#

TQS

2024-08-13 876db5fee890311a1d7eaea983af20826b817e01

#

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

@@ -12,6 +12,7 @@
public interface WrkMastMapper extends BaseMapper<WrkMast> {

    WrkMast selectByLocNo(@Param("sourceLocNo") String sourceLocNo);
    WrkMast selectByOnlyWrkNo(@Param("wrkNo") Integer wrkNo);
    WrkMast selectByLocNo1(@Param("sourceLocNo") String sourceLocNo);

//    @Select("select * from asr_wrk_mast where ((wrk_sts = 4 Or wrk_sts = 14 ) and io_type <> 103 and io_type <> 104 and io_type <> 107 ) or (wrk_sts = 2 and io_type=6) order by upd_mk,io_time,wrk_no")

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

@@ -844,28 +844,38 @@
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep16(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                        CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
                        CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                        if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                            // 移动中
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.WAITING
                                && crnProtocol.forkPosType == CrnForkPosType.HOME
                                && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                            News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                            // 下发站点信息
                            staProtocol.setWorkNo(crnProtocol.getTaskNo());
                            staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                        try{
                            if (crnSlave.getId()!=2){
                                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crnSlave.getId());
                                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                                if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                                    // 移动中
                                    continue;
                                }
                                WrkMast onlyWrkNo = wrkMastMapper.selectByOnlyWrkNo(crnProtocol.getTaskNo().intValue());
                                if (Cools.isEmpty(onlyWrkNo)){
                                    continue;
                                }
                                //  判断堆垛机状态等待确认
                                if (crnProtocol.modeType == CrnModeType.AUTO
                                        && crnProtocol.statusType == CrnStatusType.WAITING
                                        && crnProtocol.forkPosType == CrnForkPosType.HOME
                                        && crnProtocol.getBay().equals(crnStn.getBay().shortValue()) && crnProtocol.getLevel().equals(crnStn.getLev().shortValue())) {
                                    News.info("堆垛机接驳任务完成，工作号："+crnProtocol.getTaskNo()+"；执行堆垛机号："+crnSlave.getId()+"；接驳放货位："+crnStn.getStaNo()+"；接驳行走目标站："+Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()));
                                    // 下发站点信息
                                    staProtocol.setWorkNo(crnProtocol.getTaskNo());
                                    staProtocol.setStaNo(Utils.getStaNoConvertCentreOther2(crnStn.getStaNo()).shortValue());
                                    if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                        continue;
                                    }
                                    // 复位堆垛机
                                    crnThread.setResetFlag(true);
                                    continue;
                                }
                            }
                            // 复位堆垛机
                            crnThread.setResetFlag(true);
                            continue;
                        } catch (Exception e){
                            News.info("堆垛机接驳任务完成，一场："+e.getMessage());
                        }
                        continue;
                    }
@@ -992,38 +1002,41 @@

            // 获取工作状态为 2,3,4,5,6 的入库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakInStep23456(slave.getId(), staProtocol.getWorkNo().intValue(), crnStn.getStaNo());
            if(null == wrkMast || (wrkMast.getCrnNo()==2 && wrkMast.getWrkSts()==2 && crnProtocol.getCrnNo()!=2 && (wrkMast.getIoType()==1 || wrkMast.getIoType()==10)) ){
            if(null == wrkMast){
                try{
                    //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                    // 已经存在吊车执行任务时，则过滤
                    if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                        continue;
                    }
                    if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                        continue;
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO
                            && crnProtocol.statusType == CrnStatusType.IDLE
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                        News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                        // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                        CrnCommand crnCommand = new CrnCommand();
                        crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                        crnCommand.setTaskNo(staProtocol.getWorkNo()); // 工作号
                        crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                        crnCommand.setCommand((short) 0);
                        crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE); // 任务模式:  站位转移
                        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(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                        crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                        crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                        if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                            News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                    WrkMast onlyWrkNo = wrkMastMapper.selectByOnlyWrkNo(staProtocol.getWorkNo().intValue());
                    if (!Cools.isEmpty(onlyWrkNo) && onlyWrkNo.getCrnNo()==2 && onlyWrkNo.getWrkSts()==2 && crnProtocol.getCrnNo()!=2 && (onlyWrkNo.getIoType()==1 || onlyWrkNo.getIoType()==10)){
                        //                News.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                        // 已经存在吊车执行任务时，则过滤
                        if (wrkMastMapper.selectWorking(slave.getId()) != null) {
                            continue;
                        }
                        return true;
                        if (Cools.isEmpty(staProtocol.getWorkNo()) || !staProtocol.isLoading()){
                            continue;
                        }
                        //  判断堆垛机状态等待确认
                        if (crnProtocol.modeType == CrnModeType.AUTO
                                && crnProtocol.statusType == CrnStatusType.IDLE
                                && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                            News.info("堆垛机接驳任务执行，工作号："+staProtocol.getWorkNo()+"；执行堆垛机号："+slave.getId()+"；接驳取货位："+crnStn.getStaNo()+"；接驳放货位："+staProtocol.getSiteId());
                            // 堆垛机接驳任务命令下发区 --------------------------------------------------------------------------
                            CrnCommand crnCommand = new CrnCommand();
                            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
                            crnCommand.setTaskNo(onlyWrkNo.getWrkNo().shortValue()); // 工作号
                            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                            crnCommand.setCommand((short) 0);
                            crnCommand.setTaskMode(CrnTaskModeType.XY_MOVE); // 任务模式:  站位转移
                            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(Utils.getRow(staProtocol.getSiteId()));     // 目标库位排
                            crnCommand.setDestinationPosY(Utils.getBay(staProtocol.getSiteId()));     // 目标库位列
                            crnCommand.setDestinationPosZ(Utils.getLev(staProtocol.getSiteId()));     // 目标库位层
                            if (!MessageQueue.offer(SlaveType.Crn, slave.getId(), new Task(2, crnCommand))) {
                                News.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", slave.getId(), JSON.toJSONString(crnCommand));
                            }
                            return true;
                        }
                    }
                    continue;
                } catch (Exception e){

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

@@ -56,7 +56,7 @@
        add(112);add(113);add(114);
    }};
    public static final ArrayList<Integer> staNos3 = new ArrayList<Integer>() {{
        add(212);add(213);add(214);
        add(212);add(214);add(213);
    }};

    public boolean charge0;

 src/main/resources/mapper/WrkMastMapper.xml

@@ -70,7 +70,9 @@
    <select id="selectByLocNo1"  resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast where source_loc_no = #{sourceLocNo} or loc_no=#{sourceLocNo}
    </select>

    <select id="selectByOnlyWrkNo"  resultMap="BaseResultMap">
        select top 1 * from asr_wrk_mast where wrk_no = #{wrkNo}
    </select>
    <select id="selectToBeCompleteData" resultMap="BaseResultMap">
        select * from asr_wrk_mast where ((wrk_sts = 4 Or wrk_sts = 14 ) and io_type != 103 and io_type != 104 and io_type != 107 ) or (wrk_sts = 2 and io_type=6) order by upd_mk,io_time,wrk_no
    </select>