#

Junjie

2023-10-25 7a3b50af32dce3c806a6e520043a714594f3acff

#

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

@@ -104,6 +104,7 @@
            vo.setEmptyMk(staProtocol.isEmptyMk()?"Y":"N");     // 空板信号
            vo.setStaNo(staProtocol.getStaNo());                // 目标站
            vo.setLocType1(staProtocol.getLocType1()==null?"-":staProtocol.getLocType1().toString());                // 高低信号
            vo.setOutInModel(staProtocol.getOutInModel()==null?"-":staProtocol.getOutInModel().toString());                // 出入库模式
        }
        return R.ok().add(list);
    }

 src/main/java/com/zy/asrs/domain/vo/SiteTableVo.java

@@ -44,4 +44,7 @@
    //高低信号
    private String locType1 = "-";

    //出入库模式
    private String outInModel = "-";

}

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

@@ -76,4 +76,6 @@
    WrkMast selectShuttleWorking(@Param("shuttleNo") Integer shuttleNo);//是否有穿梭车任务(移库任务除外)

    WrkMast selectByBarcode(String barcode);

    List<WrkMast> selectInWrkMastByLiftNo(Integer liftNo);//搜索指定提升机的入库任务
}

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

@@ -863,6 +863,12 @@
                return false;//出库站点不可出
            }

            Integer liftNo = basDevp.getLiftNo();//搜索出库提升机是否存在入库任务，如存在禁止出库
            List<WrkMast> liftWrkMasts = wrkMastMapper.selectInWrkMastByLiftNo(liftNo);
            if (!liftWrkMasts.isEmpty()) {
                return false;//存在入库任务，禁止出库
            }

            //获取源站
            LiftStaProtocol liftStaProtocol = NyLiftUtils.getLiftStaByLev(basDevp.getLiftNo(), Utils.getLev(wrkMast.getSourceLocNo()));
            if (liftStaProtocol == null) {
@@ -1109,6 +1115,18 @@
                return false;//站点不可入
            }

            //判断提升机整个三楼是否都处于入库模式
            Integer outInModel1 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 1);
            Integer outInModel2 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 5);
            Integer outInModel3 = Utils.getOutInModelByLift(sourceBasDevp.getLiftNo(), 8);
            if (outInModel1 == null || outInModel2 == null || outInModel3 == null) {
                return false;//不存在出入库模式
            }

            if (outInModel1 == 2 || outInModel2 == 2 && outInModel3 == 2) {
                return false;//只要有一个处于出库模式，禁止入库
            }

            LiftThread liftThread = (LiftThread) SlaveConnection.get(SlaveType.Lift, sourceBasDevp.getLiftNo());
            if (liftThread == null) {
                return false;

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

@@ -20,6 +20,7 @@
import com.zy.common.utils.NavigatePositionConvert;
import com.zy.common.utils.NavigateUtils;
import com.zy.common.utils.ShuttleDispatchUtils;
import com.zy.core.DevpThread;
import com.zy.core.Slave;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
@@ -32,15 +33,13 @@
import com.zy.core.model.command.ShuttleCommand;
import com.zy.core.model.protocol.NyShuttleProtocol;
import com.zy.core.model.protocol.ShuttleProtocol;
import com.zy.core.model.protocol.StaProtocol;
import com.zy.core.properties.SlaveProperties;
import com.zy.core.thread.NyShuttleThread;
import com.zy.core.thread.ShuttleThread;

import java.text.DecimalFormat;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.List;
import java.util.*;

/**
 * Created by vincent on 2020/8/27
@@ -547,4 +546,51 @@
        return null;
    }

    //通过提升机号和楼层获取出入库模式
    public static Integer getOutInModelByLift(Integer liftNo, Integer lev) {
        ArrayList<Integer> lev1 = new ArrayList<Integer>() {{
            add(100);add(103);
            add(105);
        }};
        ArrayList<Integer> lev2 = new ArrayList<Integer>() {{
            add(200);add(203);
            add(205);
        }};
        ArrayList<Integer> lev3 = new ArrayList<Integer>() {{
            add(341);add(346);
        }};

        Integer staNo = null;
        if (lev <= 4) {
            staNo = lev1.get(liftNo - 1);
        } else if (lev >= 5 && lev <= 7) {
            staNo = lev2.get(liftNo - 1);
        } else if ((lev >=8 && lev <= 10) && liftNo != 1) {
            staNo = lev3.get(liftNo - 2);
        }

        if (staNo != null) {
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, 1);
            StaProtocol staProtocol = devpThread.getStation().get(staNo);
            if (staProtocol == null) {
                return null;
            }

            if (staNo == 100 || staNo == 200) {//1号提升机100站和200站默认全是出库模式
                return 2;//出库模式
            }

            if (staNo == 341) {
                return 1;//341站默认只能入库模式
            }

            if (staProtocol.getOutInModel() == null) {
                return null;//没有出入库信号
            }

            return staProtocol.getOutInModel().intValue();
        }
        return null;
    }

}

 src/main/java/com/zy/core/model/protocol/StaProtocol.java

@@ -78,7 +78,7 @@
    // 扫码失败
    private boolean barcodeErr;

    //出入库模式
    //出入库模式1、入库，2、出库
    private Short outInModel;

    //输送线联动转动方向，0：停止转动，1：正向转动，2：反向转动

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

@@ -413,6 +413,11 @@
//                        nodes.addAll(command.getNodes());
//                    }
                    if (nodes != null) {
                        NavigateNode targetNode = assignCommand.getNodes().get(assignCommand.getNodes().size() - 1);//最终节点
                        NavigateNode node = nodes.get(nodes.size() - 1);
                        if (!(targetNode.getX() == node.getX() && targetNode.getY() == node.getY())) {
                            nodes.remove(nodes.size() - 1);//剔除尾节点
                        }
                        boolean result = navigateMapUtils.writeNavigateNodeToRedisMap(Utils.getLev(shuttleProtocol.getCurrentLocNo()), nodes, false);//解锁路径
                        if (!result) {
                            return false;//解锁失败

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

@@ -67,6 +67,14 @@
        add(346);
    }};

    //出入库模式
    public static final ArrayList<Integer> outInModelStaNos = new ArrayList<Integer>() {{
        add(100);add(103);
        add(105);add(200);
        add(203);add(205);
        add(341);add(346);
    }};

    public boolean charge0;
    public boolean charge1;

@@ -93,11 +101,6 @@
                    // 写数据 ID+目标站
                    case 2:
                        write((StaProtocol) task.getData());
                        read();
                        break;
                    // 出入库模式
                    case 3:
                        write3((StaProtocol) task.getData());
                        read();
                        break;
                    default:
@@ -203,6 +206,17 @@
            }
        }

        //读出入库模式
        Thread.sleep(100);
        OperateResultExOne<byte[]> result4 = siemensS7Net.Read("DB1002.0", (short) (outInModelStaNos.size()*2));
        if (result4.IsSuccess) {
            for (int i = 0; i < outInModelStaNos.size(); i++) {
                Integer siteId = outInModelStaNos.get(i); // 站点编号
                StaProtocol staProtocol = station.get(siteId);
                staProtocol.setOutInModel(siemensS7Net.getByteTransform().TransInt16(result4.Content, i * 2));//读取出入库模式
            }
        }

        if (result.IsSuccess && result1.IsSuccess) {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

@@ -226,110 +240,6 @@
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】读取输送线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("读取输送线plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        }
    }

    /**
     * 写入 ID+目标站 =====> 单站点写入
     */
    private void write3(StaProtocol staProtocol) throws InterruptedException {
        if (Cools.isEmpty(staProtocol)) {
            return;
        }
        OperateResult writeResult = null;
        //任务下发次数
        int writeCount = 0;
        //任务下发成功标识
        boolean writeFlag = false;

        Short outAndIn = staProtocol.getOutInModel();
        Integer siteId = staProtocol.getSiteId();
        Short run = 0;//停止转动
        String address = "";
        if (staProtocol.getRotationDire() != null) {
            run = staProtocol.getRotationDire().shortValue();//转动方向
        }
        switch (siteId) {
            case 102:
                address = "DB100.300";
                break;
            case 105:
                address = "DB100.302";
                break;
            case 106:
                address = "DB100.304";
                break;
            case 107:
                address = "DB100.306";
                break;
            case 108:
                address = "DB100.308";
                break;
        }

        while(writeCount < 5){
            writeResult = siemensS7Net.Write(address, run);
            if (writeResult == null) {
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                continue;
            }

            if(writeResult.IsSuccess){
                Thread.sleep(200);
                OperateResultExOne<byte[]> readResult = siemensS7Net.Read(address, (short) 2);
                if(readResult.IsSuccess){
                    short run2 = siemensS7Net.getByteTransform().TransInt16(readResult.Content, 0);
                    if(run.equals(run2)){
                        //任务命令写入成功
                        writeFlag = true;
                        if (staProtocol.getStaNo() != null && staProtocol.getWorkNo() != null) {
                            write(staProtocol);//写入工作号和目标站
                        }
                        log.info("写入输送线命令后返回成功，并且回读成功。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                        break;
                    } else {//返回结果是成功了，但是真实值不相同
                        writeCount++;
                        OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={1}，站点数据={2},写入次数={3}",
                                slave.getId(), JSON.toJSON(staProtocol),writeCount));
                        log.error("写入输送线命令后返回成功，但是读取任务值不一致。输送线plc编号={}，{}，写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                    }
                } else {
                    writeCount++;
                    OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令后读取失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                            slave.getId(), JSON.toJSON(staProtocol), writeCount));
                    log.error("写入输送线命令后读取失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
                }
            } else {
                writeCount++;
                OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令失败。输送线plc编号={1}，站点数据={2},写入次数={3}",
                        slave.getId(), JSON.toJSON(staProtocol),writeCount));
                log.error("写入输送线命令失败。输送线plc编号={}，站点数据={},写入次数={}", slave.getId(), JSON.toJSON(staProtocol), writeCount);
            }
            Thread.sleep(200);
        }

        //写命令尝试了5次还是失败了
        if(!writeFlag){
            staProtocol = station.get(staProtocol.getSiteId());
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】写入输送线命令尝试5次失败。输送线plc编号={1}，站点数据={2}", slave.getId(), JSON.toJSON(staProtocol)));
            log.error("写入输送线命令尝试5次失败。输送线plc编号={}，站点数据={}", slave.getId(), JSON.toJSON(staProtocol));

            //重新添加数据到任务队列
            boolean result = MessageQueue.offer(SlaveType.Devp, slave.getId(), new Task(3, staProtocol));
            read();//读取1次设备状态
            return;
        } else {
            OutputQueue.DEVP.offer(MessageFormat.format("【{0}】 输送线命令下发成功 [id:{1}] >>>>> {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(staProtocol)));
            log.info("输送线命令下发 [id:{}] >>>>> 命令下发成功： {}",  slave.getId(), JSON.toJSON(staProtocol));

            staProtocol = station.get(siteId);
            if (staProtocol.getWorkNo() == 0 && staProtocol.getStaNo() ==0) {
                staProtocol.setPakMk(true);
            }
        }

    }

    /**

 src/main/resources/mapper/WrkMastMapper.xml

@@ -225,4 +225,13 @@
        and barcode = #{barcode}
        order by io_pri desc,io_time,wrk_no asc
    </select>

    <select id="selectInWrkMastByLiftNo" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast
        where 1=1
        and lift_no = #{liftNo}
        and io_type &lt;= 100
        and wrk_sts in (1,2,3,4,5)
        order by io_pri desc,io_time,wrk_no asc
    </select>
</mapper>

 src/main/webapp/views/pipeline.html

@@ -99,7 +99,7 @@
                        <th>有物</th>
                        <th>可入</th>
                        <th>可出</th>
                        <th>入库标记</th>
                        <th>出入库模式</th>
                        <th>空板信号</th>
                        <th>目标站</th>
                        <th>提升机到位信号</th>
@@ -286,7 +286,7 @@
                        setVal(tr.children("td").eq(3), table[i-1].loading);
                        setVal(tr.children("td").eq(4), table[i-1].inEnable);
                        setVal(tr.children("td").eq(5), table[i-1].outEnable);
                        setVal(tr.children("td").eq(6), table[i-1].pakMk);
                        setVal(tr.children("td").eq(6), table[i-1].outInModel);
                        setVal(tr.children("td").eq(7), table[i-1].emptyMk);
                        setVal(tr.children("td").eq(8), table[i-1].staNo);
                        setVal(tr.children("td").eq(9), table[i-1].liftArrival);