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luxiaotao1123

2020-08-11 cd93b3f1992cad3f2940e201fc7d3236fac9d7c0

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

@@ -28,6 +28,10 @@
    @Select("select top 1 * from dbo.asr_wrk_mast where wrk_sts=2 and crn_no={crnNo} and wrk_no={workNo} and (io_type=1 or io_type=10 or io_type=53 or io_type=54 or io_type=57) order by io_pri desc,io_time,wrk_no ASC")
    WrkMast selectPakInStep2(@Param("crnNo")Integer crnNo, @Param("workNo")Integer workNo);

    // 入库第三步，当堆垛机把货放入库位时
    @Select("select top 1 from dbo.asr_wrk_mast where wrk_no={workNo}")
    WrkMast selectPakInStep3(@Param("workNo")Integer workNo);

    // 拣料再入库时，站点有物且需求时查询
    @Select("select top 1 * from asr_wrk_mast where wrk_no=#{workNo} and wrk_sts=14 and (io_type=103 or io_type=107 or io_type=104)")
    WrkMast selectPickStep(@Param("workNo")Integer workNo);

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

@@ -369,15 +369,25 @@
            }

            // 命令下发区 --------------------------------------------------------------------------
//            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, slave.getId());
//            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(slave.getId()); // 堆垛机编号
            crnCommand.setTaskNo(wrkMast.getWrkNo().shortValue()); // 工作号
            crnCommand.setDestinationPosX(locMast.getRow1().shortValue()); // 排
            crnCommand.setDestinationPosY(locMast.getBay1().shortValue()); // 列
            crnCommand.setDestinationPosZ(locMast.getLev1().shortValue()); // 层
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.PAKIN); // 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
            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=>3 todo:luxiaotao
//                Date now = new Date();
//                wrkMast.setWrkSts(3L);
//                wrkMast.setCrnStrTime(now);
//                wrkMast.setModiTime(now);
            }
        }
    }
@@ -417,9 +427,16 @@
                    && staProtocol.getWorkNo() == 0) {
                // 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) 1);  // 任务完成确认位

                crnCommand.setAckFinish((short) 0);  // 任务完成确认位
                crnCommand.setTaskMode(CrnTaskModeType.PAKOUT); // 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));
                }
@@ -482,6 +499,30 @@
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.taskFinish == 1 && crnProtocol.getTaskNo() != 0) {
                // 获取入库待确认工作档
                WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNo().intValue());
                if (wrkMast == null) {
                    log.error("堆垛机处于等待确认且任务完成状态，但未找到工作档。堆垛机号={}，工作号={}", crn.getId(), crnProtocol.getTaskNo());
                    continue;
                }
                // 如果工作状态为3.吊车入库中，则修改为4.入库完成
                if (wrkMast.getWrkSts() == 3) {
                    Date now = new Date();
                    wrkMast.setWrkSts(4L);
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {

                    }
                }


            }



        }
    }

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

@@ -43,22 +43,10 @@
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute();










                    // 执行对工作档的入库完成
                    // 入库  ===>> 执行对工作档的入库完成
                    mainService.storeFinished();
                    // 更新堆垛机移动时工作档状态
                    mainService.updateCrnMove();




                    // 间隔
                    Thread.sleep(1500);

 src/main/java/com/zy/core/model/CrnSlave.java

@@ -33,6 +33,15 @@
        // 堆垛机站点编号
        private Integer staNo;

        // 排
        private Integer row;

        // 列
        private Integer bay;

        // 层
        private Integer lev;

    }

}

 src/main/resources/application.yml

@@ -46,10 +46,16 @@
    crnInStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 5
      row: 2
      bay: 1
      lev: 1
    # 堆垛机出库站点
    crnOutStn[0]:
      devpPlcId: ${wcs-slave.devp[0].id}
      staNo: 6
      row: 1
      bay: 1
      lev: 1
  # 站点
  devp[0]:
    id: 1