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

@@ -13,7 +13,7 @@
    ORIGIN_GO(7, "回原点"),
    ORIGIN_BACK(8, "回反原点"),
    MOVING(9, "走行中"),
    WAITING(90, "任务完成等待WCS确认"),
    WAITING(10, "任务完成等待WCS确认"),
    PAUSE(11, "任务暂停"),
    SOS(99, "报警"),
    UNKNOW(100, "其他"),

 src/main/java/com/zy/core/network/real/ZyStationRealConnect.java

@@ -123,7 +123,7 @@
                }
                String barcode = siemensNet.getByteTransform().TransString(result2.Content, i * 16, 4, "UTF-8");
                barcode = barcode.trim();
                barcodeEntity.setBarcode(barcode);
                statusEntity.setBarcode(barcode);
            }
        }

@@ -144,16 +144,14 @@
            return commandResponse;
        }

        OperateResult write = null;
        OperateResult writeTaskNo = null;
        OperateResult writeTargetStaNo = null;
        // 任务下发次数
        int writeCount = 0;
        do {
            short[] data = new short[2];
            data[0] = command.getTaskNo().shortValue();
            data[1] = command.getTargetStaNo().shortValue();

            write = siemensNet.Write("DB100." + index * 4, data);
            if (write.IsSuccess) {
            writeTaskNo = siemensNet.Write("DB100." + index * 4, command.getTaskNo());
            writeTargetStaNo = siemensNet.Write("DB100." + index * 4 + 4, command.getTargetStaNo().shortValue());
            if (writeTaskNo.IsSuccess && writeTargetStaNo.IsSuccess) {
                log.error("写入输送线命令成功。站点编号={}，站点数据={},写入次数={}", command.getStationId(), JSON.toJSON(command),
                        writeCount);
                commandResponse.setResult(true);
@@ -166,12 +164,7 @@
            }
        } while (writeCount < 5);

        if (write == null) {
            commandResponse.setMessage("写入命令失败");
            return commandResponse;
        }

        if (!write.IsSuccess) {
        if (!writeTaskNo.IsSuccess || !writeTargetStaNo.IsSuccess) {
            ZyStationStatusEntity staProtocol = findStatusEntity(command.getStationId());
            OutputQueue.DEVP.offer(MessageFormat.format("写入输送线站点数据失败。站点编号={1}，站点数据={2}", command.getStationId(),
                    JSON.toJSON(staProtocol)));

 src/main/java/com/zy/core/plugin/NormalProcess.java

@@ -1,23 +1,61 @@
package com.zy.core.plugin;

import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.JSONObject;
import com.baomidou.mybatisplus.mapper.EntityWrapper;
import com.core.common.Cools;
import com.zy.asrs.domain.param.CreateInTaskParam;
import com.zy.asrs.entity.BasDevp;
import com.zy.asrs.entity.WrkMast;
import com.zy.asrs.service.*;
import com.zy.common.model.StartupDto;
import com.zy.common.service.CommonService;
import com.zy.common.utils.RedisUtil;
import com.zy.core.News;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.SlaveConnection;
import com.zy.core.enums.RedisKeyType;
import com.zy.core.enums.SlaveType;
import com.zy.core.model.StationObjModel;
import com.zy.core.model.Task;
import com.zy.core.model.command.StationCommand;
import com.zy.core.model.protocol.StationProtocol;
import com.zy.core.plugin.api.MainProcessPluginApi;
import com.zy.core.thread.StationThread;
import com.zy.core.utils.CrnOperateProcessUtils;
import com.zy.core.utils.StationOperateProcessUtils;
import com.zy.core.utils.WmsOperateUtils;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Component;

import java.util.List;
import java.util.Map;

@Slf4j
@Component
public class NormalProcess implements MainProcessPluginApi {

    @Autowired
    private WrkMastService wrkMastService;
    @Autowired
    private BasDevpService basDevpService;
    @Autowired
    private CommonService commonService;
    @Autowired
    private RedisUtil redisUtil;
    @Autowired
    private CrnOperateProcessUtils crnOperateUtils;
    @Autowired
    private StationOperateProcessUtils stationOperateProcessUtils;
    @Autowired
    private WmsOperateUtils wmsOperateUtils;

    @Override
    public void run() {
        //请求生成入库任务
        generateStoreWrkFile();

        //执行堆垛机任务
        crnOperateUtils.crnIoExecute();
        //堆垛机任务执行完成-具备仿真能力
@@ -30,4 +68,79 @@
        stationOperateProcessUtils.stationOutExecuteFinish();
    }

    /**
     * 请求生成入库任务
     * 入库站，根据条码扫描生成入库工作档
     */
    public synchronized void generateStoreWrkFile() {
        List<BasDevp> basDevps = basDevpService.selectList(new EntityWrapper<>());
        for (BasDevp basDevp : basDevps) {
            StationThread stationThread = (StationThread) SlaveConnection.get(SlaveType.Devp, basDevp.getDevpNo());
            if(stationThread == null){
                continue;
            }

            Map<Integer, StationProtocol> stationMap = stationThread.getStatusMap();

            List<StationObjModel> list = basDevp.getBarcodeStationList$();
            for (StationObjModel entity : list) {
                Integer stationId = entity.getStationId();
                if(!stationMap.containsKey(stationId)){
                    continue;
                }

                StationProtocol stationProtocol = stationMap.get(stationId);
                if (stationProtocol == null) {
                    continue;
                }

                //满足自动、有物、有工作号，生成入库数据
                if (stationProtocol.isAutoing()
                        && stationProtocol.isLoading()
                        && stationProtocol.getTaskNo() > 0
                ) {
                    if (Cools.isEmpty(stationProtocol.getBarcode())) {
                        continue;
                    }

                    //检测任务是否生成
                    List<WrkMast> wrkMasts = wrkMastService.selectList(new EntityWrapper<WrkMast>().eq("barcode", stationProtocol.getBarcode()));
                    if (!wrkMasts.isEmpty()) {
                        continue;
                    }

                    Object lock = redisUtil.get(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId);
                    if (lock != null) {
                        continue;
                    }
                    redisUtil.set(RedisKeyType.GENERATE_IN_TASK_LIMIT.key + stationId, "lock", 2);

                    String response = wmsOperateUtils.applyInTask(stationProtocol.getBarcode(), stationProtocol.getStationId(), stationProtocol.getPalletHeight());
                    if (response == null) {
                        News.error("请求WMS入库接口失败，接口未响应！！！response：{}", response);
                        continue;
                    }
                    JSONObject jsonObject = JSON.parseObject(response);
                    if (jsonObject.getInteger("code").equals(200)) {
                        StartupDto dto = jsonObject.getObject("data", StartupDto.class);

                        CreateInTaskParam taskParam = new CreateInTaskParam();
                        taskParam.setTaskNo(dto.getTaskNo());
                        taskParam.setLocNo(dto.getLocNo());
                        taskParam.setTaskPri(dto.getTaskPri());
                        taskParam.setBarcode(stationProtocol.getBarcode());
                        WrkMast wrkMast = commonService.createInTask(taskParam);

                        StationCommand command = stationThread.getMoveCommand(wrkMast.getWrkNo(), stationId, stationId, 0);
                        if(command == null){
                            News.taskInfo(wrkMast.getWrkNo(), "获取输送线命令失败");
                            continue;
                        }
                        MessageQueue.offer(SlaveType.Devp, basDevp.getDevpNo(), new Task(2, command));
                    }
                }
            }
        }
    }

}

 src/main/java/com/zy/core/utils/CrnOperateProcessUtils.java

@@ -151,14 +151,14 @@
            }

            if (!stationProtocol.isInEnable()) {
                News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
//                News.taskInfo(stationProtocol.getTaskNo(), "取货站点:{} 没有可入信号", stationObjModel.getStationId());
                continue;
            }

            // 获取任务
            WrkMast wrkMast = wrkMastService.selectByWorkNo(stationProtocol.getTaskNo());
            if (null == wrkMast) {
                News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务信息不存在", stationProtocol.getTaskNo());
//                News.taskInfo(stationProtocol.getTaskNo(), "工作号:{} 任务信息不存在", stationProtocol.getTaskNo());
                continue;
            }


 src/main/java/com/zy/core/utils/StationOperateProcessUtils.java

@@ -85,7 +85,7 @@
                        continue;
                    }

                    if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts) {
                    if (wrkMast.getWrkSts() == WrkStsType.INBOUND_DEVICE_RUN.sts || wrkMast.getWrkSts() == WrkStsType.INBOUND_RUN.sts) {
                        continue;
                    }

@@ -187,7 +187,7 @@
                        MessageQueue.offer(SlaveType.Devp, stationObjModel.getDeviceNo(), new Task(2, command));
                        News.info("输送站点出库命令下发成功，站点号={}，工作号={}，命令数据={}", stationProtocol.getStationId(), wrkMast.getWrkNo(), JSON.toJSONString(command));
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_LIMIT.key + stationProtocol.getStationId(), "lock", 5);
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60 * 5);
                        redisUtil.set(RedisKeyType.STATION_OUT_EXECUTE_COMPLETE_LIMIT.key + wrkMast.getWrkNo(), "lock", 60);
                    }
                }
            }
@@ -215,16 +215,15 @@

                List<StationProtocol> list = stationThread.getStatus();
                for (StationProtocol stationProtocol : list) {
                    if (stationProtocol.getTaskNo().equals(wrkNo)) {
                    if (!stationProtocol.getTaskNo().equals(wrkNo)) {
                        complete = false;
                    }
                    if (complete) {
                        wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                        wrkMast.setIoTime(new Date());
                        wrkMastService.updateById(wrkMast);
                    }
                }
            }

            if (complete) {
                wrkMast.setWrkSts(WrkStsType.COMPLETE_OUTBOUND.sts);
                wrkMast.setIoTime(new Date());
                wrkMastService.updateById(wrkMast);
            }
        }
    }

 src/main/resources/application.yml

@@ -67,7 +67,7 @@
  threadControlCount: 10
  liftType: lift

mainProcessPlugin: FakeProcess
mainProcessPlugin: NormalProcess

deviceLogStorage:
  # 设备日志存储方式 mysql file