#

tqs

2023-03-15 76f2a20dc351d9966c70d4873eb2ff30bf1a0b18

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

@@ -112,5 +112,5 @@
    @Select("select * from where crn_no=#{crnNo} and wrk_sts=11 and io_type>100 order by io_pri desc,io_time desc,wrk_no ASC")
    public List<WrkMast> selectWrkIoType(@Param("crnNo") Integer crnNo);

    public  WrkMast selectTop1(@Param("wrkNo")List<Integer> wrkNo);
    public  List<WrkMast> selectWaitPakIn(@Param("wrkNos")List<Integer> wrkNos);
}

 src/main/java/com/zy/asrs/service/WrkMastService.java

@@ -18,6 +18,6 @@

    List<WrkMast> selectWrkIoType(Integer crnNo);

    WrkMast selectTop1(List<Integer> wrkNO);
    List<WrkMast> selectWaitPakIn(List<Integer> wrkNos);

}

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

@@ -689,12 +689,45 @@

    /**
     * 入库  ===>>  堆垛机站到库位
     * 根据优先级，入库时间进行排序入库
     * 根据入库时间进行排序入库,同一堆垛机先查询所有工作档任务号，再根据优先级、时间排序，确保先进先出
     */
    public synchronized void crnStnToLoc(CrnSlave slave, CrnProtocol crnProtocol) {
        String methodName = Thread.currentThread().getStackTrace()[1].getMethodName();
        List<Integer> wrkMasts= new ArrayList<>();

        //得到堆垛机入库站工作任务LIST
        List<Integer> wrkNos= new ArrayList<>();
        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();
            }

            WrkMast wrkMast1 = wrkMastMapper.selectPakInStep2(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            wrkNos.add(wrkMast1.getWrkNo());
        }

        List<WrkMast> wrkMasts=wrkMastService.selectWaitPakIn(wrkNos);

        for(WrkMast wrkMast : wrkMasts) {
            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnInStn()){
                if(crnStn1.getStaNo() == wrkMast.getStaNo()){
                    crnStn = crnStn1;
                    break;
                } else {
                    continue;
                }
            }
            if(Cools.isEmpty(crnStn)){
                continue;
            }

            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());
@@ -709,107 +742,102 @@
                News.error(methodName + ":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() >= 9990  && staProtocol.isInEnable()
            if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                    && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
                // 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.error("查询无待入库数据--wrk_sts=2, 工作号={}", staProtocol.getWorkNo());
                    continue;
                }
                wrkMasts.add(wrkMast.getWrkNo());
                flag = true;
            }
        }
                WrkMast wrkMast=wrkMastService.selectTop1(wrkMasts);

            if (!flag) {
                continue;
            }

            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast != null) {
                if (locMast.getLocSts().equals("S") && locMast.getLocSts().equals("Q")) {
                    // 堆垛机控制过滤
                    if (crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() == 0) {
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) == null) {
//                            // 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) {
////                                News.error(methodName + ":{}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) {
////                                    News.error(methodName + ":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(crnStn1.getRow().shortValue());     // 源库位排
//                            crnCommand.setSourcePosY(crnStn1.getBay().shortValue());     // 源库位列
//                            crnCommand.setSourcePosZ(crnStn1.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))) {
//                                News.error(methodName + ":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) {
//                                    News.error(methodName + ":修改工作档状态 2.设备上走 => 3.吊车入库中 失败！！，工作号={}", wrkMast.getWrkNo());
//                                }
                            }
            if (locMast == null) {
                News.error(methodName + ":查询库存无数据--库位号{}", wrkMast.getLocNo());
                continue;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                News.error(methodName + ":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) {
                        News.error(methodName + ":{}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) {
                            News.error(methodName + ":调整工作档优先级失败！工作号={}", waitWrkMast.getWrkNo());
                        }
                        continue;
                    }
                }else News.error(methodName + ":入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
            }else News.error(methodName + ":查询库存无数据--库位号{}", wrkMast.getLocNo());

                } 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))) {
                News.error(methodName + ":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 => 3.吊车入库中
                Date now = new Date();
                wrkMast.setWrkSts(3L);
                wrkMast.setCrnStrTime(now);
                wrkMast.setModiTime(now);
                if (wrkMastMapper.updateById(wrkMast) == 0) {
                    News.error(methodName + ":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());
                }
            }

        }

    }

    /**
     * 入库  ===>>  堆垛机站到库位
@@ -861,6 +889,8 @@
                continue;
            }
        }


            if(!Cools.isEmpty(wrkMasts)){
            wrkMast=wrkMasts.get(i);
            // 获取库位信息

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

@@ -38,7 +38,7 @@
    }

    @Override
    public WrkMast selectTop1(List<Integer> wrkNO) {
        return this.baseMapper.selectTop1(wrkNO);
    public List<WrkMast> selectWaitPakIn(List<Integer> wrkNos) {
        return this.baseMapper.selectWaitPakIn(wrkNos);
    }
}

 src/main/resources/mapper/WrkMastMapper.xml

@@ -185,13 +185,13 @@
    <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>
    <select id="selectTop1" resultType="BaseResultMap">
        select top 1* from dbo.asr_wrk_mast Where 1=1
    <select id="selectWaitPakIn" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast Where 1=1
        and wrk_no in
        <foreach collection="wrkNo" index="index" item="item" open="(" close=")" separator=",">
        <foreach collection="wrkNos" index="index" item="item" open="(" close=")" separator=",">
            #{item}
        </foreach>
        and wrk_sts == 2
        and wrk_sts = 2 and io_type in (1,10,53,57)
        order by io_pri desc,io_time desc,wrk_no ASC
    </select>
</mapper>