#

zjj

2024-04-24 ac2cb6a654d6de15ca8c9c0bafd5acfb25680748

#

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

@@ -13,7 +13,7 @@
public interface WrkMastMapper extends BaseMapper<WrkMast> {


    WrkMast selectCrn5Task2(@Param("sourceLocNo") Integer sourceStaNo);
    WrkMast selectCrn5Task2();

    WrkMast selectByLocNo( @Param("sourceLocNo") String staNo);


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

@@ -524,13 +524,15 @@
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {

                        // 命令下发区 --------------------------------------------------------------------------

                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                        staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        if (crnProtocol.getCrnNo() !=5){
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo().shortValue());
                            staProtocol.setStaNo(wrkMast.getStaNo().shortValue());
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                            }
                        }


                        if (crnStn.getStaNo() == 1016 || crnStn.getStaNo() == 1019) {
                            // 更新工作档状态为13.RGV搬运中
@@ -582,6 +584,9 @@
                // 如果最近一次是入库模式
                if (crnProtocol.getLastIo().equals("I")) {
                    if (basCrnp.getInEnable().equals("Y")) {
                        if (crn.getId() == 5){
                            continue;
                        }
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                    } else if (basCrnp.getOutEnable().equals("Y")) {
@@ -595,6 +600,9 @@
                        this.locToCrnStn(crn, crnProtocol); //  出库
                        crnProtocol.setLastIo("I");
                    } else if (basCrnp.getInEnable().equals("Y")) {
                        if (crn.getId() == 5){
                            continue;
                        }
                        this.crnStnToLoc(crn, crnProtocol); //  入库
                        crnProtocol.setLastIo("O");
                    }
@@ -2437,78 +2445,57 @@
        }
    }
    public void Crn5InTaskSta(CrnSlave slave, CrnProtocol crnProtocol){
        // 遍历堆垛机出库站
        for (CrnSlave.CrnStn crnStn : slave.getCrnInStn()) {
            // 获取堆垛机出库站信息
            DevpThread devpThread = (DevpThread) SlaveConnection.get(SlaveType.Devp, crnStn.getDevpPlcId());
            StaProtocol staProtocol = devpThread.getStation().get(crnStn.getStaNo());
            if (staProtocol == null) {
                continue;
            } else {
                staProtocol = staProtocol.clone();
            // 查询工作档
            WrkMast wrkMast = wrkMastMapper.selectCrn5Task2();
            if (wrkMast == null) {
                return;
            }
            if (staProtocol.isAutoing()
                    && staProtocol.isLoading()
                    && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectCrn5Task2(staProtocol.getSiteId());
                if (wrkMast == null) {
                    continue;
                }
                // 查询站点详细信息
                BasDevp staDetl = basDevpService.selectById(crnStn.getStaNo());
                if (staDetl == null) {
                    log.error("入库 ===>> 堆垛机站点在数据库不存在, 站点编号={}", crnStn.getStaNo());
                    continue;
                }
                // 获取库位信息
                LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
                if (locMast == null) {
                    log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                    continue;
                }
                if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                    log.error("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;
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && staProtocol.getWorkNo() > 0 && staProtocol.isInEnable()
                        && staDetl.getCanining() != null && staDetl.getCanining().equals("Y")) {
            // 获取库位信息
            LocMast locMast = locMastService.selectById(wrkMast.getLocNo());
            if (locMast == null) {
                log.error("查询库存无数据--库位号{}", wrkMast.getLocNo());
                return;
            }
            if (!locMast.getLocSts().equals("S") && !locMast.getLocSts().equals("Q")) {
                log.error("入库操作库位状态不符合--状态, 库位号={}，库位状态={}", wrkMast.getLocNo(), locMast.getLocSts());
                return;
            }
            // 堆垛机控制过滤
            if (!crnProtocol.getStatusType().equals(CrnStatusType.IDLE) || crnProtocol.getTaskNo() != 0) {
                return;
            }

                    // 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
                    crnCommand.setLocType1(locMast.getLocType1().shortValue());     // 货物类型
                    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 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) {
                            log.error("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());
                        }
                    }


            // 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()==9?(short)4:(short)5);     // 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
            crnCommand.setLocType1(locMast.getLocType1().shortValue());     // 货物类型
            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 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) {
                    log.error("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());
                }

            }
        }




    }

}

 src/main/resources/application.yml

@@ -8,7 +8,7 @@
    name: @pom.build.finalName@
  datasource:
    driver-class-name: com.microsoft.sqlserver.jdbc.SQLServerDriver
    url: jdbc:sqlserver://10.10.10.200:1433;databasename=mdqdasrs
    url: jdbc:sqlserver://127.0.0.1:1433;databasename=mdqdasrs
    username: sa
    password: sa@123
  mvc:
@@ -47,7 +47,7 @@
  # 堆垛机1
  crn[0]:
    id: 1
    ip: 10.10.10.100
    ip: 10.10.10.120
    port: 102
    rack: 0
    slot: 0
@@ -120,44 +120,30 @@
      row: 6
      bay: 1
      lev: 3
  # 堆垛机2
#  crn[2]:
#    id: 3
#    ip: 10.10.10.110
#    port: 102
#    rack: 0
#    slot: 0
#    # 偏移量，当堆垛机站点列号=1时，偏移量=2
#    offset: 2
#    demo: false
#    # 堆垛机入库站1
#    crnInStn[0]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 1013
#      row: 7
#      bay: 1
#      lev: 1
#    # 堆垛机入库站2
#    crnInStn[1]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 1025
#      row: 6
#      bay: 1
#      lev: 3
#    # 堆垛机出库站点1
#    crnOutStn[0]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 1010
#      row: 6
#      bay: 1
#      lev: 1
#    # 堆垛机出库站点2
#    crnOutStn[1]:
#      devpPlcId: ${wcs-slave.devp[0].id}
#      staNo: 1019
#      row: 6
#      bay: 1
#      lev: 3
  # 堆垛机3
  crn[2]:
    id: 5
    ip: 10.10.10.100
    port: 102
    rack: 0
    slot: 0
    # 偏移量，当堆垛机站点列号=1时，偏移量=2
    offset: 2
    demo: false
    # 堆垛机入库站1
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 1013
      row: 4
      bay: 2
      lev: 1
    # 堆垛机出库站点1
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 1010
      row: 4
      bay: 1
      lev: 1
  # 输送线1
  devp[0]:
    id: 1
@@ -232,7 +218,27 @@
    # 拆盘机入空托
    autoEmptyIn[0]:
      staNo: 1007

  # 输送线2
#  devp[1]:
#    id: 1
#    ip: 10.10.10.10
#    port: 102
#    rack: 0
#    slot: 0
#    # 输送线3
#  devp[2]:
#    id: 1
#    ip: 10.10.10.20
#    port: 102
#    rack: 0
#    slot: 0
#  # 输送线4
#  devp[3]:
#    id: 1
#    ip: 10.10.10.20
#    port: 102
#    rack: 0
#    slot: 0
  # RGV1
#  rgv[0]:
#    id: 1

 src/main/resources/mapper/WrkMastMapper.xml

@@ -208,6 +208,6 @@
        select top 1 * from dbo.asr_wrk_mast where wrk_no = #{wrkNo} order by io_pri desc,io_time,wrk_no asc
    </select>
    <select id="selectCrn5Task2" resultMap="BaseResultMap">
        select * from dbo.asr_wrk_mast where wrk_sts=2 and io_type=1 and crn_no=5 and source_sta_no=#{sourceLocNo} order by io_pri desc,io_time,wrk_no ASC
        select * from dbo.asr_wrk_mast where wrk_sts=1 and io_type=1 and crn_no=5 order by io_pri desc,io_time,wrk_no ASC
    </select>
</mapper>