初始化

dubin

2025-11-05 896f33f0f2db0798333f3298a7fa15e99691059c

初始化

 pom.xml

@@ -193,7 +193,7 @@


    <build>
        <finalName>rqdzwcs</finalName>
        <finalName>wcs</finalName>
        <plugins>
            <plugin>
                <groupId>org.springframework.boot</groupId>

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

@@ -30,7 +30,7 @@

    LocMast queryDemoSourceLoc(@Param("crnNo") Integer crnNo);

    LocMast queryDemoLoc(@Param("crnNo") Integer crnNo);
    LocMast queryDemoLoc(@Param("crnNo") Integer crnNo,@Param("loc_type2") String locType2);

    @Select("select count(*) as count from asr_loc_mast where 1=1 and loc_sts = 'O' and loc_type1 = #{locType1} and crn_no = #{crnNo}")
    Integer selectEmptyLocCount(@Param("locType1") Short locType1, @Param("crnNo") Integer crnNo);

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

@@ -113,4 +113,10 @@
    WrkMast selectPickStep2(@Param("barcode")String barcode);

    WrkMast selectByWrkNo(@Param("wrkNo")Integer wrkNo);

    @Select("select count(*) from asr_wrk_mast where io_type = 1 and io_type = 10 and io_type = 53 and io_type = 54 and io_type = 57;")
    Integer selectIn();

    @Select("select count(*) from asr_wrk_mast where io_type = 101 and io_type = 103 and io_type = 104 and io_type = 107 and io_type = 110;")
    Integer selectOut();
}

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

@@ -36,7 +36,7 @@
     * @param crn
     * @return
     */
    LocMast queryDemoLoc(Integer crn);
    LocMast queryDemoLoc(Integer crn,String locType2);

    /**
     * 检查当前库位所属巷道的空库位数量

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

@@ -16,4 +16,8 @@
    int getOutToStn182(Integer devpNo);

    WrkMast selectByWrkNo(int wrkNo);

    Integer selectIn();

    Integer selectOut();
}

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

@@ -40,8 +40,8 @@
    }

    @Override
    public LocMast queryDemoLoc(Integer crn) {
        return this.baseMapper.queryDemoLoc(crn);
    public LocMast queryDemoLoc(Integer crn,String locType2) {
        return this.baseMapper.queryDemoLoc(crn,locType2);
    }

    @Override

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

@@ -39,6 +39,7 @@
import com.zy.core.thread.LedThread;
import com.zy.core.thread.RgvThread;
import com.zy.core.thread.SiemensDevpThread;
import com.zy.system.service.ConfigService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@@ -97,6 +98,8 @@
    private BasRgvMapService basRgvMapService;
    @Autowired
    private BasCrnOptService crnOptService;
    @Autowired
    private ConfigService configService;

    @Value("${wms.url}")
    private String wmsUrl;
@@ -104,6 +107,9 @@
    private boolean isToOrigin;

    public Integer wrkNo = 10000;

    /*堆垛机入出库任务下发控制参数*/
//    Integer ioControl=configService.selectCrnIo(Integer mark);

    /**
     * 组托
@@ -153,28 +159,18 @@
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.getWeight() > 15000) {
                    errMsg = "超重或未读取";
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
//                if(staProtocol.getWeight() <= 0 ){
//                    continue;
//                }
//                if (!back && staProtocol.getWeight() == 0.0) {
//                    errMsg = "重量获取失败";
//                    back = true;
//                }

//                News.info("{}重量", staProtocol.getWeight());

                // 退回
                if (back) {
                    log.info("errmsg: " + errMsg);
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errMsg));

                    if (!staProtocol.isLoading()) {
@@ -185,11 +181,10 @@
                    }
                    staProtocol.setWorkNo(wrkNo);//退回 工作号:10000
                    News.info("{}PLC入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
//                    wrkNo++;
                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
                    log.error("输送线下发（超限全板退回）：" + wrkNo + "," + inSta.getBackSta());
                    break;//超限托盘退回不生成工作档
                }

@@ -205,23 +200,15 @@

                        staProtocol.setWorkNo(wrkNo);
                        News.info("{}barcode入库回退：{}，任务号：{}", inSta.getStaNo(), errMsg, wrkNo);
//                        wrkNo++;
                        staProtocol.setStaNo(inSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发1：" + wrkNo + "," + inSta.getBackSta());
                        log.error("输送线下发（扫码全板退回）：" + wrkNo + "," + inSta.getBackSta());
                        continue;
                    }
                    // 判断重复工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep1(inSta.getStaNo(), barcode);
                    if (wrkMast != null) {
//                        int wrkNo1 = basDevpService.selectCount(new EntityWrapper<BasDevp>().eq("wrk_no", wrkMast.getWrkNo()));
//                        if (wrkNo1 != 0){
//                            if (ledThread != null) {
//                                News.error(methodName + ":扫码失败，请重试");
//                            }
//
//                        }
                        News.error(barcode + "条码已存在状态为（ 2.设备上走 ）的数据,请查看WCS输送线界面,工作号={}", wrkMast.getWrkNo());
                        MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, barcode + "条码已存在状态为（ 2.设备上走 ）的任务,工作号=" + wrkMast.getWrkNo()));
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
@@ -232,24 +219,6 @@
                            throw new CoolException("更新plc站点信息失败");
                        }
                        continue;
//                        barcodeThread.setBarcode("");
//                        staProtocol.setWorkNo(wrkMast.getWrkNo());
//                        staProtocol.setStaNo(RouteUtils.SouStaEnd(null,wrkMast.getSourceStaNo()));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.info("输送线下发(存在设备上走的工作档，直接下发！))："+wrkMast.getWrkNo()+","+wrkMast.getStaNo());
//
//                        ledThread.errorReset();
//                        log.info("组托请求后LED错误清除");
//
//                        if (!result) {
//                            News.error(methodName + ":更新plc站点信息失败");
//                            log.error("输送线下发(存在设备上走的工作档，直接下发！)==>更新plc站点信息失败");
//
////                            throw new CoolException("更新plc站点信息失败");
//                            continue;
//                        }

                    }
                    WrkMast checkPick = wrkMastService.selectOne(new EntityWrapper<WrkMast>()
                            .eq("barcode", barcode)
@@ -283,7 +252,7 @@
                            staProtocol.setStaNo(dto.getStaNo().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2：" + dto.getWorkNo() + "," + dto.getStaNo());
                            log.error("输送线下发（全板退回）：" + dto.getWorkNo() + "," + dto.getStaNo());

                            ledThread.errorReset();
                            log.error("组托请求后LED错误清除");
@@ -295,42 +264,18 @@
                            }
                        } else {
                            if (jsonObject.getString("msg").equals("工作档已存在")) {

                                //工作档已存在    再次进去
//                                wrkMast = wrkMastMapper.selectPakInStepBarcode(barcode);
//                                if (wrkMast != null) {
//                                    barcodeThread.setBarcode("");
//                                    staProtocol.setWorkNo(9999);
//                                    //staProtocol.setWorkNo(wrkMast.getWrkNo());
//                                    //staProtocol.setStaNo(RouteUtils.SouStaEnd(dto.getStaNo(),dto.getSourceStaNo()));
//                                    staProtocol.setStaNo(inSta.getBackSta().shortValue());
//                                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                                    log.error("输送线下发2：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
//                                    ledThread.errorReset();
//                                    log.error("组托请求后LED错误清除");
//                                    if (!result) {
//                                        News.error(methodName + ":更新plc站点信息失败");
//
//                                        throw new CoolException("更新plc站点信息失败");
//                                    }
//                                }

                                continue;
                            }
                            staProtocol.setWorkNo(wrkNo);
//                            wrkNo++;
                            staProtocol.setStaNo(inSta.getBackSta().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发2：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());
                            log.error("输送线下发（全板）：" + staProtocol.getWorkNo() + "," + staProtocol.getStaNo());

//                            if (ledThread != null) {
                            String errorMsg = jsonObject.getString("msg");
                            if (!Cools.isEmpty(errorMsg)) {
                                MessageQueue.offer(SlaveType.Led, inSta.getLed(), new Task(3, errorMsg));
                            }
//                            }
                            News.error(methodName + ":请求接口失败！！！url：{}；request：{}；response：{}", wmsUrl + "/rpc/pakin/loc/v1", JSON.toJSONString(param), response);
                        }

@@ -367,7 +312,7 @@
                    staProtocol = staProtocol.clone();
                }

//                // 入出库模式判断
                // 入出库模式判断
                if (inSta.getStaNo() == 203 && devpThread.ioModeOf2F != IoModeType.PAKIN_MODE) {
                    continue;
                }
@@ -424,11 +369,11 @@
            // 遍历拣料入库口
            for (DevpSlave.Sta pickSta : devp.getPickSta()) {
                // 获取条码扫描仪信息
//                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
//                if (barcodeThread == null) {
//                    continue;
//                }
//                String barcode = barcodeThread.getBarcode();
                BarcodeThread barcodeThread = (BarcodeThread) SlaveConnection.get(SlaveType.Barcode, pickSta.getBarcode());
                if (barcodeThread == null) {
                    continue;
                }
                String barcode = barcodeThread.getBarcode();
                // 获取拣料入库站信息
                SiemensDevpThread devpThread = (SiemensDevpThread) SlaveConnection.get(SlaveType.Devp, devp.getId());

@@ -439,87 +384,85 @@
                    continue;
                }
                // 尺寸检测异常
//                boolean back = false;
//                String errMsg = "";
//                if (!back && staProtocol.isFrontErr()) {
//                    errMsg = "前超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isBackErr()) {
//                    errMsg = "后超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isHighErr()) {
//                    errMsg = "高超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isLeftErr()) {
//                    errMsg = "左超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isRightErr()) {
//                    errMsg = "右超限";
//                    back = true;
//                }
//                if (!back && staProtocol.isWeightErr()) {
//                    errMsg = "超重";
//                    back = true;
//                }
//                if (!back && staProtocol.isBarcodeErr()) {
//                    errMsg = "扫码失败";
//                    back = true;
//                }
//                if(staProtocol.getSiteId() > 400){
//                    back = false;
//                }
                boolean back = false;
                String errMsg = "";
                if (!back && staProtocol.isFrontErr()) {
                    errMsg = "前超限";
                    back = true;
                }
                if (!back && staProtocol.isBackErr()) {
                    errMsg = "后超限";
                    back = true;
                }
                if (!back && staProtocol.isHighErr()) {
                    errMsg = "高超限";
                    back = true;
                }
                if (!back && staProtocol.isLeftErr()) {
                    errMsg = "左超限";
                    back = true;
                }
                if (!back && staProtocol.isRightErr()) {
                    errMsg = "右超限";
                    back = true;
                }
                if (!back && staProtocol.isWeightErr()) {
                    errMsg = "超重";
                    back = true;
                }
                if (!back && staProtocol.isBarcodeErr()) {
                    errMsg = "扫码失败";
                    back = true;
                }
                if(staProtocol.getSiteId() > 400){
                    back = false;
                }

                // 退回
//                if (back) {
//                    log.info("errmsg: " + errMsg);
//                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", inSta.getStaNo(), errMsg);
//                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
//                    if (!staProtocol.isLoading()) {
//                        continue;
//                    }
//                    if (!staProtocol.isPakMk()) {
//                        continue;
//                    }
//                    staProtocol.setWorkNo(wrkNo);
//                    News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
//                    wrkNo++;
//                    staProtocol.setStaNo(pickSta.getBackSta().shortValue());
//                    devpThread.setPakMk(staProtocol.getSiteId(), false);
//                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                    log.error("输送线下发1：" + 9999 + "," + pickSta.getBackSta());
//                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
//
//                    // led 异常显示
//                    if (ledThread != null) {
//                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
//                    }
//                    continue;
//                }
//                if(staProtocol.getSiteId() < 400){
//                    if (!Cools.isEmpty(barcode)) {
//                        News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                            continue;
//                        }
//                    } else {
//                        continue;
//                    }
//
//
//                    if (!Cools.isEmpty(barcode)) {
//                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
//                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
//                            continue;
//                        }
//                    } else {
//                        continue;
//                    }
//
//                }
                if (back) {
                    log.info("errmsg: " + errMsg);
                        News.warn("扫码入库失败，{}入库站因{}异常，托盘已被退回", pickSta.getStaNo(), errMsg);
                    MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    if (!staProtocol.isLoading()) {
                        continue;
                    }
                    if (!staProtocol.isPakMk()) {
                        continue;
                    }
                    staProtocol.setWorkNo(wrkNo);
                    News.info("{}入库回退：{}，任务号：{}", pickSta.getStaNo(), errMsg, wrkNo);
                    staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());

                    // led 异常显示
                    if (ledThread != null) {
                        MessageQueue.offer(SlaveType.Led, pickSta.getLed(), new Task(5, errMsg));
                    }
                    continue;
                }
                if(staProtocol.getSiteId() < 400){
                    if (!Cools.isEmpty(barcode)) {
                        News.infoNoLog("" + mark + " - 1" + " - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }


                    if (!Cools.isEmpty(barcode)) {
                    News.info(""+mark+" - 1"+" - {}号条码扫描器检测条码信息：{}", pickSta.getBarcode(), barcode);
                        if ("NG".endsWith(barcode) || "NoRead".equals(barcode)) {
                            continue;
                        }
                    } else {
                        continue;
                    }

                }


                if (staProtocol == null) {
@@ -533,11 +476,7 @@

                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.isInEnable() && staProtocol.isPakMk()) {
                    News.warnNoLog("" + mark + " - 0" + " - 开始执行");
//                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
//                    if(staProtocol.getSiteId() > 400){
//                        wrkMast = wrkMastMapper.selectPickStep3(staProtocol.getWorkNo());
//                    }
                    WrkMast wrkMast = wrkMastMapper.selectPickStep(barcode);
//                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(staProtocol.getWorkNo().intValue());
                    if (wrkMast == null) {
                        // 无拣料数据
@@ -547,16 +486,6 @@
                            || Cools.isEmpty(wrkMast.getStaNo()) || Cools.isEmpty(wrkMast.getSourceStaNo())) {
                        continue;
                    }

                    // 拣、盘、并 作业站转换
//                    int stnNo = 0;
//                    if (wrkMast.getStaNo() == 109) {
//                        stnNo = 127;
//                    } else if (wrkMast.getStaNo() == 113) {
//                        stnNo = 128;
//                    } else {
//                        log.error("{}号任务数据异常！", wrkMast.getWrkNo());
//                    }
                    // 获取目标站
                    Wrapper<StaDesc> wrapper = new EntityWrapper<StaDesc>()
                            .eq("type_no", wrkMast.getIoType() - 50)
@@ -564,12 +493,12 @@
                            .eq("crn_no", wrkMast.getCrnNo()); // 堆垛机号
                    StaDesc staDesc = staDescService.selectOne(wrapper);
                    if (Cools.isEmpty(staDesc)) {
//                        News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
//                        staProtocol.setWorkNo(wrkNo++);
//                        staProtocol.setStaNo((short) (pickSta.getStaNo().shortValue() - (short) 1));
//                        devpThread.setPakMk(staProtocol.getSiteId(), false);
//                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
//                        log.error("输送线下发4：" + 9989 + "," + (pickSta.getStaNo().shortValue() - (short) 1));
                        News.error("" + mark + " - 2" + " - 入库路径不存在！type_no={},stn_no={},crn_no={}", wrkMast.getIoType(), pickSta.getStaNo(), wrkMast.getCrnNo());
                        staProtocol.setWorkNo(wrkNo);
                        staProtocol.setStaNo(pickSta.getBackSta().shortValue());
                        devpThread.setPakMk(staProtocol.getSiteId(), false);
                        MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                        log.error("输送线下发（盘点、拣料、并板退回）：" + wrkNo + "," + pickSta.getBackSta());
                        //LED
                        LedThread ledThread = (LedThread) SlaveConnection.get(SlaveType.Led, pickSta.getLed());
                        // led 异常显示
@@ -622,12 +551,10 @@

                    // 更新站点信息 且 下发plc命令
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
//                    if(staProtocol.getSiteId() < 400){
                        staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
//                    }
                    staProtocol.setStaNo(Short.valueOf(wrkMast.getStaNo().toString()));
                    devpThread.setPakMk(staProtocol.getSiteId(), false);
                    boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                    log.error("输送线下发5：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    log.error("输送线下发（盘点、拣料、并板）：" + wrkMast.getWrkNo() + "," + wrkMast.getStaNo());
                    if (!result) {
                        News.error("" + mark + " - 3" + " - 发布命令至输送线队列失败！！！ [plc编号：{}]", devp.getId());
                    }
@@ -909,6 +836,9 @@
     */
    public synchronized void crnIoExecute(Integer mark) {

        /*堆垛机入出库任务下发控制参数*/
        Integer ioControl=configService.selectCrnIo();

        for (CrnSlave crn : slaveProperties.getCrn()) {
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
@@ -932,25 +862,68 @@
                    && crnProtocol.getLoaded() == 0 && crnProtocol.getForkPos() == 0) {
                News.warnNoLog("" + mark + " - 0" + " - 开始执行堆垛机入出库作业下发");
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
//                if (crnProtocol.getLastIo().equals("I")) {
//                    if (basCrnp.getInEnable().equals("Y")) {
//                        //mark - 1 - ....
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                        crnProtocol.setLastIo("O");
//                    } else if (basCrnp.getOutEnable().equals("Y")) {
//                        //mark - 2 - ....
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                        crnProtocol.setLastIo("I");
//                    }
//                }
                // 如果最近一次是出库模式
//                else if (crnProtocol.getLastIo().equals("O")) {
//                    if (basCrnp.getOutEnable().equals("Y")) {
//                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
//                        crnProtocol.setLastIo("I");
//                    } else if (basCrnp.getInEnable().equals("Y")) {
//                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
//                        crnProtocol.setLastIo("O");
//                    }
//                }
                if (ioControl==1){
                    //入库优先  先执行入库再执行出库
                    Integer inCount=wrkMastService.selectIn();
                    if (inCount == 0 && basCrnp.getOutEnable().equals("Y")){
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                    }
                    if (basCrnp.getInEnable().equals("Y")){
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                    }
                }else if (ioControl==2){
                    //出库优先 先执行出库再执行入库
                    Integer outCount=wrkMastService.selectOut();
                    if (outCount==0 && basCrnp.getInEnable().equals("Y")){
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                    }
                    if (basCrnp.getOutEnable().equals("Y")){
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                    }
                }else if(ioControl==3){
                    //入出库交替执行 不做限制
                    // 如果最近一次是入库模式
                    if (crnProtocol.getLastIo().equals("I")) {
                        if (basCrnp.getInEnable().equals("Y")) {
                        //mark - 1 - ....
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
                        } else if (basCrnp.getOutEnable().equals("Y")) {
                        //mark - 2 - ....
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                        crnProtocol.setLastIo("I");
                        }
                    }
                }
                // 如果最近一次是出库模式
                else if (crnProtocol.getLastIo().equals("O")) {
                    if (basCrnp.getOutEnable().equals("Y")) {
                    // 如果最近一次是出库模式
                    else if (crnProtocol.getLastIo().equals("O")) {
                        if (basCrnp.getOutEnable().equals("Y")) {
                        this.locToCrnStn(crn, crnProtocol, mark); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        } else if (basCrnp.getInEnable().equals("Y")) {
                        this.crnStnToLoc(crn, crnProtocol, mark); //  入库
                        crnProtocol.setLastIo("O");
                        }
                    }
                }
            }
@@ -960,7 +933,7 @@
//            this.crnRebackHp(crnProtocol, crnThread);

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 堆垛机入出库作业下发执行完成");
    }

    /**
@@ -1586,7 +1559,7 @@


        }
//        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 对工作档的完成操作执行完成");
    }

    /**
@@ -1708,7 +1681,7 @@
            }

        }
//        News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
        News.infoNoLog(""+mark+" - 0"+" - 堆垛机异常信息记录执行完成");
    }


@@ -1773,7 +1746,7 @@
                            //staProtocol.setStaNo(staProtocol.getSiteId().shortValue());
                            devpThread.setPakMk(staProtocol.getSiteId(), false);
                            boolean result = MessageQueue.offer(SlaveType.Devp, devp.getId(), new Task(2, staProtocol));
                            log.error("输送线下发6：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
                            log.error("输送线下发（空板）：" + dto.getWorkNo() + "," + staProtocol.getSiteId());
                            if (!result) {
                                News.errorNoLog("" + mark + " - 1" + " - 更新plc站点信息失败");
                                throw new CoolException("更新plc站点信息失败");
@@ -1866,6 +1839,9 @@
                    case 53:
                        ledCommand.setTitle("拣料再入库");
                        break;
                    case 54:
                        ledCommand.setTitle("并板再入库");
                        break;
                    case 57:
                        ledCommand.setTitle("盘点再入库");
                        break;
@@ -1904,13 +1880,13 @@
                        } else {
                            total = locDetl.getAnfme();
                        }
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57) {
                        if (wrkMast.getIoType() == 101 || wrkMast.getIoType() == 1 || wrkMast.getIoType() == 53 || wrkMast.getIoType() == 57||wrkMast.getIoType() == 54) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 103 ) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                        if (wrkMast.getIoType() == 107) {
                        if (wrkMast.getIoType() == 107||wrkMast.getIoType()==104) {
                            ledCommand.getMatDtos().add(new MatDto(wrkDetl.getMatnr(), wrkDetl.getMaktx(), wrkDetl.getBatch(), wrkDetl.getSpecs(), wrkDetl.getOrderNo(),wrkDetl.getOutOrderNo(),wrkDetl.getUnit(),wrkDetl.getWeight(),wrkDetl.getSupp(),wrkDetl.getLength() ,wrkDetl.getTemp1(), wrkDetl.getProType(),wrkDetl.getAnfme(),wrkDetl.getTemp2(), total));
                        }
                    });
@@ -2214,7 +2190,7 @@
                    }

                    LocMast sourceLoc = locMastService.queryDemoSourceLoc(crn.getId());
                    LocMast loc = locMastService.queryDemoLoc(crn.getId());
                    LocMast loc = locMastService.queryDemoLoc(crn.getId(),sourceLoc.getBarcode().substring(0,1));
                    if (null == sourceLoc || null == loc) {
                        continue;
                    }
@@ -3226,14 +3202,7 @@
            }

            if (crnProtocol.getStatusType() == CrnStatusType.IDLE && crnProtocol.getTaskNo() == 0 && crnProtocol.getModeType() == CrnModeType.AUTO) {

//                if ((crnProtocol.getCrnNo()==3 || crnProtocol.getCrnNo()==4) && crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
//                    continue;
//                }
//                if ((crnProtocol.getCrnNo()==1 || crnProtocol.getCrnNo()==2) && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
//                    continue;
//                }
                if (crnProtocol.getCrnNo()==1 && crnProtocol.getBay()==1 && crnProtocol.getLevel() == 1) {
                if (crnProtocol.getBay()==0 && crnProtocol.getLevel() == 1) {
                    continue;
                }
                Page<BasCrnOpt> basCrnOptPage = crnOptService.selectPage(new Page<>(1, 1), new EntityWrapper<BasCrnOpt>().eq("crn_no", crn.getId()).orderBy("send_time", false));
@@ -3278,7 +3247,7 @@
//                    crnCommand.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式:  堆垛机移动
                    crnCommand.setTaskMode(CrnTaskModeType.X_MOVE);//余姚锐麒回原点任务模式:  站位转移
                    crnCommand.setSourcePosX(crnStn.getRow().shortValue());     // 源库位排
                    crnCommand.setSourcePosY((short) 1);     // 源库位列
                    crnCommand.setSourcePosY((short) 0);     // 源库位列
                    crnCommand.setSourcePosZ((short) 1);     // 源库位层
                    crnCommand.setDestinationPosX((short) 0);     // 目标库位排
                    crnCommand.setDestinationPosY((short) 0);     // 目标库位列

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

@@ -36,4 +36,14 @@
    public WrkMast selectByWrkNo(int wrkNo) {
        return this.baseMapper.selectByWrkNo(wrkNo);
    }

    @Override
    public Integer selectIn() {
        return this.baseMapper.selectIn();
    }

    @Override
    public Integer selectOut() {
        return this.baseMapper.selectOut();
    }
}

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

@@ -86,7 +86,7 @@

                    if (i>10){
                        //空托盘自动出库
                        mainService.autoEmptyOut();
//                        mainService.autoEmptyOut();
                     //空托盘自动入库
//                       mainService.autoEmptyIn();
                        i=0;

 src/main/java/com/zy/system/mapper/ConfigMapper.java

@@ -3,10 +3,13 @@
import com.baomidou.mybatisplus.mapper.BaseMapper;
import com.zy.system.entity.Config;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Select;
import org.springframework.stereotype.Repository;

@Mapper
@Repository
public interface ConfigMapper extends BaseMapper<Config> {

    @Select("select value from sys_config where code='CrnIoControl';")
    Integer selectCrnIo();
}

 src/main/java/com/zy/system/service/ConfigService.java

@@ -5,4 +5,5 @@

public interface ConfigService extends IService<Config> {

    Integer selectCrnIo();
}

 src/main/java/com/zy/system/service/impl/ConfigServiceImpl.java

@@ -4,9 +4,16 @@
import com.zy.system.entity.Config;
import com.zy.system.mapper.ConfigMapper;
import com.zy.system.service.ConfigService;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;

@Service("configService")
public class ConfigServiceImpl extends ServiceImpl<ConfigMapper, Config> implements ConfigService {
    @Autowired
    private ConfigMapper configMapper;

    @Override
    public Integer selectCrnIo() {
        return configMapper.selectCrnIo();
    }
}

 src/main/resources/application.yml

@@ -38,18 +38,18 @@
  enable: false

wms:
  url: 127.0.0.1:8080/rqdzasrs
  url: 127.0.0.1:8080/zjhlasrs

# 下位机配置
wcs-slave:
  #
  isToOrigin: false
  # 双深
  doubleDeep: true
  doubleDeep: false
  # 双深库位排号
  doubleLocs: 1,4
  # 一个堆垛机负责的货架排数
  groupCount: 4
  groupCount: 2
  # 堆垛机1
  crn[0]:
    id: 1
@@ -88,6 +88,44 @@
      row: 3
      bay: 1
      lev: 1
  # 堆垛机2
  crn[1]:
    id: 2
    ip: 10.10.10.110
    port: 102
    rack: 0
    slot: 0
    # 偏移量，当堆垛机站点列号=1时，货架从2开始，加1
    offset: 0
    demo: false
    # 堆垛机入库站点
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      row: 2
      bay: 1
      lev: 1
    # 堆垛机入库站点
    crnInStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 105
      row: 3
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 101
      row: 2
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[1]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 105
      row: 3
      bay: 1
      lev: 1
  # plc
  devp[0]:
    id: 1

 src/main/resources/mapper/LocMastMapper.xml

@@ -55,7 +55,7 @@
    </select>

    <select id="queryDemoLoc" resultMap="BaseResultMap">
        select top 1 * from asr_loc_mast where crn_no = #{crnNo} and loc_sts = 'O'
        select top 1 * from asr_loc_mast where crn_no = #{crnNo} and loc_sts = 'O' and loc_type2 =#{locType2}
        ORDER BY NEWID()
    </select>


 src/main/webapp/static/js/common.js

@@ -1,4 +1,4 @@
var baseUrl = "/rqdzwcs";
var baseUrl = "/wcs";

// 赋值
function setVal(el, val) {

 src/main/webapp/static/js/console.js

@@ -32,7 +32,7 @@
        let bLen
        let interval // 间隔数

        if (maxBayNo<35) {
        if (maxBayNo<40) {
            interval = 1
            bLen = maxBayNo / interval // 库位个数
        } else {

 src/main/webapp/static/js/console.map.js

@@ -1,5 +1,5 @@
mapInfo ={
    "mapName": "rqdzwcs",
    "mapName": "wcs",
    "rackCount": 8,
    "crnCount": 4,
    "stbCount": 120,
@@ -9,58 +9,49 @@
        {
            "type": "rack",
            "id": "rack1",
            "top": 130,
            "left": 500,
            "width": 800,
            "height": 23,
            "minBayNo": 2,
            "maxBayNo": 19
        },
        {
            "type": "rack",
            "id": "rack2",
            "top": 160,
            "left": 500,
            "width": 800,
            "height": 23,
            "minBayNo": 2,
            "maxBayNo": 19
            "minBayNo": 1,
            "maxBayNo": 26
        },
        {
            "type": "rack",
            "id": "rack3",
            "id": "rack2",
            "top": 210,
            "left": 500,
            "width": 800,
            "height": 23,
            "minBayNo": 2,
            "maxBayNo": 19
            "minBayNo": 1,
            "maxBayNo": 27
        },
        {
            "type": "rack",
            "id": "rack3",
            "top": 300,
            "left": 500,
            "width": 800,
            "height": 23,
            "minBayNo": 1,
            "maxBayNo": 35
        },
        {
            "type": "rack",
            "id": "rack4",
            "top": 240,
            "top": 350,
            "left": 500,
            "width": 800,
            "height": 23,
            "minBayNo": 2,
            "maxBayNo": 19
        }
            "minBayNo": 1,
            "maxBayNo": 35
        },
    ],
    "rackDescs": [
        {
            "type": "rackDescs",
            "id": "lb_desc1",
            "text": "#1",
            "top": 130,
            "left": 460,
            "width": 30,
            "height": 23
        },
        {
            "type": "rackDescs",
            "id": "lb_desc2",
            "text": "#2",
            "text": "#1",
            "top": 160,
            "left": 460,
            "width": 30,
@@ -69,7 +60,7 @@
        {
            "type": "rackDescs",
            "id": "lb_desc3",
            "text": "#3",
            "text": "#2",
            "top": 210,
            "left": 460,
            "width": 30,
@@ -78,8 +69,17 @@
        {
            "type": "rackDescs",
            "id": "lb_desc4",
            "text": "#3",
            "top": 300,
            "left": 460,
            "width": 30,
            "height": 23
        },
        {
            "type": "rackDescs",
            "id": "lb_desc4",
            "text": "#4",
            "top": 240,
            "top": 350,
            "left": 460,
            "width": 30,
            "height": 23
@@ -103,6 +103,24 @@
            "left": 500,
            "width": 800,
            "height": 2
        },
        {
            "type": "crane",
            "id": "crn-2",
            "text": "1",
            "top": 327,
            "left": 1250,
            "width": 100,
            "height": 22
        },
        {
            "type": "track",
            "id": "lb_track2",
            "text": "",
            "top": 337,
            "left": 500,
            "width": 800,
            "height": 2
        }
    ],
    "areas": [

 src/main/webapp/views/console.html

@@ -24,6 +24,16 @@
            <!--                <img src="../static/images/zy-logo.png" alt="徐工汉云" height="44" width="80">-->
        </div>
    </div>
    <div class="layui-inline"  style="width:31%;">
        <label class="layui-form-label"><span class="not-null"></span>当前任务模式</label>
        <div class="layui-input-inline">
            <select id="value" lay-verify="required">
                <option value="1">入库优先</option>
                <option value="2">出库优先</option>
                <option value="3">出入库交替执行</option>
            </select>
        </div>
    </div>
    <!-- 货架 + 堆垛机 + 入库站点 -->
    <div class="main-part">

@@ -47,11 +57,10 @@
                <span>堆垛机 1</span>
                <span class="state-ss machine-put-flag    ">入库</span>
            </div>
<!--            <div class="state">-->
<!--                <span>堆垛机 2</span>-->
<!--                <span class="state-ss machine-auto-flag    ">自动</span>-->

<!--            </div>-->
            <div class="state">
                <span>堆垛机 2</span>
                <span class="state-ss machine-auto-flag    ">自动</span>
            </div>
            <div class="button"><span>所有状态</span></div>
            <div class="button item-group">
                <span class="machine-put-flag">入库</span>

 src/main/webapp/views/crn.html

@@ -59,12 +59,12 @@
                    <!--            <span>&nbsp;</span>-->
                    <input id="crn1" disabled="disabled">
                </div>
<!--                <div class="crn-command-item">-->
<!--                    <label>2#</label>-->
<!--                    <button id="demoBtn-2" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>-->
<!--                    &lt;!&ndash;            <span>&nbsp;</span>&ndash;&gt;-->
<!--                    <input id="crn2" disabled="disabled">-->
<!--                </div>-->
                <div class="crn-command-item">
                    <label>2#</label>
                    <button id="demoBtn-2" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>
                    <!--            <span>&nbsp;</span>-->
                    <input id="crn2" disabled="disabled">
                </div>
<!--                <div class="crn-command-item">-->
<!--                    <label>3#</label>-->
<!--                    <button id="demoBtn-3" class="demoBtn" onclick="demoSwitch(this.id)"> - </button>-->