // 堆垛机号 private Integer crnNo = 0; // 堆垛机工位号 private Integer pltType; // 任务完成确认位 private Short ackFinish = 0;
@@ -33,12 +33,12 @@ * 异常码 */ public Short alarm; public Short alarmTwo; /** * 任务号 */ public Short taskNo = 0; public Short taskNoTwo = 0; /** * 堆垛机当前状态 * 0：空闲，无任务 @@ -52,23 +52,24 @@ * 90：任务完成等待WCS确认 * 99：报警 */ public Short status; public Short status = -1; public Short statusTwo = -1; /** * 状态枚举 */ public CrnStatusType statusType; public CrnStatusType statusTypeTwo; /** * 堆垛机当前列号 */ public Short bay; public Short bayTwo; /** * 堆垛机当前层号 */ public Short level; public Short levelTwo; /** * 当前货叉位置 * 0 = 货叉原位 @@ -76,17 +77,21 @@ * 2 = 货叉在右侧 */ public Short forkPos; public Short forkPosTwo; public CrnForkPosType forkPosType; public CrnForkPosType forkPosTypeTwo; /** * 当前载货台位置 * 0 = 下定位 * 1 = 上定位 */ public Short liftPos; public Short liftPosTwo; public CrnLiftPosType liftPosType; public CrnLiftPosType liftPosTypeTwo; /** * 走行在定位 @@ -94,11 +99,14 @@ * 1 = 不在定位 */ public Short walkPos; public Short walkPosTwo; /** * 载货台有物 */ public Short loaded; public Short loadedTwo; private Short temp1; @@ -212,6 +220,16 @@ this.forkPos = CrnForkPosType.get(type).id.shortValue(); } public void setForkPosTwo(Short forkPosTwo) { this.forkPosTwo = forkPosTwo; this.forkPosTypeTwo = CrnForkPosType.get(forkPosTwo); } public void setForkPosTwo(CrnForkPosType typeTwo) { this.forkPosTypeTwo = typeTwo; this.forkPosTwo = CrnForkPosType.get(typeTwo).id.shortValue(); } public void setLiftPos(Short liftPos) { this.liftPos = liftPos; this.liftPosType = CrnLiftPosType.get(liftPos); @@ -222,9 +240,24 @@ this.liftPos = CrnLiftPosType.get(type).id.shortValue(); } public void setLiftPosTwo(Short liftPosTwo) { this.liftPosTwo = liftPosTwo; this.liftPosTypeTwo = CrnLiftPosType.get(liftPosTwo); } public void setLiftPosTwo(CrnLiftPosType typeTwo) { this.liftPosTypeTwo = typeTwo; this.liftPosTwo = CrnLiftPosType.get(typeTwo).id.shortValue(); } public void setStatus(Short status){ this.status = status; this.statusType = CrnStatusType.get(status); } public void setStatusTwo(Short statusTwo){ this.statusTwo = statusTwo; this.statusTypeTwo = CrnStatusType.get(statusTwo); } public void setStatus(CrnStatusType type){ @@ -253,35 +286,39 @@ basCrnp.setCrnErr(alarm.longValue()); } basCrnp.setWrkNo(taskNo.intValue()); basCrnp.setWrkNoTwo(taskNoTwo.intValue()); basCrnp.setCrnStatusOne(status.intValue()); basCrnp.setCrnStatusTwo(statusTwo.intValue()); return basCrnp; } public void setxSpeed(float xSpeed) { this.xSpeed = xSpeed; public void setxSpeed(Short xSpeed) { this.xSpeed = Float.valueOf(xSpeed); } public void setySpeed(float ySpeed) { this.ySpeed = ySpeed; public void setySpeed(Short ySpeed) { this.ySpeed = Float.valueOf(ySpeed); } public void setzSpeed(float zSpeed) { this.zSpeed = zSpeed; public void setzSpeed(Short zSpeed) { this.zSpeed = Float.valueOf(zSpeed); } public void setxDistance(float xDistance) { this.xDistance = xDistance; public void setxDistance(Short xDistance) { this.xDistance = Float.valueOf(xDistance); } public void setyDistance(float yDistance) { this.yDistance = yDistance; public void setyDistance(Short yDistance) { this.yDistance = Float.valueOf(yDistance); } public void setxDuration(float xDuration) { this.xDuration = xDuration; public void setxDuration(Short xDuration) { this.xDuration = Float.valueOf(xDuration); } public void setyDuration(float yDuration) { this.yDuration = yDuration; public void setyDuration(Short yDuration) { this.yDuration = Float.valueOf(yDuration); } } src/main/java/com/zy/core/thread/MelsecCrnThread.java
@@ -42,6 +42,7 @@ private CrnProtocol crnProtocol; private short heartBeatVal = 1; private boolean resetFlag = false; private boolean resetFlagTwo = false; /** * 堆垛机是否在回原点运动中标记 src/main/java/com/zy/core/thread/SiemensCrnThread.java
@@ -16,7 +16,9 @@ import com.zy.core.CrnThread; import com.zy.core.cache.MessageQueue; import com.zy.core.cache.OutputQueue; import com.zy.core.enums.*; import com.zy.core.enums.CrnStatusType; import com.zy.core.enums.CrnTaskModeType; import com.zy.core.enums.SlaveType; import com.zy.core.model.CrnSlave; import com.zy.core.model.Task; import com.zy.core.model.command.CrnCommand; @@ -39,6 +41,7 @@ private CrnSlave slave; private CrnProtocol crnProtocol; private boolean resetFlag = false; private boolean resetFlagTwo = false; public boolean isRunning = true; @@ -69,11 +72,11 @@ case 1: readStatus(); break; // 写入数据 // 写入数据 1号工位 case 2: write((CrnCommand) task.getData()); break; // 复位 // 复位 1号工位 case 3: CrnCommand command = (CrnCommand) task.getData(); if (null == command) { @@ -83,14 +86,37 @@ command.setTaskNo((short) 0); // 工作号 command.setAckFinish((short) 1); // 任务完成确认位 command.setTaskMode(CrnTaskModeType.NONE); // 任务模式 command.setSourcePosX((short)0); // 源库位排 command.setSourcePosY((short)0); // 源库位列 command.setSourcePosZ((short)0); // 源库位层 command.setDestinationPosX((short)0); // 目标库位排 command.setDestinationPosY((short)0); // 目标库位列 command.setDestinationPosZ((short)0); // 目标库位层 command.setSourcePosX((short) 0); // 源库位排 command.setSourcePosY((short) 0); // 源库位列 command.setSourcePosZ((short) 0); // 源库位层 command.setDestinationPosX((short) 0); // 目标库位排 command.setDestinationPosY((short) 0); // 目标库位列 command.setDestinationPosZ((short) 0); // 目标库位层 write(command); break; // 写入数据 2号工位 case 4: write2((CrnCommand) task.getData()); break; // 复位 2号工位 case 6: CrnCommand command2 = (CrnCommand) task.getData(); if (null == command2) { command2 = new CrnCommand(); } command2.setCrnNo(slave.getId()); // 堆垛机编号 command2.setTaskNo((short) 0); // 工作号 command2.setAckFinish((short) 1); // 任务完成确认位 command2.setTaskMode(CrnTaskModeType.NONE); // 任务模式 command2.setSourcePosX((short) 0); // 源库位排 command2.setSourcePosY((short) 0); // 源库位列 command2.setSourcePosZ((short) 0); // 源库位层 command2.setDestinationPosX((short) 0); // 目标库位排 command2.setDestinationPosY((short) 0); // 目标库位列 command2.setDestinationPosZ((short) 0); // 目标库位层 write2(command2); break; default: break; } @@ -111,14 +137,15 @@ } crnProtocol.setMode((short) -1); // crnProtocol.setTaskNo((short)0); crnProtocol.setStatus((short)-1); crnProtocol.setBay((short)0); crnProtocol.setLevel((short)0); crnProtocol.setStatus((short) -1); crnProtocol.setStatusTwo((short) -1); crnProtocol.setBay((short) 0); crnProtocol.setLevel((short) 0); crnProtocol.setForkPos((short) -1); crnProtocol.setLiftPos((short) -1); crnProtocol.setWalkPos((short)0); crnProtocol.setLoaded((short)0); crnProtocol.setAlarm((short)0); crnProtocol.setWalkPos((short) 0); crnProtocol.setLoaded((short) 0); crnProtocol.setAlarm((short) 0); crnProtocol.setxSpeed((short) 0); crnProtocol.setySpeed((short) 0); crnProtocol.setzSpeed((short) 0); @@ -135,13 +162,13 @@ siemensNet.setRack(slave.getRack().byteValue()); siemensNet.setSlot(slave.getSlot().byteValue()); OperateResult connect = siemensNet.ConnectServer(); if(connect.IsSuccess){ if (connect.IsSuccess) { result = true; OutputQueue.CRN.offer(MessageFormat.format( "【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.info("SiemensCrn"+" - 1"+" - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.info("SiemensCrn" + " - 1" + " - 堆垛机plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】堆垛机plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.error("SiemensCrn"+" - 2"+" - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); News.error("SiemensCrn" + " - 2" + " - 堆垛机plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); initCrn(); } // siemensNet.ConnectClose(); @@ -151,7 +178,7 @@ /** * 读取状态 */ private void readStatus(){ private void readStatus() { try { OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 56); if (result.IsSuccess) { @@ -173,29 +200,55 @@ crnProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 22)); crnProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 24)); crnProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 26)); crnProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 28)); crnProtocol.setySpeed(siemensNet.getByteTransform().TransSingle(result.Content, 32)); crnProtocol.setzSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 36)); crnProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 40)); crnProtocol.setyDistance(siemensNet.getByteTransform().TransSingle(result.Content, 44)); crnProtocol.setxDuration(siemensNet.getByteTransform().TransSingle(result.Content, 48)); crnProtocol.setyDuration(siemensNet.getByteTransform().TransSingle(result.Content, 52)); crnProtocol.setxSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 28)); crnProtocol.setySpeed(siemensNet.getByteTransform().TransInt16(result.Content, 32)); crnProtocol.setzSpeed(siemensNet.getByteTransform().TransInt16(result.Content, 36)); crnProtocol.setxDistance(siemensNet.getByteTransform().TransInt16(result.Content, 40)); crnProtocol.setyDistance(siemensNet.getByteTransform().TransInt16(result.Content, 44)); crnProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 48)); crnProtocol.setyDuration(siemensNet.getByteTransform().TransInt16(result.Content, 52)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId())); //2工位 crnProtocol.setTaskNoTwo(siemensNet.getByteTransform().TransInt16(result.Content, 56)); crnProtocol.setForkPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 58)); crnProtocol.setLiftPosTwo(siemensNet.getByteTransform().TransInt16(result.Content, 60)); crnProtocol.setLoadedTwo(siemensNet.getByteTransform().TransInt16(result.Content, 64)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功", DateUtils.convert(new Date()), slave.getId())); // 复位信号 if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusType().equals(CrnStatusType.WAITING)) { News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！", slave.getId(),crnProtocol.getTaskNo(), crnProtocol.getLoaded()==1 ? "有物" : "无物"); slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物"); if (resetFlag) { if(crnProtocol.getTaskNo()==9999){ if (crnProtocol.getTaskNo() == 9999) { backHpFlag = false; } Short wrkNo = crnProtocol.getTaskNo(); CrnCommand crnCommand = new CrnCommand(); crnCommand.setAckFinish((short)1); crnCommand.setAckFinish((short) 1); if (write(crnCommand)) { resetFlag = false; News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！", slave.getId(), wrkNo, resetFlag); } } } // 复位信号 if (!Cools.isEmpty(crnProtocol.getStatusType()) && crnProtocol.getStatusTypeTwo().equals(CrnStatusType.WAITING)) { News.error("---第一步、[堆垛机号：{}, 工作号：{}, 载货台信号:{}]==>> 状态为10，等待确认！！", slave.getId(), crnProtocol.getTaskNo(), crnProtocol.getLoaded() == 1 ? "有物" : "无物"); if (resetFlagTwo) { if (crnProtocol.getTaskNo() == 9999) { backHpFlag = false; } Short wrkNo = crnProtocol.getTaskNo(); CrnCommand crnCommand = new CrnCommand(); crnCommand.setAckFinish((short) 1); if (write2(crnCommand)) { resetFlagTwo = false; News.error("---第二步、[堆垛机号：{}, 工作号：{}]==>> 复位resetFlag标记成功{}！！", slave.getId(), wrkNo, resetFlag); } @@ -207,21 +260,22 @@ BasCrnpService basCrnpService = SpringUtils.getBean(BasCrnpService.class); BasCrnp basCrnp = new BasCrnp(); basCrnp.setCrnNo(slave.getId()); basCrnp.setCrnSts((int)crnProtocol.getMode()); if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))){ News.error("SiemensCrn"+" - 3"+" - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); basCrnp.setCrnSts((int) crnProtocol.getMode()); if (!basCrnpService.updateById(crnProtocol.toSqlModel(basCrnp))) { News.error("SiemensCrn" + " - 3" + " - 堆垛机plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception ignore){} } catch (Exception ignore) { } } else { initCrn(); OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot())); News.error("SiemensCrn"+" - 4"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); News.error("SiemensCrn" + " - 4" + " - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()); } } catch (Exception e) { e.printStackTrace(); OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("SiemensCrn"+" - 5"+" - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); News.error("SiemensCrn" + " - 5" + " - 读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); initCrn(); } } @@ -244,8 +298,8 @@ return false; } // 向堆垛机发任务前的堆垛机状态 try{ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24); try { OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18); if (resultRead.IsSuccess) { CrnCommand one = new CrnCommand(); one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); @@ -260,13 +314,13 @@ || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) ){ ) { // News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } else { // News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } } }catch (Exception e){ } catch (Exception e) { News.error("堆垛机命令地址写入后回读出错"); } // convertRow(command); @@ -294,11 +348,11 @@ int writeCount1 = 1; do { try{ if(!result.IsSuccess ){ try { if (!result.IsSuccess) { // if (!resetFlag){ News.error("写入堆垛机plc数据失败，重新下发任务 写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount1); result = siemensNet.Write("DB100.0", array); News.error("写入堆垛机plc数据失败，重新下发任务 写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command), writeCount1); result = siemensNet.Write("DB100.0", array); // } Thread.sleep(100); writeCount1++; @@ -321,38 +375,38 @@ || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) || !command.getAckFinish().equals(one.getAckFinish()) ){ try{ News.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); }catch (Exception e){ try{ News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); }catch (Exception e1){ ) { try { News.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one)); } catch (Exception e) { try { News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command), JSON.toJSON(resultRead)); } catch (Exception e1) { News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); } } try{ try { Thread.sleep(100); }catch (Exception e){ } catch (Exception e) { } // if (!resetFlag){ News.error("写入堆垛机plc数据失败，重新下发任务 回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command),writeCount1); result = siemensNet.Write("DB100.0", array); News.error("写入堆垛机plc数据失败，重新下发任务 回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command), writeCount1); result = siemensNet.Write("DB100.0", array); // } writeCount1++; continue; } else { News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one)); break; } } }catch (Exception e){ News.error("堆垛机命令地址写入后回读出错,异常："+e); } catch (Exception e) { News.error("堆垛机命令地址写入后回读出错,异常：" + e); } writeCount1++; } while (writeCount1<6); } while (writeCount1 < 6); if (command.getAckFinish() == 0) { @@ -364,18 +418,208 @@ do { writeCount2++; short commandFinish = (short) 1; result = siemensNet.Write("DB100.18", commandFinish); result = siemensNet.Write("DB100.38", commandFinish); if (result.IsSuccess) { //堆垛机任务写入后，回读一次，看是否成功 Thread.sleep(200); OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2); if (resultRead.IsSuccess) { commandFinish = siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); if (commandFinish != 1) { News.error("堆垛机任务确认位" + commandFinish + "写入数据与回读数据不一致！" + "循环执行次数:" + writeCount2 + "次"); } else { //任务命令写入成功 News.info("堆垛机任务确认位" + commandFinish + "回读成功！" + "循环执行次数:" + writeCount2 + "次"); break; } } else { News.error("堆垛机任务确认位" + commandFinish + "回读失败！" + "循环执行次数:" + writeCount2 + "次"); } } else { News.error("堆垛机任务确认位" + commandFinish + "写入失败！" + "循环执行次数:" + writeCount2 + "次"); } } while (writeCount2 < 5); } } try { // 日志记录 BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class); BasCrnOpt basCrnOpt = new BasCrnOpt( command.getTaskNo().intValue(), // 任务号 command.getCrnNo(), // 堆垛机[非空] new Date(), // 下发时间 command.getTaskModeType().toString(), // 模式 command.getSourcePosX().intValue(), // 源排 command.getSourcePosY().intValue(), // 源列 command.getSourcePosZ().intValue(), // 源层 null, // 源站 command.getDestinationPosX().intValue(), // 目标排 command.getDestinationPosY().intValue(), // 目标列 command.getDestinationPosZ().intValue(), // 目标层 null, // 目标站 null, // 响应结果 null, // 修改时间 null // 修改人员 ); bean.insert(basCrnOpt); } catch (Exception ignore) { } if (result != null && result.IsSuccess) { Thread.sleep(200); this.readStatus(); // News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); return false; } } /** * 写入数据 */ private boolean write2(CrnCommand command) throws InterruptedException { if (null == command) { News.error("堆垛机写入命令为空"); return false; } // 向堆垛机发任务前的堆垛机状态 try{ OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18); if (resultRead.IsSuccess) { CrnCommand one = new CrnCommand(); one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) ){ // News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } else { // News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); } } }catch (Exception e){ News.error("堆垛机命令地址写入后回读出错"); } // convertRow(command); command.setCrnNo(slave.getId()); // short[] array = new short[10]; short[] array = new short[9]; //array[0] = command.getAckFinish(); // 任务完成确认位 array[0] = command.getTaskNo(); // 任务号 array[1] = command.getTaskMode(); // 模式 array[2] = command.getSourcePosX(); // 源位置排号 array[3] = command.getSourcePosY(); // 源位置列号 array[4] = command.getSourcePosZ(); // 源位置层号 array[5] = command.getDestinationPosX(); // 目标位置排号 array[6] = command.getDestinationPosY(); // 目标位置列号 array[7] = command.getDestinationPosZ(); // 目标位置层号 array[8] = command.getCommand(); // array[10] = 0; //备用1 short[] array2 = new short[1]; array2[0] = command.getAckFinish(); OperateResult result = siemensNet.Write("DB100.20", array); OperateResult result2 = siemensNet.Write("DB100.0", array2); News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array); int writeCount1 = 1; do { try { if (!result.IsSuccess||!result2.IsSuccess) { // if (!resetFlag){ News.error("写入堆垛机plc数据失败，重新下发任务 写入直接失败 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command), writeCount1); result = siemensNet.Write("DB100.0", array); // } Thread.sleep(100); writeCount1++; continue; } OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 18); if (resultRead.IsSuccess) { CrnCommand one = new CrnCommand(); one.setAckFinish(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0)); one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 20)); one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 22)); one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 24)); one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 26)); one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 28)); one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 30)); one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 32)); one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 34)); if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) || !command.getAckFinish().equals(one.getAckFinish()) ) { try { News.error("堆垛机命令地址写入后回读失败==>不一致[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one)); } catch (Exception e) { try { News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command), JSON.toJSON(resultRead)); } catch (Exception e1) { News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); } } try { Thread.sleep(100); } catch (Exception e) { } // if (!resetFlag){ News.error("写入堆垛机plc数据失败，重新下发任务 回读不一致 ===>> [id:{}],{},[写入次数:{}]", slave.getId(), JSON.toJSON(command), writeCount1); result = siemensNet.Write("DB100.0", array); // } writeCount1++; continue; } else { News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command), JSON.toJSON(one)); break; } } } catch (Exception e) { News.error("堆垛机命令地址写入后回读出错,异常：" + e); } writeCount1++; } while (writeCount1 < 6); if (command.getAckFinish() == 0) { if (result.IsSuccess) { Thread.sleep(300); //任务下发次数 int writeCount2 = 0; do { writeCount2++; short commandFinish = (short) 1; result = siemensNet.Write("DB100.38", commandFinish); if(result.IsSuccess){ //堆垛机任务写入后，回读一次，看是否成功 Thread.sleep(200); OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2); OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.38", (short) 2); if (resultRead.IsSuccess) { commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); if (commandFinish != 1){ News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次"); }else{ //任务命令写入成功 News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); // News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); break; } }else { @@ -415,7 +659,7 @@ if (result != null && result.IsSuccess) { Thread.sleep(200); this.readStatus(); // News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); // News.info("堆垛机命令下发[{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); return true; } else { @@ -424,194 +668,6 @@ return false; } } /** * 写入数据 */ // private boolean write(CrnCommand command) throws InterruptedException { // if (null == command) { // News.error("堆垛机写入命令为空"); // return false; // } // // 向堆垛机发任务前的堆垛机状态 // try{ // OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24); // if (resultRead.IsSuccess) { // CrnCommand one = new CrnCommand(); // one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); // one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); // one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); // one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); // one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); // one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); // one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); // one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); // if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) // || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) // || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) // || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) // ){ //// News.error("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // } else { //// News.info("下发前：[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // } // } // }catch (Exception e){ // News.error("堆垛机命令地址写入后回读出错"); // } //// convertRow(command); // command.setCrnNo(slave.getId()); //// short[] array = new short[10]; // short[] array = new short[10]; // array[0] = command.getAckFinish(); // 任务完成确认位 // array[1] = command.getTaskNo(); // 任务号 // array[2] = command.getTaskMode(); // 模式 // array[3] = command.getSourcePosX(); // 源位置排号 // array[4] = command.getSourcePosY(); // 源位置列号 // array[5] = command.getSourcePosZ(); // 源位置层号 // array[6] = command.getDestinationPosX(); // 目标位置排号 // array[7] = command.getDestinationPosY(); // 目标位置列号 // array[8] = command.getDestinationPosZ(); // 目标位置层号 // array[9] = command.getCommand(); //// array[10] = 0; //备用1 // // boolean[] array2 = new boolean[1]; // array2[0] = command.isTraySize(); // OperateResult result = siemensNet.Write("DB100.0", array); // OperateResult result2 = siemensNet.Write("DB100.22", array2); // News.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), array); // // if(!result.IsSuccess || !result2.IsSuccess){ // News.error("写入堆垛机plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); // MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); // if(!resetFlag) { // News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag); // MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); // } // Thread.sleep(100); // readStatus(); // return false; // } // // //堆垛机任务写入后，回读一次，看是否成功 // Thread.sleep(200); // try{ // OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24); // if (resultRead.IsSuccess) { // CrnCommand one = new CrnCommand(); // one.setTaskNo(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2)); // one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4)); // one.setSourcePosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6)); // one.setSourcePosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8)); // one.setSourcePosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 10)); // one.setDestinationPosX(siemensNet.getByteTransform().TransInt16(resultRead.Content, 12)); // one.setDestinationPosY(siemensNet.getByteTransform().TransInt16(resultRead.Content, 14)); // one.setDestinationPosZ(siemensNet.getByteTransform().TransInt16(resultRead.Content, 16)); // one.setTraySize(siemensNet.getByteTransform().TransBool(resultRead.Content, 22)); // if (!command.getTaskNo().equals(one.getTaskNo()) || !command.getTaskMode().equals(one.getTaskMode()) // || !command.getSourcePosX().equals(one.getSourcePosX()) || !command.getSourcePosY().equals(one.getSourcePosY()) // || !command.getSourcePosZ().equals(one.getSourcePosZ()) || !command.getDestinationPosX().equals(one.getDestinationPosX()) // || !command.getDestinationPosY().equals(one.getDestinationPosY()) || !command.getDestinationPosZ().equals(one.getDestinationPosZ()) // || !command.isTraySize() == one.isTraySize() // ){ // try{ //// News.error("堆垛机命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // }catch (Exception e){ // try{ // News.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead)); // }catch (Exception e1){ // News.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command)); // } // } // // if(!resetFlag) { // News.error("堆垛机命令回读失败后，重新添加任务到队列 ===>> [id:{}],{},resetFlag={}", slave.getId(), JSON.toJSON(command),resetFlag); // MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, command)); // } // // Thread.sleep(100); // readStatus(); // return false; // } else { // News.info("堆垛机命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one)); // } // } // }catch (Exception e){ // News.error("堆垛机命令地址写入后回读出错"); // } // // // if (command.getAckFinish() == 0) { // if (result.IsSuccess) { // Thread.sleep(300); // //任务下发次数 // int writeCount2 = 0; // // do { // writeCount2++; // short commandFinish = (short) 1; // result = siemensNet.Write("DB100.18", commandFinish); // if(result.IsSuccess){ // //堆垛机任务写入后，回读一次，看是否成功 // Thread.sleep(200); // OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.18", (short) 2); // if (resultRead.IsSuccess) { // commandFinish=siemensNet.getByteTransform().TransInt16(resultRead.Content, 0); // if (commandFinish != 1){ // News.error("堆垛机任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次"); // }else{ // //任务命令写入成功 //// News.info("堆垛机任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次"); // break; // } // }else { // News.error("堆垛机任务确认位"+commandFinish+"回读失败！"+"循环执行次数:"+writeCount2+"次"); // } // } else { // News.error("堆垛机任务确认位"+commandFinish+"写入失败！"+"循环执行次数:"+writeCount2+"次"); // } // }while (writeCount2<5); // } // } // // // try { // // 日志记录 // BasCrnOptService bean = SpringUtils.getBean(BasCrnOptService.class); // BasCrnOpt basCrnOpt = new BasCrnOpt( // command.getTaskNo().intValue(), // 任务号 // command.getCrnNo(), // 堆垛机[非空] // new Date(), // 下发时间 // command.getTaskModeType().toString(), // 模式 // command.getSourcePosX().intValue(), // 源排 // command.getSourcePosY().intValue(), // 源列 // command.getSourcePosZ().intValue(), // 源层 // null, // 源站 // command.getDestinationPosX().intValue(), // 目标排 // command.getDestinationPosY().intValue(), // 目标列 // command.getDestinationPosZ().intValue(), // 目标层 // null, // 目标站 // null, // 响应结果 // null, // 修改时间 // null // 修改人员 // ); // bean.insert(basCrnOpt); // } catch (Exception ignore) {} // // if (result != null && result.IsSuccess) { // Thread.sleep(200); // this.readStatus(); //// News.info("堆垛机命令下发[{}] >>>>> {}", slave.getId(), JSON.toJSON(command)); // OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command))); // return true; // } else { // OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort())); // News.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort()); // return false; // } // } public void requestStop() { isRunning = false; } src/main/resources/application.yml
@@ -8,7 +8,7 @@ name: @pom.build.finalName@ datasource: driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver url: jdbc:sqlserver://127.0.0.1:1433;databasename=rqdzasrs url: jdbc:sqlserver://192.168.0.2:1433;databasename=rqdzasrs username: sa password: sa@123 # driver-class-name: com.oscar.Driver src/main/resources/mapper/WrkMastMapper.xml
@@ -86,6 +86,11 @@ <select id="selectPakInStep1" resultMap="BaseResultMap"> select top 1 * from asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=2 and barcode=#{barcode} and (io_type=1 or io_type=10) order by io_pri desc,io_time,wrk_no ASC </select> <select id="selectPakInStep1All" resultMap="BaseResultMap"> select top 1 * from asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=2 and crn_no=#{crnNo} order by io_pri desc,io_time,wrk_no ASC </select> <select id="selectPakInStepBarcode" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where barcode = #{barcode} </select> @@ -97,6 +102,19 @@ <select id="selectPakInStep2" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where wrk_sts=2 and crn_no=#{crnNo} and wrk_no=#{workNo} and sta_no=#{staNo} and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time,wrk_no ASC </select> <select id="selectPakInStep103" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where wrk_sts=103 and crn_no=#{crnNo} and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time,wrk_no ASC </select> <select id="selectByPltType" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where wrk_sts=103 and crn_no=#{crnNo} and plt_type =#{pltType} order by io_pri desc,io_time,wrk_no ASC </select> <select id="selectPakInStep3" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where wrk_no=#{workNo} @@ -117,7 +135,7 @@ </select> <select id="selectPakOutStep2" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=12 and io_type>100 order by io_pri desc,io_time desc,wrk_no ASC select top 1 * from dbo.asr_wrk_mast where source_sta_no=#{sourceStaNo} and (wrk_sts=12 or wrk_sts=108) and io_type>100 order by io_pri desc,io_time desc,wrk_no ASC </select> <select id="selectLocMove" resultMap="BaseResultMap"> @@ -169,6 +187,13 @@ select * from dbo.asr_wrk_mast where crn_no=#{crnNo} and source_sta_no=#{sourceStaNo} and wrk_sts=11 and io_type>100 order by io_pri desc,io_time,wrk_no asc </select> <select id="selectPakOutStep105" resultMap="BaseResultMap"> select * from dbo.asr_wrk_mast where crn_no=#{crnNo} and source_sta_no=#{sourceStaNo} and wrk_sts=105 and io_type>100 order by io_pri desc,io_time,wrk_no asc </select> <!-- 入出库模式相关 --> <select id="selectWorkingPakin" resultMap="BaseResultMap"> select top 1 * from dbo.asr_wrk_mast where wrk_sts in (2,3,4) and io_type != 11 and source_sta_no = #{sourceStaNo} order by io_time,wrk_no
