#改造

cpT

2025-06-27 e36c42fa6e1d5c6ee8f1ac15b1be4a825a257807

#改造

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

@@ -19,6 +19,8 @@

    TaskWrk selectByWrkNo(Integer wrkNo);

    List<TaskWrk> selectByLaneNo(Integer laneNo);

    List<TaskWrk> selectReceive();//获取接收任务

    TaskWrk selectPakIn(@Param("crnNo") Integer crnNo, @Param("workNo") Integer workNo, @Param("startPoint") String startPoint);
@@ -35,7 +37,7 @@

    TaskWrk selectCrnNoInWorking(@Param("crnNo") Integer crnNo,@Param("workNo") Integer workNo);

    TaskWrk selectWalkSta(@Param("crnNo") Integer crnNo,@Param("workNo") Integer workNo);
//    TaskWrk selectWalkSta(@Param("crnNo") Integer crnNo,@Param("workNo") Integer workNo);

    List<TaskWrk> selectToBeHistoryData();


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

@@ -102,6 +102,8 @@

    @Value("${constant-parameters.avoidDistance}")
    private Long avoidDistance;
    @Autowired
    private TaskWrkLogServiceImpl taskWrkLogService;

    public void generateStoreWrkFile() {
        try {
@@ -701,6 +703,51 @@
    }

    /**
     * 堆垛机5分钟无任务则回到源点
     */
    public void crnStnToOutStnSou() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            try{
                // 获取堆垛机信息
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol == null) {
                    continue;
                }
                BasCrnp basCrnp = basCrnpService.selectById(crn.getId());
                if (basCrnp == null) {
                    log.error("{}号堆垛机尚未在数据库进行维护！", crn.getId());
                    continue;
                }

                if (crnProtocol.getLaneNo()!=0 && (crnProtocol.getBay()!=1 || crnProtocol.getLevel()!=1)){
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.statusType == CrnStatusType.IDLE && crnProtocol.getTaskNo() != 0) {
                        //获取工作档
                        List<TaskWrk> taskWrks = taskWrkMapper.selectByLaneNo(crnProtocol.getLaneNo());
                        if (!taskWrks.isEmpty()) {
                            continue;
                        }
                        List<TaskWrkLog> taskWrkLogs = taskWrkLogService.selectList(new EntityWrapper<TaskWrkLog>().eq("CRN_NO",crnProtocol.getLaneNo()).orderBy("COMPLETE_TIME",true));
                        if (taskWrkLogs.isEmpty()) {
                            CrnCommand command = new CrnCommand();
                            if (!MessageQueue.offer(SlaveType.Crn, crnProtocol.getCrnNo(), new Task(4, command))) {
                                log.error("堆垛机自动回源点失败，堆垛机号={}", crnProtocol.getCrnNo());
                            }
                        }
//                        long differenceInSeconds = TimeCalculatorUtils.differenceInMilliseconds(taskWrkLogs.get(0).getCompleteTime(), new Date());
//                        if (differenceInSeconds <= 1000) {
//                            return;
//                        }

                    }
                }
            } catch (Exception e){

            }
        }
    }

    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecute() throws IOException {

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

@@ -46,12 +46,16 @@
                    mainService.generateStoreWrkFileWalk(); // 任务下发


                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
//                    // 出库  ===>>  堆垛机出库站到出库站
//                    mainService.crnStnToOutStn();
                    // 入出库  ===>>  堆垛机入出库作业下发
                    mainService.crnIoExecute();
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();
                    // 出库  ===>>  堆垛机出库站到出库站
                    mainService.crnStnToOutStn();
                    // 出库  ===>>  堆垛机5分钟无任务则回到源点
//                    mainService.crnStnToOutStnSou();

                    // 堆垛机异常信息记录
                    mainService.recCrnErr();

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

@@ -95,6 +95,25 @@
                        command.setDestinationPosZ((short)0);     // 目标库位层
                        write(command);
                        break;
                    // 复位
                    case 4:
                        CrnCommand command4 = (CrnCommand) task.getData();
                        if (null == command4) {
                            command4 = new CrnCommand();
                        }
                        command4.setCrnNo(slave.getId()); // 堆垛机编号
                        command4.setTaskNo((short) 9999); // 工作号
                        command4.setAckFinish((short) 0);  // 任务完成确认位
                        command4.setTaskMode(CrnTaskModeType.GO_ORIGIN); // 任务模式
                        command4.setSourcePosX((short)0);     // 源库位排
                        command4.setSourcePosY((short)0);     // 源库位列
                        command4.setSourcePosZ((short)0);     // 源库位层
                        int row = slave.getId() * 2;
                        command4.setDestinationPosX((short)row);     // 目标库位排
                        command4.setDestinationPosY((short)1);     // 目标库位列
                        command4.setDestinationPosZ((short)1);     // 目标库位层
                        write(command4);
                        break;
                    default:
                        break;
                }

 src/main/resources/mapper/TaskWrkMapper.xml

@@ -36,6 +36,12 @@
        and "TASK_NO" = #{taskNo}
    </select>

    <select id="selectByLaneNo" resultMap="BaseResultMap">
        select * from "SOURCE"."wcs_task_wrk"
        where 1=1
          and "CRN_NO"=#{crnNo}
    </select>

    <select id="selectByStartPoint" resultMap="BaseResultMap">
        select top 1 * from "SOURCE"."wcs_task_wrk"
        where 1=1