#

tqs

2022-12-02 736706fb6254b43b16b285e2f40880c21c41cd57

#

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

@@ -67,6 +67,13 @@
    @TableField("crn_no")
    private Integer crnNo;

    /**
     * RGV号
     */
    @ApiModelProperty(value= "RGV")
    @TableField("rgv_no")
    private Integer rgvNo;

    @ApiModelProperty(value= "")
    @TableField("sheet_no")
    private String sheetNo;
@@ -110,6 +117,20 @@
    @TableField("source_loc_no")
    private String sourceLocNo;

    /**
     * RGV源站
     */
    @ApiModelProperty(value= "RGV源站")
    @TableField("rgv_ssta_no")
    private Integer rgvSstaNo;

    /**
     * RGV目标站
     */
    @ApiModelProperty(value= "RGV目标站")
    @TableField("rgv_dsta_no")
    private Integer rgvDstaNo;

    @ApiModelProperty(value= "")
    @TableField("loc_sts")
    private String locSts;

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

@@ -109,5 +109,11 @@

    Integer selectExistInEmpty();


    /**
     * 查找工作状态为2（设备上走）,且货物在RGV入库接驳站的入库工作档,查找最多2笔
     * @param rgvNo
     * @param staNos
     * @return
     */
    List<WrkMast> selectRgvInStep1(@Param("rgvNo")Integer rgvNo, @Param("staNos")List<Integer> staNos);
}

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

@@ -26,17 +26,16 @@
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.*;
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.*;
import com.zy.core.model.command.CrnCommand;
import com.zy.core.model.command.LedCommand;
import com.zy.core.model.protocol.CrnProtocol;
import com.zy.core.model.protocol.RgvProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.BarcodeThread;
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@@ -46,10 +45,7 @@
import org.springframework.transaction.annotation.Transactional;
import org.springframework.transaction.interceptor.TransactionAspectSupport;

import java.util.ArrayList;
import java.util.Date;
import java.util.List;
import java.util.Set;
import java.util.*;
import java.util.stream.Collectors;

/**
@@ -79,6 +75,8 @@
    private StaDescService staDescService;
    @Autowired
    private BasCrnpService basCrnpService;
    @Autowired
    private BasRgvService basRgvService;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
@@ -532,11 +530,6 @@
                continue;
            }

//            //堆垛机回原点任务中
//            if(crnThread.isBackHpFlag()){
//                continue;
//            }

            // 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
@@ -568,6 +561,53 @@
            this.locToLoc(crn, crnProtocol);
//            this.crnRebackHp(crnProtocol, crnThread);

        }
    }

    /**
     * 入出库  ===>>  RGV入出库作业下发
     */
    public synchronized void rgvIoExecute() {
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            // 获取RGV信息
            RgvThread rgvThread = (RgvThread) SlaveConnection.get(SlaveType.Rgv, rgv.getId());
            RgvProtocol rgvProtocol = rgvThread.getRgvProtocol();
            if (rgvProtocol == null) {
                continue;
            }
            BasRgv basRgv = basRgvService.selectById(rgv.getId());
            if (basRgv == null) {
                log.error("{}号RGV尚未在数据库进行维护！", rgv.getId());
                continue;
            }

            // 只有当RGV空闲、自动, 并且无任务、无物时才继续执行
            if (rgvProtocol.getStatusType() == RgvStatusType.IDLE
                    && rgvProtocol.getModeType() == RgvModeType.AUTO
                    && rgvProtocol.getTaskNo1() == 0 && rgvProtocol.getTaskNo2() == 0
                    && rgvProtocol.getLoaded1() == 0 && rgvProtocol.getLoaded2() == 0
                    ) {
                // 如果最近一次是入库模式
                if (rgvProtocol.getLastIo().equals("I")) {
                    if (basRgv.getInEnable().equals("Y")) {
//                        this.rgvInStnToLoc(rgv, rgvProtocol); //  入库
                        rgvProtocol.setLastIo("O");
                    } else if (basRgv.getOutEnable().equals("Y")) {
//                        this.locToCrnStn(rgv, crnProtocol); //  出库
                        rgvProtocol.setLastIo("I");
                    }
                }
                // 如果最近一次是出库模式
                else if (rgvProtocol.getLastIo().equals("O")) {
                    if (basRgv.getOutEnable().equals("Y")) {
//                        this.locToCrnStn(rgv, crnProtocol); //  出库
                        rgvProtocol.setLastIo("I");
                    } else if (basRgv.getInEnable().equals("Y")) {
//                        this.rgvInStnToLoc(rgv, rgvProtocol); //  入库
                        rgvProtocol.setLastIo("O");
                    }
                }
            }
        }
    }

@@ -1015,6 +1055,164 @@
//    }

    /**
     * 入库  ===>>  RGV入库站到站
     */
    public synchronized void rgvInStn(RgvSlave slave, RgvProtocol rgvProtocol) {
        // 获取工作状态为2（设备上走）,且货物在RGV入库接驳站的入库工作档,查找最多2笔
        List<Integer> staNos = new ArrayList<>();
        for (RgvSlave.RgvStn rgvStn : slave.getRgvInStn()) {
            staNos.add(rgvStn.getStaNo());
        }
        List<WrkMast> wrkMasts1 = new ArrayList<>();
        List<WrkMast> wrkMasts = wrkMastMapper.selectRgvInStep1(slave.getId(), staNos);
        for(WrkMast wrkMast : wrkMasts){
            Integer plcId = 0;
            for (RgvSlave.RgvStn rgvStn : slave.getRgvInStn()) {
                if(rgvStn.getStaNo() == wrkMast.getRgvSstaNo()){
                    plcId = rgvStn.getDevpPlcId();
                    break;
                }
            }

            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, plcId);
            StaProtocol staProtocol = devpThread.getStation().get(wrkMast.getRgvSstaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            }
        }

//        WrkMast wrkMast = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
//        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) {
//                continue;
//            } else {
//                staProtocol = staProtocol.clone();
//            }
//            // 查询站点详细信息
//            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
//            if (staDetl == null) {
//                log.error("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) {
//                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) {
////                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) {
//                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
//                continue;
//            }
//            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
//                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
//                continue;
//            }
//
//            // 堆垛机控制过滤
//            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
//                continue;
//            }
//
//            // 已经存在吊车执行任务时，则过滤
//            if (wrkMastMapper.selectWorking(slave.getId()) != null) {
//                continue;
//            }
//
//            // 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.getLocNo())) {
//                String shallowLocNo = Utils.getShallowLoc(slaveProperties, wrkMast.getLocNo());
//                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")) {
//                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                    if (null == waitWrkMast) {
//                        log.error("{}库位异常，未检索到相应工作档！", shallowLocNo);
//                    } else {
//                        waitWrkMast.setIoPri(15D);
//                        waitWrkMast.setModiTime(new Date());
//                        if (wrkMastMapper.updateById(waitWrkMast) == 0) {
//                            log.error("调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
//                        }
//                        continue;
//                    }
//
//                } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                    // 此标记避免多次执行移库任务
//                    if (Cools.isEmpty(wrkMast.getUpdMk()) || "N".equals(wrkMast.getUpdMk())) {
//                        wrkMast.setUpdMk("Y");
//                        wrkMast.setIoPri(14D);
//                        wrkMastMapper.updateById(wrkMast);
//                        // 生成工作档,将浅库位移转到新的库位中
//                        moveLocForDeepLoc(slave, shallowLoc);
//                        // 生成工作档、改变浅库位的源库/目标库 库位状态、下发堆垛机命令（立马执行)
////                        moveLocForDeepLocPakin(slave, shallowLoc, wrkMast);
//                    }
//                    continue;
//                } else if (shallowLoc.getLocSts().equals("Q")) {
//                    WrkMast waitWrkMast = wrkMastMapper.selectByLocNo(shallowLocNo);
//                    if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
//                        continue;
//                    }
//                }
//            }
//
//            // 命令下发区 --------------------------------------------------------------------------
//            CrnCommand crnCommand = new CrnCommand();
//            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(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(locMast.getRow1().shortValue());     // 目标库位排
//            crnCommand.setDestinationPosY(locMast.getBay1().shortValue());     // 目标库位列
//            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue());     // 目标库位层
//            if (!MessageQueue.offer(SlaveType.Crn, wrkMast.getCrnNo(), new Task(2, crnCommand))) {
//                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMast.getCrnNo(), JSON.toJSON(crnCommand));
//            } else {
//
////                long startTime = System.currentTimeMillis();
////                while ((System.currentTimeMillis() - startTime) < COMMAND_TIMEOUT) {
////
////                    if (true) {
////                        break;
////                    }
////
////                    try{
////                        Thread.sleep(500);
////                    }catch(Exception ignore){}
////                }
//
//                // 修改工作档状态 2.设备上走 => 3.吊车入库中
//                Date now = new Date();
//                wrkMast.setWrkSts(3L);
//                wrkMast.setCrnStrTime(now);
//                wrkMast.setModiTime(now);
//                if (wrkMastMapper.updateById(wrkMast) == 0) {
//                    log.error("修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
//                }
//            }
//        }
    }

    /**
     * 库位移转
     */
    public void locToLoc(CrnSlave slave, CrnProtocol crnProtocol) {

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

@@ -56,6 +56,8 @@
                    mainService.crnStnToOutStn();
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute();
                        // 入出库  ===>>  RGV入出库作业下发
                    mainService.rgvIoExecute();
                    // 入出库增强 ===>> 堆垛机命令下发后，异步修改工作档状态
//                    mainService.crnIoWrkMast();
                    // 入库  ===>> 执行对工作档的完成操作

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

@@ -23,28 +23,28 @@
    private Boolean demo;

    // 堆垛机入库站点
    private List<CrnStn> rgvInStn = new ArrayList<>();
    private List<RgvStn> rgvInStn = new ArrayList<>();

    // 堆垛机出库站点
    private List<CrnStn> rgvOutStn = new ArrayList<>();
    private List<RgvStn> rgvOutStn = new ArrayList<>();

    @Data
    public static class CrnStn {
    public static class RgvStn {

        // 输送线plc编号
        private Integer devpPlcId;

        // 堆垛机站点编号
        // RGV站点编号
        private Integer staNo;

        // 排
        private Integer row;

        // 列
        private Integer bay;

        // 层
        private Integer lev;
//        // 排
//        private Integer row;
//
//        // 列
//        private Integer bay;
//
//        // 层
//        private Integer lev;

    }


 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://10.10.10.100:1433;databasename=stasrs
    url: jdbc:sqlserver://127.0.0.1:1433;databasename=xjhsasrs
    username: sa
    password: sa@123
  mvc:
@@ -21,8 +21,10 @@

mybatis-plus:
  mapper-locations: classpath:mapper/*.xml
#  global-config:
#    field-strategy: 0
  global-config:
    field-strategy: 0
  configuration:
    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl

logging:
  path: /stock/out/@pom.build.finalName@/logs
@@ -148,6 +150,18 @@
    port: 502
    rack: 0
    slot: 0
    rgvInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
    rgvInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 102
    rgvOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 110
    rgvOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 112
  # RGV穿梭车2
  rgv[1]:
    id: 2
@@ -155,6 +169,14 @@
    port: 502
    rack: 0
    slot: 0
    rgvInStn[0]:
      staNo: 101
    rgvInStn[1]:
      staNo: 102
    rgvOutStn[0]:
      staNo: 110
    rgvOutStn[1]:
      staNo: 112

  # 输送线
  devp[0]:

 src/main/resources/mapper/WrkMastMapper.xml

@@ -12,6 +12,7 @@
        <result column="wrk_sts" property="wrkSts" />
        <result column="io_type" property="ioType" />
        <result column="crn_no" property="crnNo" />
        <result column="rgv_no" property="rgvNo" />
        <result column="sheet_no" property="sheetNo" />
        <result column="io_pri" property="ioPri" />
        <result column="wrk_date" property="wrkDate" />
@@ -19,6 +20,8 @@
        <result column="sta_no" property="staNo" />
        <result column="source_sta_no" property="sourceStaNo" />
        <result column="source_loc_no" property="sourceLocNo" />
        <result column="rgv_ssta_no" property="rgvSstaNo" />
        <result column="rgv_dsta_no" property="rgvDstaNo" />
        <result column="loc_sts" property="locSts" />
        <result column="picking" property="picking" />
        <result column="link_mis" property="linkMis" />
@@ -185,4 +188,16 @@
    <select id="selectExistInEmpty" resultType="java.lang.Integer">
        SELECT COUNT(*) FROM dbo.asr_wrk_mast Where io_type = 10 and wrk_sts in (1,2,3)
    </select>

    <!--                                       RGV调度入出库相关                                      -->
    <select id="selectRgvInStep1" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast
        where rgv_no=#{rgvNo} and rgv_ssta_no in
            <foreach item="item" collection="staNos" index="index"  separator="," open="(" close=")">
                #{item}
            </foreach>
            and wrk_sts=2 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>

</mapper>