#

lsh

2024-06-07 e3a413d3410621a7abbec52e48b3ff51b89d9cca

#

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

@@ -3,10 +3,15 @@
import com.zy.asrs.entity.WrkMastSplitTwin;
import com.baomidou.mybatisplus.mapper.BaseMapper;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
import org.springframework.stereotype.Repository;

import java.util.List;

@Mapper
@Repository
public interface WrkMastSplitTwinMapper extends BaseMapper<WrkMastSplitTwin> {

    List<WrkMastSplitTwin> getWrkMastSplitTwin(@Param("crnNo")Integer crnNo, @Param("type")Integer type, @Param("ioType")Integer ioType, @Param("wrkType")Integer wrkType, @Param("wrkSts")Integer wrkSts);

}

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

@@ -3,6 +3,9 @@
import com.zy.asrs.entity.WrkMastSplitTwin;
import com.baomidou.mybatisplus.service.IService;

import java.util.List;

public interface WrkMastSplitTwinService extends IService<WrkMastSplitTwin> {

    List<WrkMastSplitTwin> getWrkMastSplitTwin(Integer crnNo,Integer crnStation,Integer ioType,Integer type,Integer wrkSts);
}

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

@@ -109,6 +109,7 @@

    @Value("${wms.url}")
    private String wmsUrl;
    private WrkMastSplitTwinServiceImpl wrkMastSplitTwinService;

    /**
     * 组托
@@ -1231,11 +1232,36 @@
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                switch (crnSlave.getId()){
                    case 1:
                    case 2:
                        crnStnToOutStnOne(crnStn);
                        continue;
                    case 3:
                    case 4:
                    case 5:
                        crnStnToOutStnTwo(crnStn,1);
                        continue;
                    case 6:
                    case 7:
                        crnStnToOutStnThree(crnStn);
                        continue;
                    default:
                        break;
                }
            }
        }
    }
    /**
     * 堆垛机站出库到出库站
     */
    public synchronized boolean crnStnToOutStnOne(CrnSlave.CrnStn crnStn ) {
        try{
                // 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;
                return false;
                } else {
                    staProtocol = staProtocol.clone();
                }
@@ -1243,24 +1269,25 @@
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        continue;
                    return false;
                    }
                    // 判断工作档条件
                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                        continue;
                    return false;
                    }
                    // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                    if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                        // 移动中
                        continue;
                    return false;
                    }
                    if (crnProtocol.getCrnNo()<=2){

                        WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
                        if (!Cools.isEmpty(wrkMastCrn) && wrkMastCrn.getWrkSts().equals(12L)){
                            wrkMast = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNo().intValue());
                        }
                } else {
                    return false;
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
@@ -1268,19 +1295,15 @@
                            && crnProtocol.forkPosType == CrnForkPosType.HOME) {

                        // 命令下发区 --------------------------------------------------------------------------
                        if (crnProtocol.getCrnNo()<=2){

                            StaProtocol staProtocolOther = devpThread.getStation().get(crnStn.getStaNoOther());
                            if (staProtocolOther == null) {
                                continue;
                        return false;
                            } else {
                                staProtocolOther = staProtocolOther.clone();
                            }
                            if (staProtocolOther.isAutoing() && staProtocolOther.isLoading() && (staProtocolOther.getWorkNo() == 0 || staProtocolOther.getStaNo() == null)) {
                                WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());
                                if (Cools.isEmpty(wrkMastCrn)){
                                    continue;
                                }
//                        WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(wrkMast.getWrkNo());


                                WrkMast wrkMastOne = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoOne().intValue());
                                WrkMast wrkMastTwo = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
@@ -1298,7 +1321,7 @@
                                staProtocolOther.setWorkNo(Cools.isEmpty(wrkMast1.getWorkNoOther())? wrkMast1.getWrkNo():wrkMast1.getWorkNoOther());
                                staProtocolOther.setStaNo(wrkMast1.getStaNo());
                                if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocolOther))) {
                                    continue;
                            return false;
                                }

                                // 下发站点信息
@@ -1306,7 +1329,7 @@
//                                    staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                                staProtocol.setStaNo(wrkMast2.getStaNo());
                                if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                    continue;
                            return false;
                                }
                                boolean sign = true;

@@ -1339,15 +1362,174 @@
                                if (sign){
                                    // 复位堆垛机
                                    crnThread.setResetFlag(true);
                            return true;
                                }
                            }

                }
            }
        }catch (Exception e){
            log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
        }
        return false;
    }
    public synchronized boolean crnStnToOutStnTwo(CrnSlave.CrnStn crnStn ,Integer conStation) {
        try{
            Date now = new Date();
            // 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) {
                return false;
                        }else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                if (wrkMast == null) {
                    return false;
                }
                // 判断工作档条件
                if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                    return false;
                }
                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (conStation==1){
                    if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                        // 移动中
                        return false;
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusType == CrnStatusType.WAITING
                            && crnProtocol.forkPosType == CrnForkPosType.HOME
                            && crnProtocol.getLoaded()==0) {
                        List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), 1, null, 2, 3);
                        if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业，请删除无效作业！！！",1,2,3);
                        }
                        for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                            if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
                                log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
                                return false;
                            }
                            // 命令下发区 --------------------------------------------------------------------------
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                                continue;
                                return false;
                            }
                            // 更新工作档状态为14失败
                            wrkMast.setWrkSts(14L);
                            wrkMast.setCrnEndTime(now);
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
                                wrkMastSplitTwin.setUpdateTime(now);
                                // 修改成功后复位堆垛机
                                if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
                                    // 堆垛机复位
                                    crnThread.setResetFlag(true);
                                    return true;
                                }else {
                                    log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",1,2,3);
                                }
                            } else {
                                log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }
                    }
                }else if (conStation==2){
                    if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING || crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
                        // 移动中
                        return false;
                    }
                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusTypeTwo == CrnStatusType.WAITING
                            && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME
                            && crnProtocol.getLoadedTwo()==0) {
                        List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(wrkMast.getCrnNo(), 1, null, 2, 3);
                        if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"存在多笔可执行作业，请删除无效作业！！！",1,2,3);
                        }
                        for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                            if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
                                log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",wrkMast.getCrnNo(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
                                return false;
                            }
                            // 命令下发区 --------------------------------------------------------------------------
                            // 下发站点信息
                            staProtocol.setWorkNo(wrkMast.getWrkNo());
                            staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                            if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(5, staProtocol))) {
                                return false;
                            }
                            // 更新工作档状态为14失败
                            wrkMast.setWrkSts(14L);
                            wrkMast.setCrnEndTime(now);
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
                                wrkMastSplitTwin.setUpdateTime(now);
                                // 修改成功后复位堆垛机
                                if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
                                    // 堆垛机复位
                                    crnThread.setResetFlagTwo(true);
                                    return true;
                                }else {
                                    log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",wrkMast.getCrnNo(),"修改执行档案失败",1,2,3);
                                }
                            } else {
                                log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }
                    }
                }
            }
        }catch (Exception e){
            log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
        }
        return false;
    }
    public synchronized boolean crnStnToOutStnThree(CrnSlave.CrnStn crnStn ) {
        try{
            // 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) {
                return false;
            } else {
                staProtocol = staProtocol.clone();
            }
            if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                // 查询工作档
                WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                if (wrkMast == null) {
                    return false;
                }
                // 判断工作档条件
                if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                    return false;
                }
                // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                if (crnProtocol.statusType == CrnStatusType.FETCHING || crnProtocol.statusType == CrnStatusType.PUTTING) {
                    // 移动中
                    return false;
                }
                //  判断堆垛机状态等待确认
                if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNo().equals(wrkMast.getWrkNo().shortValue())
                        && crnProtocol.statusType == CrnStatusType.WAITING
                        && crnProtocol.forkPosType == CrnForkPosType.HOME) {
                    // 命令下发区 --------------------------------------------------------------------------
                    // 下发站点信息
                    staProtocol.setWorkNo(wrkMast.getWrkNo());
                    staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                    if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                        return false;
                            }

                            // 更新工作档状态为14失败
@@ -1356,14 +1538,16 @@
                            if (wrkMastMapper.updateById(wrkMast) != 0) {
                                // 复位堆垛机
                                crnThread.setResetFlag(true);
                        return true;
                            } else {
                                log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                            }
                        }
                    }
        }catch (Exception e){
            log.error("更新工作档的工作状态为14失败！！！ [出库站:{}]", crnStn.getStaNo());
                }
            }
        }
        return false;
    }

    /**
@@ -1373,55 +1557,14 @@
        for (CrnSlave crnSlave : slaveProperties.getCrn()) {
            // 遍历堆垛机出库站
            for (CrnSlave.CrnStn crnStn : crnSlave.getCrnOutStn()) {
                // 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) {
                switch (crnSlave.getId()){
                    case 3:
                    case 4:
                    case 5:
                        crnStnToOutStnTwo(crnStn,2);
                    continue;
                } else {
                    staProtocol = staProtocol.clone();
                }
                if (staProtocol.isAutoing() && staProtocol.isLoading() && (staProtocol.getWorkNo() == 0 || staProtocol.getStaNo() == null)) {
                    // 查询工作档
                    WrkMast wrkMast = wrkMastMapper.selectPakOutStep2(staProtocol.getSiteId());
                    if (wrkMast == null) {
                        continue;
                    }
                    // 判断工作档条件
                    if (wrkMast.getIoType() < 100 || wrkMast.getStaNo() == null || wrkMast.getSourceStaNo() == null) {
                        continue;
                    }
                    // 判断吊车是否实际已完成，且电脑状态在move中，以备电脑进行更新工作档
                    CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, wrkMast.getCrnNo());
                    CrnProtocol crnProtocol = crnThread.getCrnProtocol();
                    if (crnProtocol.statusTypeTwo == CrnStatusType.FETCHING || crnProtocol.statusTypeTwo == CrnStatusType.PUTTING) {
                        // 移动中
                        continue;
                    }

                    //  判断堆垛机状态等待确认
                    if (crnProtocol.modeType == CrnModeType.AUTO && crnProtocol.getTaskNoTwo().equals(wrkMast.getWrkNo().shortValue())
                            && crnProtocol.statusTypeTwo == CrnStatusType.WAITING
                            && crnProtocol.forkPosTypeTwo == CrnForkPosType.HOME) {

                        // 命令下发区 --------------------------------------------------------------------------
                        // 下发站点信息
                        staProtocol.setWorkNo(wrkMast.getWrkNo());
                        staProtocol.setStaNo(RouteUtils.CrnStaEnd(wrkMast.getStaNo(),wrkMast.getSourceStaNo()));
                        if (!MessageQueue.offer(SlaveType.Devp, crnStn.getDevpPlcId(), new Task(2, staProtocol))) {
                            continue;
                        }

                        // 更新工作档状态为14失败
                        wrkMast.setWrkSts(14L);
                        wrkMast.setCrnEndTime(new Date());
                        if (wrkMastMapper.updateById(wrkMast) != 0) {
                            // 复位堆垛机
                            crnThread.setResetFlagTwo(true);
                        } else {
                            log.error("更新工作档的工作状态为14失败！！！ [工作号:{}]", wrkMast.getWrkNo());
                        }
                    }
                    default:
                        break;
                }
            }
        }
@@ -3188,44 +3331,69 @@
    /**
     * 执行对工作档的完成操作
     */

    public synchronized void storeFinished() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            switch (crn.getId()){
                case 1:
                case 2:
                    storeFinishedExecuteOne(crn);
                    continue;
                case 3:
                case 4:
                case 5:
                    storeFinishedExecuteTwo(crn);
                    continue;
                case 6:
                case 7:
                    storeFinishedExecuteThree(crn);
                    continue;
                default:
                    continue;
            }
        }
    }
    public synchronized boolean storeFinishedExecuteOne(CrnSlave crn) {
        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;
                return false;
            }
            if (crnProtocol.modeType != CrnModeType.AUTO){
                return false;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                if (crnProtocol.getTaskNo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else if (crnProtocol.getCrnNo()<3) {
                } else {
                    // 获取入库待确认工作档
                    WrkMastCrn wrkMastCrn = wrkMastCrnMapper.selectWrkNoOneAndTwo(crnProtocol.getTaskNo().intValue());
                    if (wrkMastCrn == 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;
                        return false;
                    }
                    // 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;
                        return false;
                    }

                    // 获取入库待确认工作档
                    WrkMast wrkMastOther = wrkMastMapper.selectPakInStep3(wrkMastCrn.getWrkNoTwo().intValue());
                    if (wrkMastOther == 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;
                        return false;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMastCrn.getWrkSts() == 3 || (wrkMastCrn.getWrkSts() == 12 && wrkMastCrn.getIoType() == 11)) {
                        wrkMastCrn.setWrkSts(4L);
                    } else {
                        continue;
                        return false;
                    }
                    Date now = new Date();
                    wrkMastCrn.setModiTime(now);
@@ -3241,19 +3409,134 @@
                    if (wrkMastCrnMapper.updateById(wrkMastCrn) > 0 && wrkMastMapper.updateById(wrkMast) > 0 && wrkMastMapper.updateById(wrkMastOther) > 0 ) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                        return true;
                    }
                }
            }
        }catch (Exception e){
            log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
        }
        return false;
    }
    public synchronized boolean storeFinishedExecuteTwo(CrnSlave crn) {
        try{
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                return false;
            }
            if (crnProtocol.modeType != CrnModeType.AUTO){
                return false;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                if (crnProtocol.getTaskNo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                    return true;
                } else {
                    // 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;
                        return false;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                        return false;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 堆垛机复位
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 2, 3);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",1,2,3);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
                            return false;
                        }
                        wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
                        wrkMastSplitTwin.setUpdateTime(now);
                        // 修改成功后复位堆垛机
                        if (wrkMastMapper.updateById(wrkMast) > 0) {
                            // 修改成功后复位堆垛机
                            if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
                                // 堆垛机复位
                                crnThread.setResetFlag(true);
                                return true;
                            }else {
                                log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
                            }
                        }else {
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",1,2,3);
                        }
                    }
                    return false;
                }
            }else if (crnProtocol.statusType == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNo() != 0  && crnProtocol.getLoaded()==1){
                if (crnProtocol.getTaskNo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                    return true;
                } else {
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 1, null, 1, 1);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",1,1,1);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        Date now = new Date();
                        wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
                        wrkMastSplitTwin.setUpdateTime(now);
                        // 修改成功后复位堆垛机
                        if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
                            // 堆垛机复位
                            crnThread.setResetFlag(true);
                            return true;
                        }else {
                            log.error("堆垛机放货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",1,2,3);
                        }
                    }
                }
            }
        }catch (Exception e){
            log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
        }
        return false;
    }
    public synchronized boolean storeFinishedExecuteThree(CrnSlave crn) {
        try{
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                return false;
            }
            if (crnProtocol.modeType != CrnModeType.AUTO){
                return false;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusType == CrnStatusType.WAITING && crnProtocol.getTaskNo() != 0) {
                if (crnProtocol.getTaskNo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlag(true);
                } else {
                    // 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());
                        return false;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        return false;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
@@ -3262,25 +3545,43 @@
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                        // 堆垛机复位
                        crnThread.setResetFlag(true);
                        return true;
                    }
                }
            }
        }catch (Exception e){
            log.error("堆垛机工位一完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),1);
        }
        return false;
                }

            }
        }
    }
    /**
     * 执行对工作档的完成操作
     */
    public synchronized void storeFinishedTwo() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            if (crn.getId()<3 || crn.getId()>5){
            switch (crn.getId()){
                case 3:
                case 4:
                case 5:
                    storeFinishedTwoExecute(crn);
                    continue;
                default:
                continue;
            }
        }
    }

    public synchronized boolean storeFinishedTwoExecute(CrnSlave crn) {
        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;
                return false;
            }
            if (crnProtocol.modeType != CrnModeType.AUTO){
                return false;
            }
            //  状态：等待确认 并且  任务完成位 = 1
            if (crnProtocol.statusTypeTwo == CrnStatusType.WAITING && crnProtocol.getTaskNoTwo() != 0) {
@@ -3292,26 +3593,73 @@
                    WrkMast wrkMast = wrkMastMapper.selectPakInStep3(crnProtocol.getTaskNoTwo().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.getTaskNoTwo());
                        continue;
                        return false;
                    }
                    // 入库 + 库位转移  ==> 4.入库完成
                    if (wrkMast.getWrkSts() == 3 || (wrkMast.getWrkSts() == 12 && wrkMast.getIoType() == 11)) {
                        wrkMast.setWrkSts(4L);
                    } else {
                        continue;
                        return false;
                    }
                    Date now = new Date();
                    wrkMast.setCrnEndTime(now);
                    wrkMast.setModiTime(now);
                    // 堆垛机复位
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 2, 3);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",2,2,3);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        if (wrkMastSplitTwin.getWrkNo()!=wrkMast.getWrkNo().longValue()){
                            log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={},工作任务号={},执行任务号={}",crn.getId(),"工作任务与执行任务不匹配",1,2,3,wrkMast.getWrkNo(),wrkMastSplitTwin.getWrkNo());
                            return false;
                        }
                        wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
                        wrkMastSplitTwin.setUpdateTime(now);
                    // 修改成功后复位堆垛机
                    if (wrkMastMapper.updateById(wrkMast) > 0) {
                            // 修改成功后复位堆垛机
                            if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
                        // 堆垛机复位
                        crnThread.setResetFlagTwo(true);
                                return true;
                            }else {
                                log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
                            }
                        }else {
                            log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改工作档案失败！",2,2,3);
                    }
                }

                    return false;
                }
            }else if (crnProtocol.statusTypeTwo == CrnStatusType.SEPARATE_WAITING && crnProtocol.getTaskNoTwo() != 0  && crnProtocol.getLoadedTwo()==1){
                if (crnProtocol.getTaskNoTwo() == 32222) {
                    // 堆垛机复位
                    crnThread.setResetFlagTwo(true);
                } else {
                    List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinMapper.getWrkMastSplitTwin(crn.getId(), 2, null, 1, 1);
                    if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                        log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",2,1,1);
                    }
                    for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                        Date now = new Date();
                        wrkMastSplitTwin.setWrkSts(wrkMastSplitTwin.getWrkSts()+1);
                        wrkMastSplitTwin.setUpdateTime(now);
                        // 修改成功后复位堆垛机
                        if (wrkMastSplitTwinService.updateById(wrkMastSplitTwin)) {
                            // 堆垛机复位
                            crnThread.setResetFlagTwo(true);
                            return true;
                        }else {
                            log.error("堆垛机取货完成等待确认异常,堆垛机号={},异常信息={},工位号={},工作类型={},工作状态={}",crn.getId(),"修改执行档案失败",2,2,3);
            }
        }
                }
            }
        }catch (Exception e){
            log.error("堆垛机工位二完成等待确认异常,堆垛机号={},异常信息={},工位号={}",crn.getId(),e.getMessage(),2);
        }
        return false;
    }

    /**
@@ -5884,5 +6232,145 @@
    public synchronized boolean steIoExecute(Integer sign) {
        return false;
    }
    /**
     * 入出库  ===>>  堆垛机入出库作业下发
     */
    public synchronized void crnIoExecuteTwoExecute() {
        for (CrnSlave crn : slaveProperties.getCrn()) {
            try{
                switch (crn.getId()){
                    case 3:
                    case 4:
                    case 5:
                        crnWrkMastSplitTwinExecute(crn);
                        continue;
                    default:
                        continue;
                }
            }catch (Exception e){
                log.error("堆垛机出入库执行任务下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
            }
        }
    }


    public synchronized boolean crnWrkMastSplitTwinExecute(CrnSlave crn){
        try{
            // 获取堆垛机信息
            CrnThread crnThread = (CrnThread) SlaveConnection.get(SlaveType.Crn, crn.getId());
            CrnProtocol crnProtocol = crnThread.getCrnProtocol();
            if (crnProtocol == null) {
                return false;
            }
            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());
                return false;
            }


            int[] sign = new int[]{0,0};
            // 只有当堆垛机自动时才继续执行
            if (crnProtocol.getModeType() == CrnModeType.AUTO) {
                // 只有当堆垛机工位1取货或者有物 并且 工位2无任务时才继续执行
                if (crnProtocol.getStatusType() == CrnStatusType.IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 0
                        && crnProtocol.getForkPos() == 0) {
                    sign[0] = 1;
                    sign[1] = 1;
                } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.IDLE
                        && crnProtocol.getTaskNoTwo() == 0
                        && crnProtocol.getLoadedTwo() == 0
                        && crnProtocol.getForkPosTwo() == 0){
                    sign[0] = 1;
                    sign[1] = 2;
                } else if (crnProtocol.getStatusType() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNo() == 0
                        && crnProtocol.getLoaded() == 1
                        && crnProtocol.getForkPos() == 0) {
                    sign[0] = 2;
                    sign[1] = 1;
                } else if (crnProtocol.getStatusTypeTwo() == CrnStatusType.SEPARATE_IDLE
                        && crnProtocol.getTaskNoTwo() == 0
                        && crnProtocol.getLoadedTwo() == 1
                        && crnProtocol.getForkPosTwo() == 0){
                    sign[0] = 2;
                    sign[1] = 2;
                }
            }

            if (sign[0]!=0){
                List<WrkMastSplitTwin> wrkMastSplitTwinList = wrkMastSplitTwinService.getWrkMastSplitTwin(crn.getId(),sign[1],null,sign[0],0);
                if (!wrkMastSplitTwinList.isEmpty() && wrkMastSplitTwinList.size()!=1){
                    log.error("堆垛机出入库下发异常,堆垛机号={},异常信息={},工位号={},工作类型={}",crn.getId(),"存在多笔可执行作业，请删除无效作业！！！",sign[1],sign[0]);
                }
                for (WrkMastSplitTwin wrkMastSplitTwin:wrkMastSplitTwinList){
                    return sign[0] == 1? crnExecuteTakeFull(crn.getId(), wrkMastSplitTwin, sign[1]) : crnExecutePutFull(crn.getId(), wrkMastSplitTwin, sign[1]);
                }
            }
        }catch (Exception e){
            log.error("堆垛机出入库下发报错,堆垛机号={},异常信息={}",crn.getId(),e.getMessage());
        }
        return false;
    }

    /*
     * 堆垛机取货至工位任务
     * */
    public synchronized boolean crnExecuteTakeFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            // 1.堆垛机开始移动
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(crnNo); // 堆垛机编号
            crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_TAKE); // 任务模式:  单取货
            crnCommand.setSourcePosX(wrkMastSplitTwin.getStartRow().shortValue());     // 源库位排
            crnCommand.setSourcePosY(wrkMastSplitTwin.getStartBay().shortValue());     // 源库位列
            crnCommand.setSourcePosZ(wrkMastSplitTwin.getStartLev().shortValue());     // 源库位层
            crnCommand.setDestinationPosX((short)0);     // 目标库位排
            crnCommand.setDestinationPosY((short)0);     // 目标库位列
            crnCommand.setDestinationPosZ((short)0);     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

    /*
     * 堆垛机放货货至出库站点任务
     * */
    public synchronized boolean crnExecutePutFull(Integer crnNo,WrkMastSplitTwin wrkMastSplitTwin, Integer crnStation){
        try{
            //  命令下发区 --------------------------------------------------------------------------
            // 1.堆垛机开始移动
            CrnCommand crnCommand = new CrnCommand();
            crnCommand.setCrnNo(crnNo); // 堆垛机编号
            crnCommand.setTaskNo(wrkMastSplitTwin.getWrkNo().shortValue()); // 工作号
            crnCommand.setAckFinish((short) 0);  // 任务完成确认位
            crnCommand.setTaskMode(CrnTaskModeType.SEPARATE_PUT); // 任务模式:  单放货
            crnCommand.setSourcePosX((short)0);     // 源库位排
            crnCommand.setSourcePosY((short)0);     // 源库位列
            crnCommand.setSourcePosZ((short)0);     // 源库位层
            crnCommand.setDestinationPosX(wrkMastSplitTwin.getEndRow().shortValue());     // 目标库位排
            crnCommand.setDestinationPosY(wrkMastSplitTwin.getEndBay().shortValue());     // 目标库位列
            crnCommand.setDestinationPosZ(wrkMastSplitTwin.getEndLev().shortValue());     // 目标库位层
            if (!MessageQueue.offer(SlaveType.Crn, wrkMastSplitTwin.getCrnNo(), new Task(crnStation==1? 2:5, crnCommand))) {
                log.error("堆垛机命令下发失败，堆垛机号={}，任务数据={}", wrkMastSplitTwin.getCrnNo(), JSON.toJSON(crnCommand));
                return false;
            } else {
                return true;
            }
        }catch (Exception e){
            return false;
        }
    }

}

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

@@ -6,7 +6,12 @@
import com.baomidou.mybatisplus.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;

import java.util.List;

@Service("wrkMastSplitTwinService")
public class WrkMastSplitTwinServiceImpl extends ServiceImpl<WrkMastSplitTwinMapper, WrkMastSplitTwin> implements WrkMastSplitTwinService {

    @Override
    public List<WrkMastSplitTwin> getWrkMastSplitTwin(Integer crnNo,Integer crnStation,Integer ioType,Integer type,Integer wrkSts) {
        return this.baseMapper.getWrkMastSplitTwin(crnNo,crnStation,ioType,type,wrkSts);
    }
}

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

@@ -66,34 +66,38 @@
                    mainService.crnIoExecute();
                    // 入出库  ===>>  堆垛机入出库作业下发  双工位堆垛机
                    mainService.crnIoExecuteTwo();
                    // 入出库  ===>>  堆垛机入出库作业下发  双工位堆垛机  拆分执行任务下发
                    mainService.crnIoExecuteTwoExecute();//Execute
                    if (i%2==0){
                    // 入库  ===>> 执行对工作档的完成操作
                    mainService.storeFinished();
                    }else {
                    // 入库  ===>> 执行对工作档的完成操作  工位2
                    mainService.storeFinishedTwo();
                    }

                    /************************************RGV调度************************************/
                    i++;
                    k++;
                    if (i<8) {
                        // RGV  ===>>  小车任务作业下发
                        if (i == 7) {
                            try{
                                boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);  //7煜星特供，左右移动
//                        // RGV  ===>>  小车任务作业下发
//                        if (i == 7) {
//                            try{
//                                boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);  //7煜星特供，左右移动
//                                if (rgvIoExecuteSign){
//                                    k = 0;
//                                } else if (k>8){
//                                    k = 0;
//                                    mainService.rgvRunWrkMastEmptyStaAvoidance();//避让
//                                }
                            }catch (Exception e){
                                log.error("RGV  ===>>  小车任务作业下发异常"+e);
                            }
                        }else {
                            //穿梭板
//                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);  //7煜星特供，左右移动

                        }

//                            }catch (Exception e){
//                                log.error("RGV  ===>>  小车任务作业下发异常"+e);
//                            }
//                        }else {
//                            //穿梭板
////                            boolean rgvIoExecuteSign = mainService.rgvIoExecute(i);  //7煜星特供，左右移动
//
//                        }
                    }else {
                        i = 0;
                    }

 src/main/resources/mapper/WrkMastSplitTwinMapper.xml

@@ -26,4 +26,38 @@

    </resultMap>

    <sql id="batchSeq">
        <if test="type != null">
            and type = #{type}
        </if>
        <if test="ioType != null">
            and io_type = #{ioType}
        </if>
        <if test="wrkType != null">
            and wrk_type = #{wrkType}
        </if>
        <if test="wrkSts != null">
            and wrk_sts = #{wrkSts}
        </if>
        <if test="crnNo != null">
            and crn_no = #{crnNo}
        </if>
<!--        <choose>-->
<!--            <when test="type != null and type != ''">-->
<!--                and type = #{type}-->
<!--            </when>-->
<!--            <otherwise>-->
<!--                and (type IS NULL OR type = '')-->
<!--            </otherwise>-->
<!--        </choose>-->

    </sql>

    <select id="selectAllWrkMastStaList" resultMap="BaseResultMap">
        select * from asr_wrk_mast_split_twin
        where 1=1
        <include refid="batchSeq"></include>
        order by line_number,id
    </select>

</mapper>