#

lsh

2024-02-17 7cc5158075ba57d1e1c630ca4a42dc06262ad0d7

#

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

@@ -1091,26 +1091,99 @@
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {

                        // 命令下发区 --------------------------------------------------------------------------
                        if (crnProtocol.getCrnNo()<=2){

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                            StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
                            if (staProtocolOther == null) {
                                continue;
                            } else {
                                staProtocolOther = staProtocolOther.clone();
                            }
                            if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && (staProtocolOther.getWorkNo() == 0 || staProtocolOther.getStaNo() == null)) {
                                WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());
                                if (Cools.isEmpty(wrkMastCrn)){
                                    continue;
                                }

                                WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
                                WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
                                WrkMast wrkMast1 = null;
                                WrkMast wrkMast2 = null;
                                if (Utils.getRow(wrkMastOne.getSourceLocNo()) == wrkMast.getCrnNo()*4){
                                    wrkMast1 = wrkMastTwo;
                                    wrkMast2 = wrkMastOne;
                                }else {
                                    wrkMast2 = wrkMastTwo;
                                    wrkMast1 = wrkMastOne;
                                }

                                // 下发站点信息
                                staProtocolOther.setWorkNo(wrkMast1.getWrkNo());
                                staProtocolOther.setStaNo(wrkMast1.getStaNo());
                                if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocolOther))) {
                                    continue;
                                }

                                // 下发站点信息
                                staProtocol.setWorkNo(wrkMast2.getWrkNo());
//                                    staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                                staProtocol.setStaNo(wrkMast2.getStaNo());
                                if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                    continue;
                                }
                                boolean sign = true;

                                // 更新工作档状态为14失败
                                wrkMastCrn.setWrkSts(14L);
                                if (wrkMastCrnMapper.updateById(wrkMastCrn) != 0) {
                                } else {
                                    sign = false;
                                    log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                                }

                                // 更新工作档状态为14失败
                                wrkMastOne.setWrkSts(14L);
                                wrkMastOne.setCrnEndTime(new Date());
                                if (wrkMastMapper.updateById(wrkMastOne) != 0) {
                                } else {
                                    sign = false;
                                    log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                                }

                                // 更新工作档状态为14失败
                                wrkMastTwo.setWrkSts(14L);
                                wrkMastTwo.setCrnEndTime(new Date());
                                if (wrkMastMapper.updateById(wrkMastTwo) != 0) {
                                } else {
                                    sign = false;
                                    log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                                }

                                if (sign){
                                    // 复位堆垛机
                                    crnThread.setResetFlag(true);
                                }
                            }

                        }else {
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }

                            // 更新工作档状态为14失败
                            wrkMast.setWrkSts(14L);
                            wrkMast.setCrnEndTime(new Date());
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位堆垛机
                                crnThread.setResetFlag(true);
                            } else {
                                log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }

                        // 更新工作档状态为14失败
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            crnThread.setResetFlag(true);
                        } else {
                            log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }

                    }

                }
            }
        }
@@ -1147,6 +1220,7 @@
                                case 1:
                                case 2:
                                    this.crnStnToLoc1Single(crn, crnProtocol); //  入库
                                    break;
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol); //  入库
                            }
@@ -1156,6 +1230,7 @@
                                case 1:
                                case 2:
                                    this.locToCrnStn1Single(crn, crnProtocol); //  出库
                                    break;
                                default:
                                    this.locToCrnStn1(crn, crnProtocol); //  出库
                            }
@@ -1169,6 +1244,7 @@
                                case 1:
                                case 2:
                                    this.locToCrnStn1Single(crn, crnProtocol); //  出库
                                    break;
                                default:
                                    this.locToCrnStn1(crn, crnProtocol); //  出库
                            }
@@ -1178,6 +1254,7 @@
                                case 1:
                                case 2:
                                    this.crnStnToLoc1Single(crn, crnProtocol); //  入库
                                    break;
                                default:
                                    this.crnStnToLoc1(crn, crnProtocol); //  入库
                            }
@@ -2011,15 +2088,16 @@
     * 2022-12-03 TQS修改，先遍历查询工作档所有站点出库任务LIST，根据工作档任务排序优先级高于 根据堆垛机入库站点排序
     */
    public synchronized void locToCrnStn1Single(CrnSlave slave, CrnProtocol crnProtocol) {
        List<WrkMast> wrkMasts = wrkMastMapper.selectPakOutStep12(slave.getId());
        for (WrkMast wrkMast : wrkMasts) {
            if (wrkMast == null) {
        List<WrkMastCrn> wrkMastCrnList = wrkMastCrnMapper.selectList(new EntityWrapper<WrkMastCrn>()
                .eq("crn_no", crnProtocol.getCrnNo()).eq("wrk_sts", 11L));
        for (WrkMastCrn wrkMastCrn : wrkMastCrnList) {
            if (wrkMastCrn == null) {
                continue;
            }

            CrnSlave.CrnStn crnStn = null;
            for (CrnSlave.CrnStn crnStn1 : slave.getCrnOutStn()){
                if(crnStn1.getStaNo().equals(wrkMast.getSourceStaNo())){
                if(crnStn1.getStaNo().equals(wrkMastCrn.getSourceStaNo())){
                    crnStn = crnStn1;
                    break;
                }
@@ -2029,21 +2107,14 @@
            }

            // 工作档状态判断
            if (wrkMast.getIoType() < 100 || wrkMast.getSourceStaNo() == null) {
                log.error("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());
            if (wrkMastCrn.getIoType() < 100 || wrkMastCrn.getSourceStaNo() == null) {
                log.error("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={}", wrkMastCrn.getWrkNo(), wrkMastCrn.getSourceLocNo(), wrkMastCrn.getIoType());
                continue;
            }
            //退库模式跳过118、119出库任务
            if (wrkMast.getStaNo()==118 || wrkMast.getStaNo()==119){
                RgvOneSign rgvOneSign = rgvOneSignMapper.selectOneSign();
                if (Cools.isEmpty(rgvOneSign) || rgvOneSign.getRgvOneSign()==1){
                    continue;
                }
            }
            // 获取源库位信息
            LocMast sourceSta = locMastService.selectById(wrkMast.getSourceLocNo());
            LocMast sourceSta = locMastService.selectById(wrkMastCrn.getSourceLocNo());
            if (!sourceSta.getLocSts().equals("R") && !sourceSta.getLocSts().equals("P")) {
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), sourceSta.getLocSts());
                log.error("出库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMastCrn.getLocNo(), sourceSta.getLocSts());
                continue;
            }
            // 获取堆垛机出库站信息
@@ -2056,11 +2127,18 @@
                staProtocol = staProtocol.clone();
            }

            StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
            if (staProtocolOther == null) {
                continue;
            } else {
                staProtocolOther = staProtocolOther.clone();
            }

//            // 入出库模式判断
//            if (devpThread.ioMode != IoModeType.PAKOUT_MODE) { continue; }
            if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
                continue;
            }
//            if (wrkMast.getStaNo() == 204 && devpThread.ioModeOf2F != IoModeType.PAKOUT_MODE) {
//                continue;
//            }

            // 查询站点详细信息
            BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
@@ -2069,91 +2147,72 @@
                break;
//                    continue;
            }

            // 查询站点详细信息
            BasDevp staDetlOther = basDevpService.selectById(crnStn.getStaNoOther());
            if (staDetlOther == null) {
                log.error("出库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNoOther());
                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) {
                if (staProtocolOther.isAutoing() && !staProtocolOther.isLoading() && staDetlOther.getCanouting() != null && staDetlOther.getCanouting().equals("Y")
                        && staProtocolOther.getWorkNo() == 0 && staProtocolOther.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())) {
                    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")) {
                        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 {
                            if (waitWrkMast.getWrkSts() == 11) {
                                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 {

                            }
                        }
                    } else if (shallowLoc.getLocSts().equals("F") || shallowLoc.getLocSts().equals("D")) {
//                            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);
                        }
                        log.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")) {
                        WrkMast waitWrkMast = wrkMastMapper.selectByLocNo1(shallowLocNo);
                        if (null != waitWrkMast && waitWrkMast.getWrkSts() == 4) {
                            continue;
                        }
                        break;
                    }
                }

                // 已经存在吊车执行任务时，则过滤
                if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                    break;
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        break;
//                        return;
                }

                // 1.堆垛机开始移动
                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(sourceSta.getRow1().shortValue());     // 源库位排
                crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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
                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 {
                    // 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(12L);
                    wrkMast.setCrnStrTime(now);
                    wrkMast.setModiTime(now);
                    if (wrkMastMapper.updateById(wrkMast) == 0) {
                        log.error("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;

                    // 1.堆垛机开始移动
                    CrnCommand crnCommand = new CrnCommand();
                    crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                    crnCommand.setTaskNo(wrkMastCrn.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(sourceSta.getRow1().shortValue());     // 源库位排
                    crnCommand.setSourcePosY(sourceSta.getBay1().shortValue());     // 源库位列
                    crnCommand.setSourcePosZ(sourceSta.getLev1().shortValue());     // 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
                    if (!MessageQueue.offer(SlaveType.Crn, wrkMastCrn.getCrnNo(), new Task(2, crnCommand))) {
                        log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastCrn.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();
                        wrkMastCrn.setWrkSts(12L);
                        wrkMastCrn.setModiTime(now);
                        if (wrkMastCrnMapper.updateById(wrkMastCrn) == 0) {
                            log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMastCrn.getWrkNo());
                        }

                        WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
                        wrkMastOne.setWrkSts(12L);
                        wrkMastOne.setCrnStrTime(now);
                        wrkMastOne.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMastOne) == 0) {
                            log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMastOne.getWrkNo());
                        }

                        WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
                        wrkMastTwo.setWrkSts(12L);
                        wrkMastTwo.setCrnStrTime(now);
                        wrkMastTwo.setModiTime(now);
                        if (wrkMastMapper.updateById(wrkMastTwo) == 0) {
                            log.error("修改工作档状态 11.生成出库ID => 12.吊车出库中 失败！！，工作号={}", wrkMastTwo.getWrkNo());
                        }
                        break;
                    }
                }
            }
        }

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

@@ -96,13 +96,13 @@
            map.put(crnThread, thread);
            SlaveConnection.put(SlaveType.Crn, crn.getId(), crnThread);
        }
        // 初始化穿梭车线程
        log.info("初始化RGV线程...................................................");
        for (RgvSlave rgv : slaveProperties.getRgv()) {
            RgvThread rgvThread = new RgvThread(rgv);
            new Thread((Runnable) rgvThread).start();
            SlaveConnection.put(SlaveType.Rgv, rgv.getId(), rgvThread);
        }
//        // 初始化穿梭车线程
//        log.info("初始化RGV线程...................................................");
//        for (RgvSlave rgv : slaveProperties.getRgv()) {
//            RgvThread rgvThread = new RgvThread(rgv);
//            new Thread((Runnable) rgvThread).start();
//            SlaveConnection.put(SlaveType.Rgv, rgv.getId(), rgvThread);
//        }
        // 初始化输送线线程
        log.info("初始化输送线线程...................................................");
        for (DevpSlave devp : slaveProperties.getDevp()) {