#

luxiaotao1123

2022-09-19 be88cb18eeca37171e1dad3ce7d5209700a42d29

#

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

@@ -43,7 +43,7 @@

    // 出库第一步，从库位到堆垛机出库站
//    @Select("select top 1 * from dbo.asr_wrk_mast where crn_no=#{crnNo} and wrk_sts=11 and io_type>100 order by io_pri desc,io_time,wrk_no asc")
    WrkMast selectPakOutStep11(@Param("crnNo")Integer crnNO, @Param("sourceStaNo")Integer sourceStaNo);
    WrkMast selectPakOutStep111215(@Param("crnNo")Integer crnNO, @Param("sourceStaNo")Integer sourceStaNo);

    // 出库第二步，从堆垛机出库站到目标出库站，堆垛机出库站有物时执行
//    @Select("select top 1 * from dbo.asr_wrk_mast where source_sta_no=#{sourceStaNo} and wrk_sts=12 and io_type>100 order by io_pri desc,io_time desc,wrk_no ASC")

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

@@ -454,7 +454,7 @@
            // 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) {
                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
//                log.error("{}站点查询无待入库数据 工作号={}", crnStn.getStaNo(), staProtocol.getWorkNo());
                continue;
            }
            if (wrkMast.getWrkSts() < 3) {
@@ -609,7 +609,7 @@
    public boolean locToCrnStn(CrnSlave slave, CrnProtocol crnProtocol){
        for (CrnSlave.CrnStn crnStn : slave.getCrnOutStn()) {
            // 获取工作状态为11（生成出库ID）的出库工作档
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep11(slave.getId(), crnStn.getStaNo());
            WrkMast wrkMast = wrkMastMapper.selectPakOutStep111215(slave.getId(), crnStn.getStaNo());
            if (wrkMast == null) {
                continue;
            }
@@ -700,6 +700,10 @@
                                steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                                steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  去近点 等待堆垛机叉取

                                steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
                                steCommand.setBay(steProtocol.getBay());
                                steCommand.setLev(steProtocol.getLev());

                                if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                                    log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                                } else {
@@ -727,7 +731,7 @@
                            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.setSourcePosX(Utils.getGroupRow(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
@@ -819,7 +823,7 @@
            // 命令下发区 --------------------------------------------------------------------------
            SteCommand steCommand = new SteCommand();
            steCommand.setSteNo(steNo); // 穿梭车编号
            steCommand.setTaskNo(9999); // 工作号
            steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
            steCommand.setTaskMode(SteTaskModeType.findWaiting(steProtocol.getRow().intValue())); // 任务模式:  去近点 等待堆垛机叉取

            steCommand.setRow(Utils.getGroupRow(steProtocol.getRow().intValue()).shortValue());
@@ -1133,33 +1137,33 @@
                    SteThread steThread = (SteThread) SlaveConnection.get(SlaveType.Ste, steNo);
                    SteProtocol steProtocol = steThread.getSteProtocol();
                    if (steProtocol == null) { continue; }
                    if (steProtocol.isIdle()) {
//                    if (steProtocol.isIdle()) {
                        // 穿梭车重新定位排列层
                        if (!steThread.confirmPos()) {
                            log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                        }
                        // 命令下发区 --------------------------------------------------------------------------
                        SteCommand steCommand = new SteCommand();
                        steCommand.setSteNo(steNo); // 穿梭车编号
                        steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                        steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  搬出库
                        if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                            log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                    if (!steThread.confirmPos()) {
                        log.error("{}号穿梭车重新定位失败！作业工作档任务号：{}", wrkMast.getSteNo(), wrkMast.getWrkNo());
                    }
                    // 命令下发区 --------------------------------------------------------------------------
                    SteCommand steCommand = new SteCommand();
                    steCommand.setSteNo(steNo); // 穿梭车编号
                    steCommand.setTaskNo(wrkMast.getWrkNo()); // 工作号
                    steCommand.setTaskMode(SteTaskModeType.findOutByLoc(wrkMast.getSourceLocNo())); // 任务模式:  搬出库
                    if (!MessageQueue.offer(SlaveType.Ste, steNo, new Task(2, steCommand))) {
                        log.error("穿梭车命令下发失败，穿梭车号={}，任务数据={}", steNo, JSON.toJSON(steCommand));
                    } else {
                        // 13.迁入小车 ==> 14.小车搬出库
                        wrkMast.setWrkSts(14L);
                        Date now = new Date();
                        wrkMast.setCrnEndTime(now);
                        wrkMast.setModiTime(now);
                        // 修改成功后复位堆垛机
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            // 堆垛机复位
                            crnThread.setResetFlag(true);
                        } else {
                            // 13.迁入小车 ==> 14.小车搬出库
                            wrkMast.setWrkSts(14L);
                            Date now = new Date();
                            wrkMast.setCrnEndTime(now);
                            wrkMast.setModiTime(now);
                            // 修改成功后复位堆垛机
                            if (wrkMastMapper.updateById(wrkMast) > 0) {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                            } else {
                                log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                            }
                            log.error("修改工作档状态 13.迁入小车 ==> 14.小车搬出库 失败！！，工作号={}", wrkMast.getWrkNo());
                        }
                    }
//                    }
                }
            }
        }

 src/main/java/com/zy/core/enums/SteTaskModeType.java

@@ -11,8 +11,8 @@
    OUT_RIGHT(2, "右出库"),    // 右出库
    IN_LEFT(3, "左入库"),    // 左入库
    IN_RIGHT(4, "右入库"),    // 右入库
//    MOVE_LEFT(5, "左移库"),    // 左移库
//    MOVE_RIGHT(6, "右移库"),    // 右移库
    MOVE_LEFT(5, "左移库"),    // 左移库
    MOVE_RIGHT(6, "右移库"),    // 右移库
    GO_ORIGIN(7, "去右端"),    // 回原点
    BACK_ORIGIN(8, "去左端"),      // 回反原点
    WAITING_RIGHT(9, "右待机"),        // A点

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

@@ -236,7 +236,7 @@

    // 是否处于报警状态
    public Boolean isAlarm() {
        return this.alarm > 0;
        return this.alarm > 1;
    }

}

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

@@ -9,13 +9,6 @@
import lombok.Data;
import lombok.extern.slf4j.Slf4j;

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.InetSocketAddress;
import java.net.Socket;
import java.net.SocketAddress;
import java.net.SocketTimeoutException;
import java.util.Date;

/**
@@ -27,119 +20,44 @@
public class BarcodeThread implements Runnable, ThreadHandler {

    private Slave slave;
    private String barcode;
    private Socket socket;
    private DataOutputStream dataOutputStream;
    private DataInputStream dataInputStream;
    private StringBuffer barcode = new StringBuffer();

    public BarcodeThread(Slave slave) {
        this.slave = slave;
    }

    @Override
    @SuppressWarnings("InfiniteLoopStatement")
    public void run() {
        connect();
        while (true) {
            try {
                byte[] read = read(8, 100);
                if (null != read) {
                    String s = new String(read);
                    if (!Cools.isEmpty(s)) {
                        barcode = new String(read);
                        log.info("{}号条码器，检索数据：{}", slave.getId(), this.barcode);
                        JSONObject jsonObject = new JSONObject();
                        jsonObject.put("time", DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmss_F));
                        jsonObject.put("barcode", barcode);
                        OutputQueue.BARCODE.offer(jsonObject);
                    }
                }
                Thread.sleep(100);
            } catch (SocketTimeoutException ignore) {
            } catch (Exception e) {
//                e.printStackTrace();
    public String getBarcode() {
        return barcode.toString();
    }

    public void setBarcode(String barcode) {
        this.barcode.delete(0, this.barcode.length());
        this.barcode.append(barcode);
        if(!Cools.isEmpty(barcode)) {
            log.info("{}号条码器，检索数据：{}", slave.getId(), this.barcode);
            JSONObject jsonObject = new JSONObject();
            jsonObject.put("time", DateUtils.convert(new Date(), DateUtils.yyyyMMddHHmmss_F));
            jsonObject.put("barcode", barcode);
            if (OutputQueue.BARCODE.size() >= 32) {
                OutputQueue.BARCODE.poll();
            }
            OutputQueue.BARCODE.offer(jsonObject);
        }
    }

    @Override
    public boolean connect() {
        try {
            close();  //1.主动释放连接 //2.某些服务器对指定ip有链路数限制
            socket = new Socket();
            //socket.setKeepAlive(true);
            SocketAddress socketAddress = new InetSocketAddress(slave.getIp(), slave.getPort());
            socket.connect(socketAddress, 1000); //某些服务器ping延迟高时要增加,否则会报错connect timeout
            dataOutputStream = new DataOutputStream(socket.getOutputStream());
            dataInputStream = new DataInputStream(socket.getInputStream());
//            log.info("条码扫描仪连接成功 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
        } catch (Exception e) {
            socket = null;
//            log.error("条码扫描仪连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
        return true;
        return false;
    }

    @Override
    public void close() {
        try {
            if (null != dataOutputStream) {
                dataOutputStream.close();
            }
            if (null != dataInputStream) {
                dataInputStream.close();
            }
//        if (null != socket && !socket.isClosed()) {
//            socket.close();
//        }
            if (null != socket){
                socket.close();
            }
            socket = null;
        } catch (IOException e) {
            log.error("SocketClient close Exception:" + e.getMessage());
        }

    }

    public void write(byte[] msg, int len) throws IOException {
        if (null != dataInputStream)
        {
            dataOutputStream.write(msg, 0, len);
            dataOutputStream.flush();
        }
    }
    @Override
    public void run() {

    public byte[] read(int bufferSize, int timeOut) throws IOException {
//        if (socket == null) {
//           connect();
//        }
        connect();
        socket.setSoTimeout(timeOut);
        byte[] bytes = new byte[bufferSize];
        int len = dataInputStream.read(bytes);
        byte[] tempBytes = null;
        if (len > 0) {
            tempBytes = new byte[len];
            System.arraycopy(bytes, 0, tempBytes, 0, len);
        }
        return tempBytes;
    }

    public boolean valid() throws Exception {
        if (null == socket || socket.isClosed() || socket.isInputShutdown() || socket.isOutputShutdown()) {
            if (dataInputStream != null) {
                dataInputStream.close();
            }
            if (dataOutputStream != null) {
                dataOutputStream.close();
            }
            if (socket != null) {
                socket.close();
            }
            return false;
        }
        return true;
    }

}

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

@@ -196,12 +196,12 @@
            } else {
                initCrn();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机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()));
                log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
//                log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
//            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取堆垛机plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            log.error("读取堆垛机plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initCrn();
        }
    }

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

@@ -200,9 +200,9 @@
                throw new CoolException(MessageFormat.format( "穿梭车plc状态信息失败 ===>> [id:{0}] [ip:{1}] [port:{2}]", slave.getId(), slave.getIp(), slave.getPort()));
            }
        } catch (Exception e) {
            e.printStackTrace();
//            e.printStackTrace();
            OutputQueue.STE.offer(MessageFormat.format("【{0}】读取穿梭车plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
//            log.error("读取穿梭车plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initSte();
        }

@@ -258,7 +258,8 @@

        // 任务完成
        } else {
            siemensS7Net.Write("V1000",(short) 0);
            siemensS7Net.Write("V998", (short) 0);
            siemensS7Net.Write("V1000", (short) 0);
            result = siemensS7Net.Write("V2000.1", true);
        }


 src/main/resources/mapper/WrkMastMapper.xml

@@ -109,8 +109,8 @@
        select top 1 * from asr_wrk_mast where barcode=#{barcode} and wrk_sts=17 and (io_type=103 or io_type=107 or io_type=104)
    </select>

    <select id="selectPakOutStep11" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where crn_no=#{crnNo} and source_sta_no=#{sourceStaNo} and wrk_sts=11 and io_type>100 order by io_pri desc,io_time,wrk_no asc
    <select id="selectPakOutStep111215" resultMap="BaseResultMap">
        select top 1 * from dbo.asr_wrk_mast where crn_no=#{crnNo} and source_sta_no=#{sourceStaNo} and wrk_sts in (11,12,15) and io_type>100 order by io_pri desc,io_time,wrk_no asc
    </select>

    <select id="selectPakOutStep16" resultMap="BaseResultMap">

 src/main/webapp/views/ste.html

@@ -111,8 +111,8 @@
                            <button class="item" onclick="steOperator(2)">向右出库</button>
                            <button class="item" onclick="steOperator(3)">从左入库</button>
                            <button class="item" onclick="steOperator(4)">从右入库</button>
<!--                            <button class="item" onclick="steOperator(5)">左移库</button>-->
<!--                            <button class="item" onclick="steOperator(6)">右移库</button>-->
                            <button class="item" onclick="steOperator(5)">左移库</button>
                            <button class="item" onclick="steOperator(6)">右移库</button>
                            <button class="item" onclick="steOperator(8)">去左端</button>
                            <button class="item" onclick="steOperator(7)">去右端</button>
                            <button class="item" onclick="steOperator(10)">左待机</button>